CN110605704A - Auxiliary carrying device for wearable trays - Google Patents
Auxiliary carrying device for wearable trays Download PDFInfo
- Publication number
- CN110605704A CN110605704A CN201910956360.1A CN201910956360A CN110605704A CN 110605704 A CN110605704 A CN 110605704A CN 201910956360 A CN201910956360 A CN 201910956360A CN 110605704 A CN110605704 A CN 110605704A
- Authority
- CN
- China
- Prior art keywords
- fixed
- motor
- gear
- groove
- support
- Prior art date
- 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.)
- Withdrawn
Links
- 244000309464 bull Species 0.000 claims abstract description 7
- 210000000323 shoulder joint Anatomy 0.000 claims description 33
- 210000002310 elbow joint Anatomy 0.000 claims description 10
- 210000000245 forearm Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 208000021421 Arm injury Diseases 0.000 description 1
- 208000020339 Spinal injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000007774 longterm 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
Abstract
The invention relates to the field of carrying equipment and discloses a wearable tray auxiliary carrying device which comprises a chassis, a rotating seat, a left leg, a right leg, a back supporting structure, a left arm, a right arm and a motor III, wherein the left leg is connected with the left arm; the left leg and the right leg are respectively fixed on the rotating seat and symmetrically arranged on two sides of the back supporting structure; the left arm and the right arm are respectively connected with the back support structure and symmetrically arranged on two sides of the back support structure; the rotating base comprises a motor I, a pinion I, a bull gear I, a gear shaft I and a pedal; the first motor is fixed on the chassis; the pinion I is fixed on an output shaft of the motor I; the first pinion is meshed with the first gearwheel; the first gearwheel is fixed on the first gear shaft; the first gear shaft is connected with the chassis through a bearing; the pedal is fixed on the first gear shaft. The invention has adjustable length and is suitable for people of different body types to wear.
Description
Technical Field
The invention relates to the field of carrying equipment, in particular to a wearable tray auxiliary carrying device.
Background
In the field of logistics, many links need to carry out goods handling and carrying work, such as express sorting, wharf handling and the like. The traditional loading, unloading and carrying mainly depends on manual labor, and heavy objects bring great burden to the body of a carrying worker. In the actual carrying process, people usually bend around to lift and put objects by the strength of arms and back. Such manual handling may subject the human body to a large load, and may also cause spinal injuries or arm injuries in long-term work. In addition, the human body is also fatigued easily, affecting the transport efficiency. In modern logistics, most of heavy objects are placed on the tray, and therefore the wearable auxiliary tray carrying device is designed, and carrying work of heavy goods can be carried easily.
Disclosure of Invention
The invention provides a wearable auxiliary pallet carrying device, which aims to solve the problems of high labor intensity, easiness in fatigue and low efficiency in the traditional loading, unloading and carrying process.
In order to solve the technical problems, the invention is realized by the following technical scheme:
a wearable auxiliary tray carrying device comprises a chassis 3, a rotating seat, a left leg, a right leg, a back supporting structure, a left arm, a right arm and a motor III 12; the left leg and the right leg are respectively fixed on the rotating seat and symmetrically arranged on two sides of the back supporting structure; the left arm and the right arm are respectively connected with the back support structure and symmetrically arranged on two sides of the back support structure; the rotating base comprises a motor I1, a pinion I2, a bull gear I4, a gear shaft I5 and a pedal 6, and the motor I1 is fixed on the chassis 3; the pinion gear I2 is fixed on an output shaft of the motor I1; the first pinion 2 is meshed with the first gearwheel 4; the first gearwheel 4 is fixed on the first gear shaft 5; the first gear shaft 5 is connected with the chassis 3 through a bearing; the pedal 6 is fixed on the first gear shaft 5.
The right leg and the left leg have the same structure and comprise a bracket 7, a guide rod 8, a screw rod 9, a nut mechanism 10 and a second motor 11; the bracket 7 is fixed on the pedal 6; the bracket 7 is provided with a guide rod 8; the second motor 11 is fixed on the bracket 7; the lead screw 9 is connected with the bracket 7 through a bearing and is parallel to the guide rod 8; the screw rod 9 is connected with an output shaft of the second motor 11; the nut mechanism 10 is respectively provided with a through hole and a through hole thread; the through hole thread on the nut mechanism 10 is connected with the screw rod 9; the through hole on the nut mechanism 10 is connected with the guide rod 8 and can slide up and down along the guide rod 8; the motor III 12 is fixed on the nut mechanism 10.
The back support structure comprises a back support plate 14 and an adjustment bar 13; the adjusting rod 13 is fixed on an output shaft of the motor III 12; a groove is formed in the side surface of the back support plate 14, and a plurality of through holes with equal intervals are formed in the groove; the adjusting rod 13 is fixed with the back support plate 14 through a cylindrical pin, a groove on the side surface of the back support plate 14 and a through hole on the groove.
The left arm and the right arm are identical in structure and comprise shoulder supports 27, a first pin shaft 29, a second shoulder joint support 28, a fourth motor 17, a second pinion 15, a second gearwheel 16, a second gear shaft 30, a first shoulder joint support 18, a big arm rod 19, a second pin shaft 31, a third pinion 20, a fifth motor 21, a third gearwheel 22, a third gearwheel 32, an elbow joint support 23, a third pin shaft 33, a small arm rod 24, a tray support 25 and pin columns 26; the shoulder rest 27 is fixed on the back support plate 14; the second shoulder joint support 28 is connected with the shoulder support 27 through a first pin 29, and the second shoulder joint support 28 can rotate around the first pin 29; the fourth motor 17 is fixed on the second shoulder joint support 28; the second pinion 15 is fixed on an output shaft of the fourth motor 17; the second small gear 15 is meshed with the second large gear 16; the second gearwheel 16 is fixed on the second gear shaft 30; the second gear shaft 30 is connected with the second shoulder joint support 28 through a bearing; the first shoulder joint support 18 is fixed on the second gear shaft 30; a groove is formed in the first shoulder joint support 18, and a plurality of through holes with equal intervals are formed in the groove; the large arm rod 19 is fixed with the shoulder joint support I18 through a pin shaft II 31, a groove on the shoulder joint support I18 and a through hole on the groove; the fifth motor 21 is fixed on the large arm rod 19; the pinion gear III 20 is fixed on an output shaft of the motor V21; the pinion gear III 20 is meshed with the gearwheel III 22; the large gear wheel III 22 is fixed on a gear shaft III 32; the third gear shaft 32 is connected with the large arm rod 19 through a bearing; the elbow joint support 23 is fixed on a third gear shaft 32; a groove is formed in the small arm rod 24, and a plurality of through holes with equal intervals are formed in the groove; the small arm rod 24 is fixed with the elbow joint support 23 through a pin shaft III 33, a groove on the small arm rod 24 and a through hole on the groove; the tray support 25 is connected to the arm lever 24 by a pin 26, and the tray support 25 is rotatable about the pin 26.
The invention has the beneficial effects that: the invention provides a wearable tray auxiliary carrying device which can adjust the waist height and the arm length of a subject with different body types and meet the requirements of people with different body types.
Drawings
FIG. 1 is a schematic diagram of the present invention.
FIG. 2 is a schematic view of the left arm structure of the present invention.
In the attached drawings
1-motor-2-pinion-3-chassis-4-bull-gear-5-gear-shaft-gear
6-pedal 7-support 8-guide rod 9-lead screw 10-nut mechanism
11-motor two 12-motor three 13-adjusting rod 14-back support plate 15-pinion two
16-two big gears 17-four motors 18-one shoulder joint support 19-big arm rod 20-three small gears
21-five motors 22-three large gears 23-elbow joint support 24-small arm rod 25-tray support
26-pin 27-shoulder support 28-shoulder joint support II 29-pin I30-gear shaft II
31-pin shaft two 32-gear shaft three 33-pin shaft three
Detailed Description
The invention will be further described with reference to the following drawings and detailed description, which are not intended to limit the invention:
as shown in fig. 1 and 2, a wearable tray auxiliary carrying device comprises a chassis 3, a rotary seat, a left leg, a right leg, a back supporting structure, a left arm, a right arm and a motor III 12; the left leg and the right leg are respectively fixed on the rotating seat and symmetrically arranged on two sides of the back supporting structure; the left arm and the right arm are respectively connected with the back support structure and symmetrically arranged on two sides of the back support structure; the rotating base comprises a motor I1, a pinion I2, a bull gear I4, a gear shaft I5 and a pedal 6, and the motor I1 is fixed on the chassis 3; the pinion gear I2 is fixed on an output shaft of the motor I1; the first pinion 2 is meshed with the first gearwheel 4; the first gearwheel 4 is fixed on the first gear shaft 5; the first gear shaft 5 is connected with the chassis 3 through a bearing; the pedal 6 is fixed on the first gear shaft 5.
The right leg and the left leg have the same structure and comprise a bracket 7, a guide rod 8, a screw rod 9, a nut mechanism 10 and a second motor 11; the bracket 7 is fixed on the pedal 6; the bracket 7 is provided with a guide rod 8; the second motor 11 is fixed on the bracket 7; the lead screw 9 is connected with the bracket 7 through a bearing and is parallel to the guide rod 8; the screw rod 9 is connected with an output shaft of the second motor 11; the nut mechanism 10 is respectively provided with a through hole and a through hole thread; the through hole thread on the nut mechanism 10 is connected with the screw rod 9; the through hole on the nut mechanism 10 is connected with the guide rod 8 and can slide up and down along the guide rod 8; the motor III 12 is fixed on the nut mechanism 10.
The back support structure comprises a back support plate 14 and an adjustment bar 13; the adjusting rod 13 is fixed on an output shaft of the motor III 12; a groove is formed in the side surface of the back support plate 14, and a plurality of through holes with equal intervals are formed in the groove; the adjusting rod 13 is fixed with the back support plate 14 through a cylindrical pin, a groove on the side surface of the back support plate 14 and a through hole on the groove.
The left arm and the right arm are identical in structure and comprise shoulder supports 27, a first pin shaft 29, a second shoulder joint support 28, a fourth motor 17, a second pinion 15, a second gearwheel 16, a second gear shaft 30, a first shoulder joint support 18, a big arm rod 19, a second pin shaft 31, a third pinion 20, a fifth motor 21, a third gearwheel 22, a third gearwheel 32, an elbow joint support 23, a third pin shaft 33, a small arm rod 24, a tray support 25 and pin columns 26; the shoulder rest 27 is fixed on the back support plate 14; the second shoulder joint support 28 is connected with the shoulder support 27 through a first pin 29, and the second shoulder joint support 28 can rotate around the first pin 29; the fourth motor 17 is fixed on the second shoulder joint support 28; the second pinion 15 is fixed on an output shaft of the fourth motor 17; the second small gear 15 is meshed with the second large gear 16; the second gearwheel 16 is fixed on the second gear shaft 30; the second gear shaft 30 is connected with the second shoulder joint support 28 through a bearing; the first shoulder joint support 18 is fixed on the second gear shaft 30; a groove is formed in the first shoulder joint support 18, and a plurality of through holes with equal intervals are formed in the groove; the large arm rod 19 is fixed with the shoulder joint support I18 through a pin shaft II 31, a groove on the shoulder joint support I18 and a through hole on the groove; the fifth motor 21 is fixed on the large arm rod 19; the pinion gear III 20 is fixed on an output shaft of the motor V21; the pinion gear III 20 is meshed with the gearwheel III 22; the large gear wheel III 22 is fixed on a gear shaft III 32; the third gear shaft 32 is connected with the large arm rod 19 through a bearing; the elbow joint support 23 is fixed on a third gear shaft 32; a groove is formed in the small arm rod 24, and a plurality of through holes with equal intervals are formed in the groove; the small arm rod 24 is fixed with the elbow joint support 23 through a pin shaft III 33, a groove on the small arm rod 24 and a through hole on the groove; the tray support 25 is connected to the arm lever 24 by a pin 26, and the tray support 25 is rotatable about the pin 26.
The wearable tray auxiliary carrying device comprises the following working processes: when the tray is carried, the left arm and the right arm are fixed to the left arm and the right arm of the human body, respectively, and the tray support 25 is clamped below the tray. Because the tray support 25 can rotate around the pin 26, the tray support 25 is always in a horizontal state under the action of gravity, thereby ensuring that the tray is kept horizontal. A person stands on the pedal 6, and the left and right rotation of the human body can be realized by controlling the forward rotation and the reverse rotation of the motor I1; the nut mechanism 10 can move up and down by controlling the forward rotation and the reverse rotation of the motor II 11, so that the standing and squatting of a human body are matched; the bending of the back supporting structure can be realized by controlling the positive rotation and the negative rotation of the motor II 12, so that the bending and the erection of the waist of the human body are matched; the rotation of the shoulder joint of the human body can be realized by controlling the positive rotation and the negative rotation of the motor IV 17; the rotation of the elbow joint of the human body can be realized by controlling the positive rotation and the negative rotation of the motor five 21; a plurality of through holes which are equally spaced are formed on the grooves of the shoulder joint support I18 and the small arm rod 24, and the through holes can enable the lengths of the left arm and the right arm to be adjusted according to the lengths of the large arm and the small arm of the human body; the side grooves of the back support plate 14 are formed with a plurality of equally spaced through holes that allow the back support structure to be adjusted to the height of the waist of a person.
Claims (4)
1. A wearable auxiliary tray carrying device is characterized by comprising a chassis (3), a rotating seat, a left leg, a right leg, a back supporting structure, a left arm, a right arm and a motor III (12); the left leg and the right leg are respectively fixed on the rotating seat and symmetrically arranged on two sides of the back supporting structure; the left arm and the right arm are respectively connected with the back support structure and symmetrically arranged on two sides of the back support structure; the rotating seat comprises a first motor (1), a first pinion (2), a first bull gear (4), a first gear shaft (5) and a pedal (6), and the first motor (1) is fixed on the chassis (3); the pinion gear I (2) is fixed on an output shaft of the motor I (1); the first pinion (2) is meshed with the first gearwheel (4); the first gearwheel (4) is fixed on the first gear shaft (5); the first gear shaft (5) is connected with the chassis (3) through a bearing; the pedal (6) is fixed on the first gear shaft (5).
2. The wearable tray auxiliary carrying device according to claim 1, wherein the right leg and the left leg are identical in structure and comprise a bracket (7), a guide rod (8), a lead screw (9), a nut mechanism (10) and a second motor (11); the bracket (7) is fixed on the pedal (6); a guide rod (8) is arranged on the bracket (7); the second motor (11) is fixed on the bracket (7); the lead screw (9) is connected with the bracket (7) through a bearing and is parallel to the guide rod (8); the screw rod (9) is connected with an output shaft of the second motor (11); the nut mechanism (10) is respectively provided with a through hole and a through hole thread; the through hole thread on the nut mechanism (10) is connected with the screw rod (9); the through hole on the nut mechanism (10) is connected with the guide rod (8) and can slide up and down along the guide rod (8); the motor III (12) is fixed on the nut mechanism (10).
3. The wearable tray carrying aid of claim 1, characterized in that the back support structure comprises a back support plate (14) and an adjustment bar (13); the adjusting rod (13) is fixed on an output shaft of the motor III (12); a groove is formed in the side face of the back support plate (14), and a plurality of through holes with equal intervals are formed in the groove; the adjusting rod (13) is fixed with the back support plate (14) through a cylindrical pin, a groove in the side face of the back support plate (14) and a through hole in the groove.
4. The wearable tray auxiliary carrying device according to claim 1, wherein the left arm and the right arm are identical in structure and comprise a shoulder support (27), a first pin shaft (29), a second shoulder joint support (28), a fourth motor (17), a second pinion (15), a second bull gear (16), a second gear shaft (30), a first shoulder joint support (18), a bull arm rod (19), a second pin shaft (31), a third pinion (20), a fifth motor (21), a third bull gear (22), a third gear shaft (32), a third elbow joint support (23), a third pin shaft (33), a third forearm rod (24), a tray support (25) and a pin column (26); the shoulder support (27) is fixed on the back support plate (14); the second shoulder joint support (28) is connected with the shoulder support (27) through a first pin shaft (29), and the second shoulder joint support (28) can rotate around the first pin shaft (29); the motor IV (17) is fixed on the shoulder joint support II (28); the second pinion (15) is fixed on an output shaft of the fourth motor (17); the second small gear (15) is meshed with the second large gear (16); the second gearwheel (16) is fixed on the second gear shaft (30); the second gear shaft (30) is connected with the second shoulder joint support (28) through a bearing; the shoulder joint support I (18) is fixed on the gear shaft II (30); a groove is formed in the first shoulder joint support (18), and a plurality of through holes with equal intervals are formed in the groove; the large arm rod (19) is fixed with the first shoulder joint support (18) through a second pin shaft (31), a groove in the first shoulder joint support (18) and a through hole in the groove; the motor five (21) is fixed on the large arm rod (19); the pinion gear III (20) is fixed on an output shaft of the motor V (21); the third pinion (20) is meshed with the third gearwheel (22); the gear wheel III (22) is fixed on the gear shaft III (32); the third gear shaft (32) is connected with the large arm rod (19) through a bearing; the elbow joint support (23) is fixed on the third gear shaft (32); a groove is formed in the small arm rod (24), and a plurality of through holes with equal intervals are formed in the groove; the small arm rod (24) is fixed with the elbow joint support (23) through a pin shaft III (33), a groove on the small arm rod (24) and a through hole on the groove; the tray support (25) is connected with the small arm rod (24) through a pin (26), and the tray support (25) can rotate around the pin (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910956360.1A CN110605704A (en) | 2019-10-10 | 2019-10-10 | Auxiliary carrying device for wearable trays |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910956360.1A CN110605704A (en) | 2019-10-10 | 2019-10-10 | Auxiliary carrying device for wearable trays |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110605704A true CN110605704A (en) | 2019-12-24 |
Family
ID=68894222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910956360.1A Withdrawn CN110605704A (en) | 2019-10-10 | 2019-10-10 | Auxiliary carrying device for wearable trays |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110605704A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103498898A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Electric bionic double-hand rubbing device |
| US20140336542A1 (en) * | 2013-05-13 | 2014-11-13 | National Taiwan University | Limb rehabilitation and training system |
| CN106426250A (en) * | 2016-06-14 | 2017-02-22 | 华侨大学 | Clamping and transporting manipulator |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
| WO2018014558A1 (en) * | 2016-07-18 | 2018-01-25 | 广东铭凯医疗机器人有限公司 | Physical therapy support robot and operation method therefor |
| WO2018077256A1 (en) * | 2016-10-28 | 2018-05-03 | 刘美君 | Lower limb movement-assisting machine skeleton having center-of-gravity self-adjustment and balancing function |
| CN108724152A (en) * | 2018-07-26 | 2018-11-02 | 北京机械设备研究所 | A kind of upper limb servomechanism for original place lifting load |
| CN209187426U (en) * | 2018-07-27 | 2019-08-02 | 曲秋霜 | A kind of orthopaedics patient rehabilitation crutch |
| CN210704810U (en) * | 2019-10-10 | 2020-06-09 | 东北林业大学 | Auxiliary carrying device for wearable trays |
-
2019
- 2019-10-10 CN CN201910956360.1A patent/CN110605704A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140336542A1 (en) * | 2013-05-13 | 2014-11-13 | National Taiwan University | Limb rehabilitation and training system |
| CN103498898A (en) * | 2013-10-18 | 2014-01-08 | 苏州大学 | Electric bionic double-hand rubbing device |
| CN106426250A (en) * | 2016-06-14 | 2017-02-22 | 华侨大学 | Clamping and transporting manipulator |
| WO2018014558A1 (en) * | 2016-07-18 | 2018-01-25 | 广东铭凯医疗机器人有限公司 | Physical therapy support robot and operation method therefor |
| WO2018077256A1 (en) * | 2016-10-28 | 2018-05-03 | 刘美君 | Lower limb movement-assisting machine skeleton having center-of-gravity self-adjustment and balancing function |
| CN106695760A (en) * | 2016-12-16 | 2017-05-24 | 江苏大学 | Whole body exoskeleton power-assisted robot for auxiliary carrying |
| CN108724152A (en) * | 2018-07-26 | 2018-11-02 | 北京机械设备研究所 | A kind of upper limb servomechanism for original place lifting load |
| CN209187426U (en) * | 2018-07-27 | 2019-08-02 | 曲秋霜 | A kind of orthopaedics patient rehabilitation crutch |
| CN210704810U (en) * | 2019-10-10 | 2020-06-09 | 东北林业大学 | Auxiliary carrying device for wearable trays |
Non-Patent Citations (1)
| Title |
|---|
| 王振秋;薛建琪;张宇崴;狄海廷: "新型爬杆清洁机器人的设计与仿真", 《科技创新与应用》, 8 July 2017 (2017-07-08), pages 15 - 16 * |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191224 |