CN109623782B - Wearable power-assisted exoskeleton robot - Google Patents
Wearable power-assisted exoskeleton robot Download PDFInfo
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- CN109623782B CN109623782B CN201811475702.XA CN201811475702A CN109623782B CN 109623782 B CN109623782 B CN 109623782B CN 201811475702 A CN201811475702 A CN 201811475702A CN 109623782 B CN109623782 B CN 109623782B
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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Abstract
The invention relates to the field of robots, and provides a wearable power-assisted exoskeleton robot which is used for providing support and waist power for an upper half body when the body leans forward or bends over and comprises a chest support device, a hip joint and a leg support device. Chest strutting arrangement includes that integral type chest holds in the palm and chest bracing piece, and integral type chest support and hip joint are connected respectively at chest bracing piece both ends, the hip joint including the waist tie up board, power generating device and with the rotor plate that the chest bracing piece is connected, power generating device have base, wire drawing wheel, steel cable and elastic element, chest bracing piece and wire drawing wheel are connected respectively at the rotor plate both ends, and the wire drawing wheel passes through steel cable connection elastic element, is equipped with shank bracing piece storage tank in the base, and shank strutting arrangement includes the thigh baffle of shank bracing piece and laminating thigh, and shank bracing piece storage tank is connected to shank bracing piece upper end, and shank bracing piece lower extreme rotatably articulates with thigh baffle. The device has the advantages of light and flexible structure and good power assisting effect.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a wearable power-assisted exoskeleton robot.
Background
The exoskeleton robot technology is a comprehensive technology which integrates sensing, control, information, fusion and mobile computing and provides a wearable mechanical mechanism for a person as an operator. The exoskeleton robot is used for providing assistance to a human body, has a prominent development prospect in the aspects of enhancing human body skills and assisting movement, and increasingly becomes a research focus in the field of robots. The present invention relates to a wearable, power-assisted exoskeleton that provides support and assistance when a person leans forward or bends, and similar structures are also mentioned in US1371690 in 1921.
When a person leans forward or bends, particularly when carrying or bending, muscles and bones of the body are more fatigued and damaged than when standing upright. Occupational musculoskeletal diseases are easily caused after long-term use in the working posture.
US1371690 describes a wearable power assist structure for supporting the upper body of a person, the structure consisting of a shoulder and a leg, the two parts being connected by a flexible strip and a spring. The shoulder structure is fixed with the shoulder of the human body, the leg structure is bound on the thigh, when the human body is bent, the shoulder structure moves along with the shoulder of the human body, so that the spring is driven to bend, force opposite to the bending direction of the human body is generated, and supporting force is provided for the upper part of the human body.
However, such a construction is uncomfortable for the wearer, the overall construction is bulky and provides an irregular pattern of assistance when bent, affecting factors including the location of the wearer, the physical characteristics of the person, such as size, weight distribution, etc. In addition, the structure may cause damage to the normal movement of the human body, especially when moving the arm. While improvements in the shortcomings of this configuration have been made over the long term, other known configurations and devices have not been able to overcome the problems and shortcomings associated with this configuration.
The EP1264583 patent discloses a structure for supporting the body in which a structure of elastic bands is provided on the legs and back of the person, which are connected to the ankle, lower back and shoulder. Similar structures are also described in US654173 and US5816251, both having a structure to which a belt is attached around the thighs, which structure is pulled up to the crotch area in use. These arrangements have proven to be uncomfortable and cumbersome to use, and provide less than ideal boosting.
The US 2009/0095308 patent discloses a force assist and support device that limits spinal motion to normalize proper lifting techniques, but does not disclose a lumbar and leg support structure.
U2010/0069806 discloses a rigid support frame with a chest pad, a waist pad and a thigh pad, the support being designed to help a patient suffering from a forward lean due to spinal weakness to achieve an upright position, thus not providing a wearable structure for at least partially releasing the human body during forward lean or bending.
WO2007/107952 discloses an elastic baffle structure shaped as an apron extending from the chest region, through the abdomen to the thigh region of a person, and no lumbar support structure is disclosed. The elastic structure has a problem in that when a user bends down or leans forward, the lower end of the elastic structure slides toward the lower end of the thigh or the upper end slides toward the throat.
WO2008/125802 discloses an apron-like support panel structure comprising a flexible textile material in which two spring elements are provided for pulling the flap sheet from bending to a straight position when the user bends forwards. This device has proven to be uncomfortable and difficult to provide optimal boosting.
US5176622 discloses a stooping aid which compresses a support between the chest and legs as the user stoops to help the user stand and relieve back strain. The center of the stand includes a pair of arcuate springs wound on a spool of cylindrical elastomer. The spool is connected to the waistband, and the rotation center of the spool is coaxial with the rotation center of the hip joint. A disadvantage of this device is that the mounting of the arcuate spring to the spool and the correct positioning of the spool is a cumbersome and relatively error-prone process.
US443113 discloses a power assist device comprising a shoulder support, a lumbar support and a leg support, connected by elastic bars extending along the sides of the body. The upper ends of the rods are connected with shoulder supporting pieces at the rear part of the body, the lower ends of the rods are connected with leg supporting pieces, and the waist support consists of a waistband in the middle of the two rods. This configuration is also uncomfortable for the user, especially if the shoulders and legs are pulled back, and the freedom of movement of the arms and legs is limited, cumbersome to use, and does not provide adequate support. Furthermore, bending is also more difficult as the degree of bending increases.
US7744552 discloses a wearable assistive structure for providing support to the upper body of a person when bending over. This bearing structure includes the hollow tube, and the hollow tube extends to both sides along the belly, and inside is equipped with torsional spring mechanism. The middle part of the hollow tube is provided with a supporting roller extending along the chest direction, and the left end and the right end are hinged with the thigh supporting rod. The structure supports the upper body through a torsion spring mechanism, the thigh supporting parts support the thighs to realize the assistance, and the thigh supporting parts can move independently. However, such booster structures are relatively heavy and, due to the hollow tube structure, the ventral region of a person wearing the device is restrained. Furthermore, when the body is bent, the chest support will move relative to the upper body due to the fixed distance between the hollow tube and the chest support. Also, due to the fixed distance between the tube and the thigh support, the thigh support will change position relative to the leg, which is also uncomfortable for the user.
CN201720248125.5 discloses a waist booster unit, including waist support frame and thigh connecting rod, waist support frame and thigh connecting rod junction are provided with combination helping hand drive arrangement, are provided with the gyroscope that is used for detecting the health gesture on waist support frame and the thigh connecting rod, still are provided with control system on the waist support frame for make combination helping hand drive arrangement control waist support frame and thigh connecting rod produce the rotation helping hand according to gyroscope data, this booster unit can alleviate the burden and the discomfort of long-time work back muscle of bowing. However, the length and the angle of the connecting arms on the two sides of the waist supporting plate are fixed, the free movement of the upper arm is easily limited when the device is used, and the combined power-assisted driving device adopts the coil spring to be arranged on the torsion shaft, so that the power-assisted effect is limited.
Disclosure of Invention
The purpose of the invention is as follows: the wearable power-assisted exoskeleton robot overcomes the defects of the prior art, can be worn on the bodies of users with different body shapes in a fitting manner by a simple and light structure, improves the wearing comfort, and provides reliable support and power assistance.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
a wearable power-assisted exoskeleton robot comprises a chest supporting device, a hip joint and leg supporting device: the chest supporting device comprises an integrated chest support and a chest supporting rod, wherein the chest supporting rod extends along armpits on two sides of a body and is respectively connected with the integrated chest support and a hip joint so as to realize acting force transmission between the integrated chest support and the hip joint. The hip joint comprises a waist binding plate, a force generating device and a rotating plate connected with the chest supporting rod, wherein the force generating device is provided with a base, a wire drawing wheel, a steel rope and an elastic element, two ends of the rotating plate are respectively connected with the chest supporting rod and the wire drawing wheel, the wire drawing wheel is connected with the elastic element through the steel rope, a leg supporting rod accommodating groove is formed in the base, and the hip joint is connected with the chest supporting rod and the leg supporting device and used for providing supporting assistance for the upper body of a user. The leg supporting device comprises a leg supporting rod and a thigh baffle attached to a thigh, the leg supporting rod is connected with the hip joint and the thigh baffle, the upper end of the leg supporting rod is connected with the leg supporting rod accommodating groove, and the lower end of the leg supporting rod is rotatably hinged with the thigh baffle.
As an improvement, the integrated chest support comprises a supporting bottom plate, a rotating shaft group and a base body,
the base body comprises a base plate, a chest support rod adapter and a shell covering at least one shell layer on the surface of the base body, an opening part is arranged between the base plate and the shell, the opening part is provided with a bearing surface with a spherical contour, and the chest support rod adapter is hinged with the base plate and the shell; as an improvement, the base plate is provided with a screw positioning hole for installing the chest support rod adapter, and the chest support rod adapter is provided with a chest support rod positioning pin for adjusting the width of the waist support rod and a waist support rod adjusting pull button.
The rotating shaft group is provided with a rotating shaft, one end of the rotating shaft is fixed on the supporting bottom plate, the other end of the rotating shaft is provided with a combining end part with the outer surface presenting a spherical contour, the combining end part is rotatably kept on the supporting surface, and the combining end part and the substrate supporting surface form a spherical pair. The combination end part consists of a rotating shaft and a spherical bearing, the rotating shaft is fixedly connected with the spherical bearing through a fixing nut, and the spherical bearing is positioned in an opening part between the substrate and the shell. As an improvement, the rotating shaft group further comprises a rubber gasket, and the rubber gasket penetrates through the rotating shaft and is located between the supporting bottom plate and the base body to play a role in spacing and buffering. As an improvement, the base plate is provided with a containing groove of a rubber gasket.
As a modification, the supporting bottom plate is also provided with an elastic buffer cushion, the elastic buffer cushion can be elastically and flexibly attached and supported on the chest of a user, and the material of the elastic buffer cushion can be selected from sponge, rubber, silica gel and the like.
As an improvement, the first shell of the housing is a chest housing which is fittingly mounted on the base plate, the cavity between the inner surface of the chest housing and the base plate forming a chest housing receiving slot, the spherical bearing being located at least partially within the chest housing receiving slot.
As an improvement, a chest sensor for detecting the energy consumption of human body movement and evaluating the fatigue condition of local muscles of the human body is further arranged on the integrated chest support, the chest sensor is at least partially arranged in the chest shell accommodating groove, the chest sensor is connected with the supporting surface of the spherical bearing in the combining end part in the chest shell accommodating groove, or the surface of the chest sensor opposite to the combining end part is directly used as the supporting surface of the spherical bearing. The outer surface of the chest shell accommodating groove is detachably connected with the shell insert, the middle of the shell insert is provided with an opening convenient for taking out the chest sensor, and the opening is detachably covered with a chest sensor fixing shell.
As an improvement, the chest sensor is further provided with a toggle switch, and a toggle part of the toggle switch is arranged at a notch of the housing insert.
As an improvement, the hip joint has a waist binding plate, a force generating device, and a rotation plate connected to the chest support rod. The waist harnessing panel may have an elastic cushion pad that elastically deformably conforms to the hips and buttocks of the user. The force generating device is provided with a base, a stay wire wheel, a hip joint rotating shaft, a steel rope and an elastic element. The base is provided with an elastic element accommodating groove and a leg supporting rod accommodating groove which are arranged in the front and back. The stay wire wheel is hinged with the waist binding plate and the base through the hip joint rotating shaft. The steel rope is connected with the wire pulling wheel and the elastic element and used for transmitting acting force between the wire pulling wheel and the elastic element. The pull line wheel is hinged to the rotating plate, the rotating plate is connected with the chest supporting rod and the pull line wheel, the rotating plate is provided with a release mechanism, the release mechanism comprises a release switch and a clamping plate, the clamping plate is installed in a sliding groove of the pull line wheel, and the release switch is installed in an installation groove in the front end of the clamping plate and used for controlling clutch between the rotating plate and the pull line wheel.
As an improvement, the hip joint further comprises a leg sensor for detecting gait information of a leg of the user, the leg sensor being mounted above the leg support bar receiving groove.
As an improvement, the leg support device is provided with a leg support rod with adjustable length and a thigh baffle plate which is fit with the surface of a thigh. The upper end of the leg supporting rod is connected with the leg supporting rod accommodating groove, the lower end of the leg supporting rod is hinged with the thigh baffle, and the thigh baffle and the leg supporting rod can rotate with a certain degree of freedom. As a further improvement, the upper end of the leg support rod is provided with a group of leg support rod positioning holes, and the leg support rod positioning holes are vertically moved and fixed by a thigh rod adjusting pull button to adjust the height of the leg support rod in a leg support rod accommodating groove.
Has the advantages that: the wearable power-assisted exoskeleton robot provided by the invention has a simple and light structure, the freedom degree of the body is not limited when the robot bends over or leans forward, and the structure is attached to users of different body types due to the existence of the elastic cushion pad; the release mechanism on the rotating plate of the invention is convenient for a user to control the device; the waist sensor and the leg sensor which are arranged on the wearable power-assisted exoskeleton robot structure provided by the invention can be directly matched with modern electronic equipment, such as a mobile phone, so that a user can conveniently master related movement information at any time; the structure of the invention can provide support assistance instantly for some users who are inconvenient to bend over or bend over for a long time, has good assistance effect, and effectively relieves or delays uncomfortable symptoms such as lumbago and the like.
Drawings
Fig. 1 is a schematic overall structure diagram of a wearable power-assisted exoskeleton robot provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a chest support device of the wearable power-assisted exoskeleton robot provided by the embodiment of the invention;
FIG. 3 is a schematic exploded view of an integrated chest support of the wearable power-assisted exoskeleton robot chest support device provided by the embodiment of the present invention;
FIG. 4 is a schematic overall structure diagram of a hip joint of the wearable power-assisted exoskeleton robot provided by the embodiment of the invention;
FIG. 5 is a schematic exploded view of a hip joint of the wearable power-assisted exoskeleton robot provided in the embodiments of the present invention;
FIG. 6 is a schematic structural diagram of a hip joint force generating device of the wearable power-assisted exoskeleton robot provided by the embodiment of the invention;
FIG. 7 is an exploded schematic view of a hip joint release mechanism of the wearable power-assisted exoskeleton robot provided in an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a leg supporting device of a wearable power-assisted exoskeleton robot provided by an embodiment of the invention.
Description of reference numerals: 1. the integrated chest support 2, the chest support rod 3, the rotating plate 4, the base 5, the leg support rod 6, the thigh baffle 7, the wire pulling wheel 8, the waist binding plate 9, the chest support rod adapter 10, the lower rod copper bush 11, the chest positioning pin 12, the adjusting pull button 13, the elastic buffer pad 14, the support base plate 15, the rubber gasket 16, the adapter pin 17, the base plate 18, the shell insert 19, the toggle switch 20, the chest sensor fixing shell 21, the chest sensor 22, the chest shell 23, the rotating shaft 24, the release switch 25, the rotating plate rotating shaft 26, the base shell 27, the steel rope compression bolt 28, the fixing ring 29, the steel rope 30, the elastic element accommodating groove 31, the leg sensor 32, the thigh rod adjusting pull button 33, the hip joint rotating shaft 34, the elastic element 35, the chest support rod fixing screw cap, the clamping plate, the gasket 37, the rotating plate fixing pin, the thigh baffle rotating groove 39, the thigh support rod fixing screw.
Detailed Description
The present invention is further described with reference to the following detailed description and the accompanying drawings, it is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the scope of the embodiments as claimed, and that the terms in this application, as used to indicate their orientation with respect to top, bottom, left, right, front, back, etc., are intended for purposes of illustration only and are not intended to limit the scope of the invention unless otherwise specified. Furthermore, any single feature described or implicit in each embodiment or shown or implicit in each figure may continue to be combined or subtracted between any of the features (or their equivalents) to achieve still further embodiments of the invention that may not be directly mentioned herein. Modifications and equivalents will occur to those skilled in the art based on the teachings herein.
Fig. 1 exemplarily shows the overall structure of a wearable power-assisted exoskeleton robot, and the invention is used for providing a mechanical device with a simple structure, good motion flexibility and good power-assisted effect. The wearable power-assisted exoskeleton robot comprises a chest support device, a hip joint and a leg support device. The chest supporting device comprises an integrated chest support 1, a chest supporting rod adapter 9 and a chest supporting rod 2, wherein the two ends of the chest supporting rod adapter 9 are respectively connected with the integrated chest support 1 and the chest supporting rod 2, the chest supporting rod 2 extends along armpits on two sides of a body and is respectively connected with the integrated chest support 1 and a hip joint, and the integrated chest support 1 and the hip joint are used for realizing the transmission of acting force between the integrated chest support 1 and the hip joint. The hip joint connects the chest support bar 2 with the leg support device for providing support assistance to the upper body of the user. The leg supporting device is provided with a leg supporting rod piece 5 and a thigh baffle 6 attached to a thigh, and the leg supporting rod piece 5 is connected with the hip joint and the thigh baffle 6 attached to the thigh.
As shown in fig. 2-3, the chest supporting device has an integrated chest support 1, a chest supporting rod 2 and a chest supporting rod adaptor 9, the chest supporting rod adaptor 9 is arranged at two ends of the integrated chest support 1 and is used for inserting the chest supporting rod 2, one end of the chest supporting rod 2 connected to the chest supporting rod adaptor 9 is provided with a group of hole sites, and the chest supporting rod adaptor is provided with a chest positioning pin 11 and an adjusting pull button 12. The adjusting pull button 12 is pulled to enable the chest positioning pin 11 to be aligned with and fix the proper hole positions of the chest supporting rods 2, so that the depth of the chest supporting rods 2 at two sides inserted into the integrated chest support 1 can be adjusted according to the change of the chest body type of a user. In another embodiment, the lower end of the chest support rod 2 is further provided with a lower rod copper sleeve 10, and the lower rod copper sleeve 10 is circumferentially screwed and fixedly connected with the hip joint through a chest support rod fixing rotary cover 35 in fig. 7.
As shown in fig. 3, in the integrated chest support, the elastic cushion 13 is mounted on the supporting base plate 14, preferably, the material of the elastic cushion 13 may be elastic material such as sponge, rubber, silica gel, etc. for elastically deforming to fit the chest of the user, in another embodiment, the shape of the supporting base plate 14 is a nearly saddle shape, and the supporting base plate 14 may be a straight panel or may have a certain curvature.
The one-piece chest support has a chest shell 22, the chest shell 22 being fittingly mounted to the outer surface of the base plate 17. The chest support rod adapter 9 is hinged to the base plate 17 and the chest housing 22. in one embodiment, the chest support rod adapter 9 can be hinged to both ends of the base plate 17 and the chest housing 22 through the screw positioning hole on the base plate 17 by the adapter pin 16. Wherein, left and right gaps suitable for hinging the chest support rod adaptor 9 and the base plate 12 are reserved at the two ends of the chest shell 22 for sealing.
One end of the rotating shaft 23 is fixedly connected with the supporting base plate 14, the other end of the rotating shaft 23 is connected with a spherical bearing, the rotating shaft 23 and the spherical bearing can be fixed together through a fixing nut, the rotating shaft 23 and the spherical bearing can rotate integrally, or can be fixed together through other fixing parts, such as a jackscrew, an eccentric sleeve or a clamping sleeve, and the spherical bearing and the rotating shaft 23 form a combined end part with a spherical contour. In another embodiment, the spherical bearing is a bearing with an inner race wider than an outer race having a truncated spherical outer surface, which is mounted in a mounting hole in the middle of the base plate 17 and partially within a chest housing receiving slot formed in the cavity between the inner surface of the chest housing 22 and the base plate 17. Between the base plate 17 and the chest housing 22 there is an opening which is located in the chest housing receiving groove, the opening having a bearing surface of spherical contour on which the spherical bearing is held, the rotation shaft 23 and the spherical bearing constituting a spherical pair between the support base plate 14 and said base plate 17 and chest housing 22. In another embodiment, a rubber washer 15 is further provided, the rubber washer 15 penetrates through the rotating shaft 23 and is located between the support base plate 14 and the base plate 17, the rubber washer 15 plays a role of interval buffering when relative rotation occurs between the rotating shaft 23 and the support base plate 14, and the rotating shaft 23, the spherical bearing and the rubber washer 15 form a rotating shaft group. As a modification, the base plate 17 is provided with a receiving groove for the rubber washer 15.
In another embodiment, the chest sensor 21 is further installed in the chest housing accommodating groove, the chest sensor 21 is partially or completely located in the chest housing accommodating groove and used for detecting the energy consumption of the user in exercise and related exercise information, in another embodiment, the chest sensor 21 is connected with the spherical contour supporting surface of the rotating shaft group, or the chest sensor 21 and the surface opposite to the spherical contour of the combining end part are directly used as the supporting surface of the combining end part, and the chest sensor 21 collects and calculates by sensing the rotation change of the adjacent rotating shaft group and is used for detecting the energy consumption of the human body in exercise and evaluating the local muscle fatigue condition of the human body. The chest sensor 21 may be any of various types of sensors, and among them, a chest sensor that can be directly connected to a network device such as a mobile phone or a computer is preferable. The exterior surface of the chest housing receiving slot removably engages the housing insert 18. In another embodiment, the chest sensor 21 further has a toggle switch 19 thereon, and a toggle portion of the toggle switch 19 is disposed at a notch of an upper portion of the housing insert 18, and the toggle switch 19 is turned on when the user moves.
In another embodiment, in order to facilitate the taking and placing of the chest sensor 21, the housing insert is provided with an opening at the middle part for facilitating the taking out of the chest sensor, and the opening is detachably covered with a chest sensor fixing shell 20.
As shown in FIGS. 4 to 7, the hip joint has a waist binding plate 8, a force generating device, and a rotation plate 3 connected to a chest support rod. A pair of waist binding plates 8 are oppositely installed on the hip joint for providing support to the hips and buttocks, and the waist binding plates 8 may be provided with elastic buffers 13 for elastically deformably fitting to the hips and buttocks of the user. The force generating device has a base 4, a stay wire wheel 7, a hip joint rotation shaft 28, a wire rope 29 and an elastic element 34. The wire pulling wheel 7 is hinged with the rotating plate 3 through a rotating plate rotating shaft 25. In another embodiment, after the hinged end at the lower part of the rotating plate 3 is fittingly embedded into the hinged groove at the non-rotating end of the stay wire wheel 7, the rotating plate fixing pin 38 is inserted into the pin hole between the rotating plate 3 and the stay wire wheel 7 to realize fixed hinging, and for more stability, gaskets 37 are additionally arranged at the left end and the right end of the rotating plate fixing pin 38 when the rotating plate fixing pin 38 is inserted.
In another embodiment, in order to facilitate the threading and unthreading of the device, the pulling wheel 7 and the rotating plate 3 are set to be in an easy-to-clutch mode, specifically, a releasing mechanism is further provided on the pulling wheel 7, the releasing mechanism comprises a releasing switch 24 and a clamping plate 36, the clamping plate 36 is installed in a sliding groove of the pulling wheel 7, and the releasing switch 24 is installed in an installation groove at the front end of the clamping plate 36 to control the clutch between the rotating plate 3 and the pulling wheel 7. Specifically, the hinged end of the lower part of the rotating plate 2 is provided with a horizontal notch, after the hinged end of the rotating plate 3 is inserted into the hinged groove of the stay wire wheel 7, the horizontal notch of the hinged end of the rotating plate 2 is just inserted into the left end of the sliding groove of the stay wire wheel 7, and the inner surface of the horizontal notch and the left end of the sliding groove of the stay wire wheel 7 are integrated. Cardboard 36 passes the horizontal sliding groove of wire drawing wheel 7 and is connected with release switch 24, stir release switch 24 through controlling and can drive cardboard 36 and slide in horizontal spout, when cardboard 36 slides to the left end of sliding groove, cardboard 36 imbeds in the horizontal opening of rotor plate 3, at this moment rotor plate 3 and wire drawing wheel 7 lock, when cardboard 36 slides to the right end, cardboard 36 is deviate from the horizontal breach of rotor plate 3, rotor plate 3 can rotate relative wire drawing wheel 7. When a user walks normally or squats down, the rotating plate 3 and the stay wire wheel 7 are loosened to not obstruct movement, and when the user bends down, the loosening mechanism is locked to provide assistance.
The upper part of the base 4 is provided with a hip joint rotating shaft 33, the stay wire wheel 7 is hinged with the base 4 and the waist binding plate 8 through the hip joint rotating shaft 33, hinged hole positions of the stay wire wheel 7, the base 4 and the waist binding plate 8 are respectively arranged on the hip joint rotating shaft 33, the stay wire wheel 7, the base 4 and the waist binding plate 8 are axially fixed on the hip joint rotating shaft 33 through a fixing ring 28, the stay wire wheel 7 is fixed on the hole position of the axis of the hip joint rotating shaft 33, and the base plate 4 and the waist binding plate 8 are respectively fixed on the hole positions of the axis of the hip joint rotating shaft 33. The upper end of a steel rope 29 penetrates through the stay wire wheel 7, the upper end of the steel rope 29 is pressed in a steel rope limiting groove of the stay wire wheel 7 by using a steel rope pressing bolt 27, and the lower end of the steel rope is fixedly connected with an elastic element. When the pulley 7 is turned anticlockwise, as shown in figure 5, the steel cord 29 connected to the pulley will pull the elastic element 34, causing it to compress. The reverse elastic force generated by the elastic element 34 applies a reverse pulling force to the steel rope 29, and a clockwise torque is applied to the wire pulling wheel 7, and is transmitted to the chest through the chest supporting rod 2 to form a supporting assisting force, and the elastic force of the elastic element generates, but is not limited to, a spring, compressed gas and the like. Compared with a cam structure, the force transmission reliability of the wire pulling wheel 7 is superior to that of the cam structure; the cam structure is line contact, the component force is larger, the force transfer efficiency is better than that of the cam, the output torque is directly multiplied by the radius of the wire pulling wheel, the cam is multiplied by an included angle between the force and the force arm, and the efficiency of the output torque is low. In another embodiment, the elastic member 34 may be placed in the elastic member receiving groove 30 in the base 4. The base 4 also has a base housing 26.
The base 4 further has a leg-support-bar receiving slot for receiving the upper end of the leg-support bar 5, and the leg-support-bar receiving slot and the elastic-element receiving slot 30 are disposed back and forth in the base 4 in the presence of the elastic-element receiving slot 30. A thigh bar adjustment knob 32 is provided at the lower end of the leg support bar receiving channel, with a portion of the thigh bar adjustment knob 32 being exposed at the base housing 26. In another embodiment, the upper end of the leg support bar 5 has a set of leg support bar positioning holes, and the leg bar adjustment knob 32 is used to adjust the height of the upper end of the leg support bar 5 in the leg support bar receiving slot by moving the position of the leg support bar positioning holes up and down.
In one embodiment, a leg sensor 31 is further installed above the thigh support bar accommodating groove, and the leg sensor 31 is used for detecting gait information of the user.
As shown in fig. 8, the leg supporting device further includes a thigh baffle 6 attached to the surface of the thigh, a thigh baffle rotating groove 39 is formed in the back of the thigh baffle 6, the lower end of the leg supporting rod 5 is inserted into the groove hole of the thigh baffle rotating groove 39 and is hinged and fixed by a thigh supporting rod fixing screw 40, and the thigh baffle 6 and the leg supporting rod 5 can rotate with a certain degree of freedom.
Claims (12)
1. A wearable power-assisted exoskeleton robot comprises a chest support device, a hip joint and leg support device, and is characterized in that the chest support device comprises an integrated chest support, a chest support rod adapter and a chest support rod; the chest support rod adaptor is arranged at two ends of the integrated chest support and is used for inserting the chest support rods, one end, connected with the chest support rod adaptor, of each chest support rod is provided with a group of hole sites, the chest support rod adaptor is provided with a chest positioning pin and an adjusting pull button, the adjusting pull button is pulled to enable the chest positioning pin to be aligned to and fix the chest support rods and the mounting hole sites of the chest support rod adaptor, and the depth of the chest support rods at two sides inserted into the integrated chest support is adjusted;
the chest support comprises a chest support body, a chest joint, a hip joint, a force generation device and a rotating plate, wherein the chest support body is connected with the hip joint through the chest support rod;
the rotating plate is hinged with the wire pulling wheel, and a release mechanism for controlling the rotating plate and the wire pulling wheel to be separated and combined is arranged on the rotating plate; the release mechanism comprises a release switch and a clamping plate, the clamping plate is arranged in a sliding groove of the stay wire wheel, the front end of the clamping plate is provided with a mounting groove, and the release switch is arranged in the mounting groove at the front end of the clamping plate and used for controlling the clutch between the rotating plate and the stay wire wheel.
2. The wearable power-assisted exoskeleton robot of claim 1, wherein the integrated chest support comprises a support base plate, a set of turning shafts and a base,
the base body comprises a base plate and a shell of at least one shell layer covering the surface of the base body, an opening part is arranged between the base plate and the shell, the opening part is provided with a bearing surface with a spherical contour, and the chest support rod adapter is hinged with the base plate and the shell;
the rotating shaft group comprises a rotating shaft, one end of the rotating shaft is fixed on the supporting bottom plate, the other end of the rotating shaft is provided with a combining end part with the outer surface presenting a spherical contour, the combining end part is rotatably kept on the bearing surface, and the combining end part and the bearing surface form a spherical pair.
3. The wearable, power-assisted exoskeleton robot of claim 2 wherein the first shell of the housing is a chest housing that is cooperatively mounted to a base plate, the cavity between the inner surface of the chest housing and the base plate forming a chest housing receptacle.
4. The wearable, power-assisted exoskeleton robot of claim 3 wherein the coupling end is comprised of a combination of a rotating shaft and a spherical bearing, the spherical bearing being at least partially located within the chest housing receiving slot.
5. The wearable power-assisted exoskeleton robot of claim 4, wherein the integrated chest support is further provided with a chest sensor for detecting energy consumption of human body movement and evaluating fatigue of local muscles of the human body.
6. The wearable, assisted exoskeleton robot of claim 5 wherein the chest sensor is mounted at least partially within the chest housing receiving slot, the chest sensor coupled to the bearing surface of the spherical bearing within the chest housing receiving slot.
7. The wearable power-assisted exoskeleton robot of claim 6, wherein the outer surface of the chest shell accommodating cavity is detachably coupled with a shell insert, the shell insert is provided with an opening for facilitating the removal of the chest sensor, and the opening is detachably covered with a chest sensor fixing shell.
8. The wearable power-assisted exoskeleton robot of claim 1, wherein a hip joint rotation shaft is arranged in the base, and the stay wire wheel is hinged with the base and the waist binding plate through the hip joint rotation shaft.
9. The wearable, power-assisted exoskeleton robot of claim 8, wherein the base further comprises a resilient member receiving cavity, the resilient member receiving cavity receiving a resilient member.
10. The wearable power-assisted exoskeleton robot of claim 1, wherein the leg support bar has a set of positioning holes at an upper end thereof, and wherein the height of the leg support bar in the leg support bar receiving slot is adjusted by moving the positioning holes up and down and being fixed by a thigh bar adjustment knob.
11. The wearable power-assisted exoskeleton robot of claim 1 or 9, wherein the hip joint further comprises a leg sensor for detecting gait information of the leg of the user, the leg sensor being mounted above the leg support bar receiving slot.
12. The wearable, power-assisted exoskeleton robot of claim 2 wherein at least one or more of the support base, the waist cinching plates and the thigh guards is further provided with an elastic cushion that is resiliently deformably conformably supported to the chest, hips and buttocks, and/or legs of the user.
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| WO2020113439A1 (en) * | 2018-12-04 | 2020-06-11 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Wearable power-assisted exoskeleton robot |
| CN109940594A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | Power exoskeleton robot |
| CN109940593A (en) * | 2019-05-05 | 2019-06-28 | 深圳航天科技创新研究院 | The man-machine attachment device in leg |
| CN110962116A (en) * | 2019-12-27 | 2020-04-07 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Exoskeleton robot with lower limb assistance function |
| CN113797064B (en) * | 2020-06-16 | 2023-10-10 | 深圳市肯綮科技有限公司 | Walking auxiliary device and device control method |
| CN112405503A (en) * | 2020-12-01 | 2021-02-26 | 江苏恒毅运控智能设备科技有限公司 | Position error characteristic-based walking assisting device and walking assisting method thereof |
| CN112842830B (en) * | 2020-12-30 | 2023-03-10 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Exoskeleton knee joint driving structure and method based on flexible cam system |
| CN113021315A (en) * | 2021-03-03 | 2021-06-25 | 上海冉擎机械设备有限公司 | Waist exoskeleton robot |
| CN112975917A (en) * | 2021-04-20 | 2021-06-18 | 赤源动力（大连）科技有限责任公司 | Waist and abdomen assisting exoskeleton |
| CN113927570A (en) * | 2021-10-13 | 2022-01-14 | 北京理工大学前沿技术研究院 | Power assembly of exoskeleton robot |
| IT202100031298A1 (en) | 2021-12-14 | 2023-06-14 | Torino Politecnico | Wearable exoskeleton device with active trunk support joint and related control method |
| CN114557807A (en) * | 2022-03-02 | 2022-05-31 | 吴军平 | Medical protective tool for orthopedic surgery |
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