CN110815192A

CN110815192A - Waist helping hand robot

Info

Publication number: CN110815192A
Application number: CN201911221496.4A
Authority: CN
Inventors: 范清; 吴新宇; 陈闽杰; 刘王智懿; 孙健铨; 辛强; 傅睿卿; 王大帅; 季心宇; 孙兵华; 李鹏飞
Original assignee: National Aircraft Intelligence (suzhou) Co Ltd
Current assignee: Sinomach Intelligence Technology Co ltd; Shenzhen Institute of Advanced Technology of CAS
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-02-21

Abstract

The invention relates to a waist power-assisted robot. Including back skeleton, shell accessory, drive arrangement and ectoste low limbs part, back skeleton and shell accessory are bound up through the health and are tied up and tie up fixedly with human trunk, flexible binding area is installed on back shelf upper portion, the shell accessory includes preceding shell, backshell and other parts, drive arrangement includes left drive arrangement and right drive arrangement, left side drive arrangement and right drive arrangement fix respectively on the back skeleton, drive arrangement is in human hip joint both sides, low limbs part fixed mounting is in the drive arrangement left and right sides. The invention has the advantages that: simple structure, weight are lighter, control is convenient, the motion is nimble, the travelling comfort is high, easily dress, and the robot provides the mounted position of the flexible binding area of truck, thigh, and the user is separating to bind and ties up device and robot flexible contact, and it is inseparable to dress simply and laminate, and robot joint and human joint coupling provide better comfort level for the user.

Description

Waist helping hand robot

Technical Field

The invention relates to the technical field of power-assisted robot research, in particular to a waist power-assisted robot.

Background

According to statistics, as of 2017, the lumbar vertebra disease patients in China break through 3 hundred million, become the second disease of outpatient service, and are only second to cold. Excessive fatigue, sudden external force, bad posture, cold and dampness are all the main causes of lumbago. The lumbar support is used as a common movement of daily activities of a human body, the lumbar pressure generated by the lumbar support is the largest, and the lumbago and the upper limb pain are more obvious compared with the fatigue of each part of the body for physical workers engaged in the transportation industry. There is therefore a need for a low cost, simple method to address such problems.

At present, some mechanical exoskeletons at home and abroad mainly drive a human body to perform stable passive motion, and have complicated structure and poor flexibility; each kinematic pair of some robots is driven, so that a lot of control cost is increased, the control effect is poor, and movement danger is easily brought; some robots are designed with ankle joints enough to unload force to the ground, but are extremely difficult to wear, poor in experience and high in cost; some robots adopt an unpowered form, but have a defect in power assisting effect, and the knee joint cannot be self-locked; some robots are in contact with human bodies by simple binding or even metal contact, so that the power assisting is unstable and has certain danger.

Disclosure of Invention

The purpose of the invention is: provides a waist power-assisted robot to overcome the defects in the prior art.

In order to achieve the above purpose, the present invention provides the following technical solutions:

the utility model provides a waist helping hand robot, includes back skeleton, shell accessory, drive arrangement and outer bone low limbs part, back skeleton and shell accessory are tied up through the health and are tied up with human trunk fixed, the back skeleton includes hip shelf upper left side, hip shelf left side down, hip shelf upper right side, hip shelf right side down, back shelf, preceding adjusting plate and back adjusting plate, flexible tie up the area on back shelf upper portion, the shell accessory includes preceding shell, backshell and other parts, drive arrangement includes left drive arrangement and right drive arrangement, left drive arrangement and right drive arrangement fix respectively on the back skeleton, and the symmetric distribution, drive arrangement is in human hip joint both sides, low limbs part fixed mounting is in the drive arrangement left and right sides.

Furthermore, the front adjusting plate and the rear adjusting plate are combined into a whole adjusting plate through threaded connection, the upper left hip frame and the lower left hip frame are distributed in parallel and are fixed on the left side of the adjusting plate through threaded connection respectively, the upper right hip frame and the lower right hip frame are distributed in parallel and are fixed on the right side of the adjusting plate through threaded connection respectively, the backrest frame is fixed on the upper side of the adjusting plate through threaded connection, the upper portion of the backrest frame is used for installing a flexible binding belt, the upper left hip frame, the lower left hip frame, the upper right hip frame and the lower right hip frame are main stress parts during movement, light aluminum materials are adopted, and the backrest frame is arranged in a U shape.

Further, the shell accessories comprise a front shell, a rear shell, a left driving plate mounting plate, a right driving plate mounting plate, a left driving plate, a right driving plate, a switch plate, a main control plate, a battery plate, an upper battery plate fixing plate and a lower battery plate fixing plate, the shell accessories are completely matched with the back framework, a corresponding cavity is designed at the upper part of the rear shell for accommodating the battery plate, the upper battery plate fixing plate, the lower battery plate fixing plate and the rear shell are connected through threads for fixing the battery plate in the cavity for accommodating the battery plate in the rear shell, the main control plate is connected on the rear shell through threads and is positioned below the battery plate, the left driving plate and the right driving plate are respectively fixed on the left driving plate mounting plate and the right driving plate mounting plate through isolating substances, the switch plate is connected on the right driving plate mounting plate through threads, the, distributed on the left and right sides of the main control board; the front shell is fixedly connected to the front of the adjusting plate through threads; the front shell and the rear shell are connected through threads to contain most of the framework, and the rear shell is designed into a cross shape with cutting edges and corners.

Furthermore, the rear case is provided at the upper portion thereof with a battery panel, driving boards for left and right motors, a main control board, and various circuits at corresponding positions.

Further, the driving device comprises a motor shell, a servo motor, a motor flange, a flange plate, a connecting plate, a binding piece cushion block, a binding piece and a cushion block, the binding piece is provided with a port for installing a flexible binding belt and the flexible binding belt arranged on the upper part of the backrest frame for installing so as to fix the robot on the trunk of a human body, the motor flanges are respectively fixed on the left side and the right side of the back framework through threaded connection, the servo motor is arranged on the electrode flanges through threaded connection, the motor shell is installed on the servo motor through threaded connection, the opening of the motor shell points to the back framework, the flange plate is installed on the rotating disc of the servo motor through threaded connection, the connecting plate and the binding piece cushion block are installed on the flange plate through threaded connection, the binding piece and the binding piece cushion block are hinged, and the cushion block realizes axial fixation of the binding piece; and the servo motor transmits power to the flange plate, the connecting plate and the binding piece cushion block.

Further, the exoskeleton lower limb component comprises a hinge A, a hinge shaft, a hinge B, a binding buckle, a binding frame and a knee pad, wherein the hinge A is in threaded connection with a connecting plate of the driving device, the hinge A and the hinge B are hinged through the hinge shaft, the binding buckle and the binding frame are respectively fixed on the hinge B through threaded connection, and the knee pad is hinged on the binding frame; all parts of the lower limb part obtain power transmitted by the driving part; the binding buckles and the kneepads are used for installing flexible binding belts to fix the lower limb parts on the thighs of the human body.

The invention has the beneficial effects that:

1. the invention provides equipment for solving sports work injury from the source, which can provide auxiliary torque at the rising stage when a human body bows and waists carry things so as to reduce the stress of hip joints and waists of the human body and protect the waists of the human body from being injured. The robot can provide 20-30kg of assistance in a typical scene, so that the possibility of labor injury is fundamentally eliminated, workers with high waist repetitive labor intensity are helped to prevent injuries, and the efficiency is improved.

2. The robot material adopts aluminum alloy, titanium alloy, 3D printed photosensitive resin and the like, and is light under the condition of meeting the requirements of strength and working requirements. The user accessible is flexible ties up and ties up the device and dress the robot on one's body, and through the helping hand size of remote control board control robot, the low limbs part can provide the helping hand of equidimension not for the user thigh under drive division's drive, and the robot can monitor user's work demand according to user's gesture, automatic help user's transport and walking. The control device of the robot is distributed in the shell part in a centralized way, and the occupied space is not large. The overall design of the robot accords with human engineering, the gravity center height is consistent with the gravity center of a human body, and the robot has good fitting feeling.

3. The robot has the advantages of simple structure, light weight, convenient control, flexible movement, high comfort and easy wearing, the structural design of the robot is simple and clear, the complex control device is packaged in the shell, and the light material is selected under the condition of meeting the strength and movement requirements, so that the weight of the robot is reduced. The robot provides the mounted position in the flexible binding area of truck, thigh, and the user separates to tie up and ties up device and robot flexible contact, and it is inseparable to dress simple and laminating, and the robot joint provides better comfort level with human joint coupling for the user.

Drawings

FIG. 1 is an isometric illustration of a waist assist robot of the present invention;

FIG. 2 is a schematic front view of a waist assist robot of the present invention

FIG. 3 is a schematic left view of the waist assist robot of the present invention;

FIG. 4 is a schematic top view of the waist assist robot of the present invention;

FIG. 5 is an isometric illustration of a skeletal section of the present invention;

FIG. 6 is an isometric illustration of a rear shell of a housing portion and the interior of the rear shell of the present invention;

FIG. 7 is an isometric exploded view of the drive section of the present invention;

FIG. 8 is an isometric illustration of a lower limb portion of the invention;

in the figure: 1. adjusting plates 11, front adjusting plates 12, rear adjusting plates 2, backrest frame 3, hip frame upper left, hip frame 4, hip frame lower left, hip frame upper right, 6, hip frame lower right, connecting plates 7, connecting plates 8, binding piece cushion blocks 9, binding pieces 10, cushion blocks 11, hinges A, 12, hinge shafts 13, hinges B, 14, binding buckles 15, motor flanges 16, servo motors 17, the battery pack comprises a flange plate, 18, a rear shell, 19, a front shell, 20, a binding frame, 21, kneepads, 22, a motor shell, 23, a switch board, 24, a right drive board mounting board, 25, a left drive board mounting board, 26, a main control board, 27, a lower battery board fixing board, 28, an upper battery board fixing board, 29, battery boards, 30, a left drive board, 31, a right drive board, 32, a back bone, 33, a shell accessory, 34, a driving device, 35 and an exoskeleton lower limb component.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1 to 5, a waist assisting robot includes a back frame 32, a housing fitting 33, a driving device 34, and an exoskeleton lower limb member 35, the back skeleton 32 and the shell fittings 33 are fixed with the trunk of the human body by body binding, the back skeleton 32 comprises a hip frame left upper 3, a hip frame left lower 4, a hip frame right upper 5, a hip frame right lower 6, a backrest frame, a front adjusting plate 11 and a rear adjusting plate 12, the upper part of the back frame is provided with a flexible binding band, the outer shell fitting 33 comprises a front shell 19, a rear shell 18 and other components, the driving device 34 includes a left driving device and a right driving device, which are respectively fixed on the back frame 32, and the driving devices 34 are symmetrically distributed, the driving devices 34 are positioned at two sides of the hip joint of the human body, and the exoskeleton lower limb components 35 are fixedly arranged at the left side and the right side of the driving devices 34. The hip frame comprises a front adjusting plate 11, a hip frame left upper 3, a hip frame left lower 4, a hip frame right upper 5, a hip frame right lower 6, a backrest frame, a hip frame upper right 4, a hip frame upper right 5, a hip frame upper right 6, a hip frame upper right 5, a hip frame lower right 6, a hip frame upper left adjusting plate 1, a hip frame upper right adjusting plate 12 and a hip frame lower left adjusting plate 1.

The practical process of the invention is as follows: the robot mainly includes a back frame 32, a housing fitting 33, a drive device 34, and an exoskeleton lower limb member 35. The backrest frame of the back frame 32 and the bindings of the drive means 34 thereof may provide mounting locations for the flexible bindings so that the robot may be worn by a user, the user's back being in contact with the front shell across the flexible bindings, the drive means 34 being on both sides of the user's hip joint, the knee pads and the bindings provide mounting locations for the flexible bindings so that the lower limb portions of the robot are fixed on the user's thighs. When the user wears the belt-modified robot, the upper trunk of the user is fixed to the back frame 32, the shell fitting 33, and the fixed end of the driving device 34, and the user's legs are fixed to the non-fixed end of the driving device 34 and the exoskeleton lower limb member 35. Under the action of the control device on the rear shell 18, the fixed end of the driving device 34 and the non-fixed end of the driving device 34 realize relative rotation through the work of the servo motor, so that the hip joint flexion and extension movement of the robot is realized, the active degree of freedom of the robot is realized, and assistance can be provided for a user. The exoskeleton lower limb part 35 has a hinge a-hinge axis-hinge B design, so that the robot's "hip adduction abduction motion" is achieved, which is a passive degree of freedom of the robot and is controlled by the user, which also provides better comfort for the user. Threaded holes with different heights are designed on the hinge B of the exoskeleton lower limb component 35, and the binding buckle 14 and the binding frame 20 can be fixed at different positions of the hinge B through threaded connection at different positions, so that the lower limb binding device can be adjusted up and down to adapt to users with different heights. Four trompils have been designed on the 18 lateral walls of backshell, two trompils in the left and right of backshell 18 below provide the opening for controlling means to drive part's the line in the backshell 18, the trompil in the 18 top left sides of backshell provides the opening for panel charging wire socket and the 18 interior controlling means of backshell to the line of remote control board, the trompil in the 18 top right sides of backshell provides the opening for master switch, the user dresses and ties up after this robot, can be with the helping hand size of handheld remote control board control robot, under the drive of corresponding control strategy, the robot can assist the user automatically to accomplish to bend down to squat, remove the heavy object, the transport walking, put down helping hand actions such. The design of an upper arc-shaped circular tube and a lower arc-shaped circular tube is adopted to wrap the waist of a human body, so that the light weight and the strength are ensured, the comfort level is also provided, the design of a U-shaped circular tube is adopted for a backrest frame, so that the accommodating space of a shell part is ensured, the large-area waist stress is also provided, and the upper part of the backrest frame is used for installing a flexible binding belt; the adjustment plate connects all the shelves.

Referring to fig. 6, the housing assembly 33 includes a front housing 19, a rear housing 18, a left driving board mounting plate 25, a right driving board mounting plate 24, a left driving board 30, a right driving board 31, a switch board 23, a main control board 26, a battery board 29, an upper battery board fixing plate 28, a lower battery board fixing plate 27, the housing assembly 33 is completely engaged with the back frame 32, the rear housing 18 has a corresponding cavity designed at an upper portion thereof to accommodate the battery board, the upper battery board fixing plate 28, the lower battery board fixing plate 27 and the rear housing 18 are screwed to fix the battery board 29 in the cavity of the rear housing to accommodate the battery board, the main control board 26 is screwed to the rear housing 18 at a position below the battery board 29, the left driving board 30 and the right driving board 31 are respectively fixed to the left driving board mounting plate 25 and the right driving board mounting plate 24 in an insulating manner, the switch board 23, a left drive plate mounting plate 25 and a right drive plate mounting plate 24 are in threaded connection on the rear shell 18 and are distributed on the left side and the right side of a main control plate 26; the front shell 19 is fixed on the front of the adjusting plate through threaded connection; the front shell 19 and the rear shell 18 are screwed to enclose most of the back frame 32, and the rear shell 18 is designed in a cross shape with cutting edges. The rear case 18 is provided at an upper portion thereof with a corresponding position to accommodate a battery panel, driving boards of the left and right motors, a main control board 26, and various circuits.

Referring to fig. 7, the driving device 34 includes a motor housing 22, a servo motor 16, a motor flange 15, a flange 17, a connecting plate 7, a binding block 8, a binding 9, and a block 10, the binding 9 is provided with a port for mounting a flexible binding belt and a flexible binding belt mounted on the upper portion of the backrest frame for fixing the robot to the trunk of the human body, the motor flanges 15 are respectively fixed on the left and right sides of a back frame 32 by screw connection, the servo motor 16 is mounted on the electrode flange 15 by screw connection, the motor housing 22 is mounted on the servo motor 16 by screw connection, an opening of the motor housing 22 is directed to the back frame 32, the flange 17 is mounted on a rotary plate of the servo motor 16 by screw connection, the connecting plate 7 and the binding block 8 are mounted on the flange 17 by screw connection, the binding 9 and the binding block 8 are hinged to each other, the spacer 19 achieves axial fixation of the binding 9; the servo motor 16 transmits power to the flange 17, the connecting plate 7 and the binding cushion block 8.

Referring to fig. 8, the exoskeleton lower limb part 35 comprises a hinge a11, a hinge shaft 12, a hinge B13, a tie-up 14, a tie-up frame 20 and a knee pad 21, wherein the hinge a11 is in threaded connection with the connecting plate 7 of the driving device 34, the hinge a11 and the hinge B12 are hinged through the hinge shaft, the tie-up 14 and the tie-up frame 20 are respectively fixed on the hinge B13 through threaded connection, and the knee pad 21 is hinged on the tie-up frame 20; the exoskeleton lower limb part 35 is powered by the drive means 34, and the binding buckles 14 and knee pads 21 are used to mount flexible binding straps for securing the lower limb part to the thighs of the person.

The robot has simple and clear structural design, the complex control device is packaged in the shell, and the light material is selected under the condition of meeting the strength and movement requirements so as to realize the light weight of the robot. The robot provides the mounted position in the flexible binding area of truck, thigh, and the user separates to tie up and ties up device and robot flexible contact, and it is inseparable to dress simple and laminating, and the robot joint provides better comfort level with human joint coupling for the user. Under the drive of a corresponding control strategy, the robot can automatically assist a user in finishing assisting actions such as stooping and squatting, carrying heavy objects, carrying and walking, putting down heavy objects and the like.

The above examples are intended to further illustrate the present invention, but are not intended to limit the invention to these specific embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. A waist helping hand robot which characterized in that: comprises a back framework (32), a shell fitting (33), a driving device (34) and an outer bone lower limb part (35), wherein the back framework (32) and the shell fitting (33) are bound with the trunk of a human body through the body, the back framework (32) comprises a hip frame left upper part (3), a hip frame left lower part (4), a hip frame right upper part (5), a hip frame right lower part (6), a backrest frame, a front adjusting plate (11) and a rear adjusting plate (12), a flexible binding belt is installed on the upper part of the backrest frame, the shell fitting (33) comprises a front shell (19), a rear shell (18) and other parts, the driving device (34) comprises a left driving device and a right driving device, the left driving device and the right driving device are respectively fixed on the back framework (32) and are symmetrically distributed, the driving device (34) is positioned at two sides of the hip joint of the human body, the exoskeleton lower limb components (35) are fixedly arranged on the left side and the right side of the driving device (34).

2. The waist power assisting robot according to claim 1, characterized in that: the hip frame comprises a front adjusting plate (11), a hip frame left upper part (3), a hip frame left lower part (4), a hip frame right upper part (5), a hip frame right lower part (6), a backrest frame, a flexible binding belt, a main stressed part when the hip frame left upper part (3), the hip frame left lower part (4), the hip frame right upper part (5) and the hip frame right lower part (6) move, and is made of light aluminum materials, wherein the whole adjusting plate (1) is formed by combining the front adjusting plate (11) and the rear adjusting plate (12) through threaded connection, the hip frame left upper part (3) and the hip frame left lower part (4) are distributed in parallel and are fixed on the right side of the adjusting plate (1) through threaded connection respectively, the hip frame right upper part and the hip frame right lower part (6).

3. The waist power assisting robot according to claim 1, characterized in that: the shell accessories (33) comprise a front shell (19), a rear shell (18), a left driving plate mounting plate (25), a right driving plate mounting plate (24), a left driving plate (30), a right driving plate (31), a switch plate (23), a main control plate (26), a battery panel (29), an upper battery panel fixing plate (28) and a lower battery panel fixing plate (27), the shell accessories (33) are completely matched with the back framework (32), a corresponding cavity is designed at the upper part of the rear shell (18) to accommodate the battery panel, the upper battery panel fixing plate (28), the lower battery panel fixing plate (27) and the rear shell (18) are connected through threads to fix the battery panel (29) in the cavity for accommodating the battery panel, the main control plate (26) is connected onto the rear shell (18) through threads, the main control plate is positioned below the battery panel (29), and the left driving plate (30) and the right driving plate (31) are respectively fixed on the left driving plate mounting plate (25) and the right mounting plate (, the switch board (23) is in threaded connection with the right drive board mounting board (24), and the left drive board mounting board (25) and the right drive board mounting board (24) are in threaded connection with the rear shell (18) and distributed on the left side and the right side of the main control board (26); the front shell (19) is fixed on the front part of the adjusting plate through threaded connection; the front shell (19) and the rear shell (18) are connected through threads to enclose most of the back framework (32), and the rear shell (18) is designed into a cross shape with cutting edges and corners.

4. The waist power assisting robot according to claim 3, characterized in that: the rear case (18) is provided at the upper portion thereof with a corresponding position for accommodating a battery panel, driving plates of left and right motors, a main control board (26), and various circuits.

5. The waist power assisting robot according to claim 1, characterized in that: drive arrangement (34) are including motor casing (22), servo motor (16), motor flange (15), ring flange (17), connecting plate (7), tie-up piece cushion (8), tie-up piece (9), cushion (10), tie-up piece (9) leave the port be used for installing flexible tie-up area with the flexible tie-up area that back shelf upper portion was used for installing is fixed in human trunk with the robot, motor flange (15) are fixed respectively in the left and right sides of back skeleton (32) through threaded connection, servo motor (16) are installed on electrode flange (15) through threaded connection, motor casing (22) are installed on servo motor (16) through threaded connection, and directional back skeleton (32) of motor casing (22) opening, and ring flange (17) are installed on servo motor (16) rolling disc through threaded connection, connecting plate (7) with tie-up piece (8) are installed on ring flange (17) through threaded connection The binding piece (9) and the binding piece cushion block (8) are hinged, and the cushion block (19) realizes axial fixation of the binding piece (9); and the servo motor (16) transmits power to the flange plate (17), the connecting plate (7) and the binding piece cushion block (8).

6. The waist power assisting robot according to claim 1, characterized in that: the exoskeleton lower limb component (35) comprises a hinge A (11), a hinge shaft (12), a hinge B (13), a binding buckle (14), a binding frame (20) and a knee pad (21), wherein the hinge A (11) is in threaded connection with a connecting plate (7) of a driving device (34), the hinge A (11) and the hinge B (12) are hinged through the hinge shaft, the binding buckle (14) and the binding frame (20) are respectively fixed on the hinge B (13) through threaded connection, and the knee pad (21) is hinged on the binding frame (20); the exoskeleton lower limb part (35) is powered by a driving device (34), and the binding buckles (14) and the knee pads (21) are used for installing flexible binding belts to fix the lower limb part on the thighs of the human body.