CN112244474A - Load transfer type suspension backpack - Google Patents

Load transfer type suspension backpack Download PDF

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Publication number
CN112244474A
CN112244474A CN202011124649.6A CN202011124649A CN112244474A CN 112244474 A CN112244474 A CN 112244474A CN 202011124649 A CN202011124649 A CN 202011124649A CN 112244474 A CN112244474 A CN 112244474A
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China
Prior art keywords
backpack
hip
shoulder
module
load
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CN202011124649.6A
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Chinese (zh)
Inventor
黄剑
李小龙
曹瑜
熊蔡华
陈文斌
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Huazhong University of Science and Technology
Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology
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Huazhong University of Science and Technology
Ezhou Industrial Technology Research Institute of Huazhong University of Science and Technology
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Priority to CN202011124649.6A priority Critical patent/CN112244474A/en
Publication of CN112244474A publication Critical patent/CN112244474A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/04—Sacks or packs carried on the body by means of two straps passing over the two shoulders
    • A45F3/06—Sacks or packs carried on the body by means of two straps passing over the two shoulders specially adapted for military purposes
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C13/00—Details; Accessories
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45C—PURSES; LUGGAGE; HAND CARRIED BAGS
    • A45C13/00—Details; Accessories
    • A45C13/02—Interior fittings; Means, e.g. inserts, for holding and packing articles
    • A—HUMAN NECESSITIES
    • A45—HAND OR TRAVELLING ARTICLES
    • A45F—TRAVELLING OR CAMP EQUIPMENT: SACKS OR PACKS CARRIED ON THE BODY
    • A45F3/00—Travelling or camp articles; Sacks or packs carried on the body
    • A45F3/04—Sacks or packs carried on the body by means of two straps passing over the two shoulders
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
    • G06F2119/14—Force analysis or force optimisation, e.g. static or dynamic forces

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Purses, Travelling Bags, Baskets, Or Suitcases (AREA)

Abstract

本发明公开了一种负载转移式悬浮背包，包括：前背包机构、后背包机构，前背包机构设置在人体的前侧，后背包机构设置有人体的后侧。前背包机构、后背包机构均包括肩部减压模块、髋部负重模块、悬浮背包模块和传感控制系统，传感控制系统与髋部负重模块电连接。传感控制系统用于感知悬浮背包模块和人体的垂直方向加速度进而控制负载转移比例，传感控制系统则启动髋部负重模块，髋部负重模块驱动后带动悬浮背包模块上下移动，在降低悬浮背包模块承载动载荷的基础上将一定的肩部压力分配给髋部来减少肩部所承受的静载荷；前背包机构、后背包机构沿人体的冠状面对称放置，用于平衡背包产生的倾覆力矩，有利于减少关节和肌肉的损伤，降低人体负重行走的代谢消耗。

Figure 202011124649

The invention discloses a load transfer type suspension backpack, comprising: a front backpack mechanism and a rear backpack mechanism, the front backpack mechanism is arranged on the front side of the human body, and the rear backpack mechanism is arranged on the rear side of the human body. Both the front backpack mechanism and the rear backpack mechanism include a shoulder decompression module, a hip load bearing module, a suspension backpack module and a sensor control system, and the sensor control system is electrically connected to the hip load module. The sensor control system is used to sense the vertical acceleration of the suspension backpack module and the human body to control the load transfer ratio. The sensor control system activates the hip load-bearing module, and the hip load-bearing module drives the suspension backpack module to move up and down, and lowers the suspension backpack. On the basis of the dynamic load of the module, a certain shoulder pressure is distributed to the hip to reduce the static load on the shoulder; the front backpack mechanism and the rear backpack mechanism are placed symmetrically along the coronal plane of the human body to balance the overturning caused by the backpack The torque is beneficial to reduce the damage of joints and muscles, and reduce the metabolic consumption of human weight-bearing walking.

Figure 202011124649

Description

Load transfer type suspension backpack
Technical Field
The invention relates to the technical field of backpacks, in particular to a load transfer type suspension backpack.
Background
As a common loading tool, the backpack has a wide application in daily life and military. However, when a person walks with a heavy backpack, the cyclic stress generated by the person can stress the spine, increasing the risk of injury to the spine and skeletal muscles. From a human movement perspective, a person's walking causes vertical movement of the pelvis and upper body. When the backpack is placed against a person's back, it also experiences the same vertical movement. Therefore, in addition to the static load of the backpack itself, a dynamic load due to the periodic movement of the backpack is added between the human body and the backpack, and the peak value of the dynamic load is about 20% of the static load. In order to reduce the magnitude of the dynamic load and thus the shoulder pressure when the person walks in a backpack, many people have conducted a series of studies, such as: CN107549983B proposes a pressure relief backpack, which utilizes a pressure relief assembly composed of a spring mechanism as a buffer between the backpack and the human body, and the replaceable spring mechanism can adapt to different load requirements, thereby effectively reducing the dynamic load of the shoulder.
But a floating backpack using springs as connectors can only reduce the dynamic load. In the military field, the industrial field and other fields, the static load becomes a limiting factor of the heavy load walking under the condition that the human body needs to bear the heavy load to walk. In addition, since the walking speed of a person is variable, when the spring stiffness is not properly selected, the shoulder pressure of the person can be reduced, but the metabolic consumption during weight-bearing walking is increased. Therefore, the simple suspension backpack is difficult to be applied to heavy load carrying occasions.
In addition, most backpacks on the market are in the form of single backpacks at the back, although the backpacks have the advantages of convenient wearing, wide applicability and the like, the single-side backpacks and the mass center of the human body are not collinear in the vertical direction, so that the backpacks can apply a lateral overturning moment to the human body. Therefore, the human body needs to incline the body to adjust the position of the integral mass center in addition to overcoming the gravity of the backpack to do work, which brings extra metabolic consumption to the human body and also limits the bearable mass of the human body.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
To at least partially solve the above problems, the present invention provides a load transfer type floating backpack, comprising:
the backpack comprises a front backpack mechanism and a back backpack mechanism, wherein the front backpack mechanism is arranged on the front side of a human body, the back backpack mechanism is arranged on the back side of the human body, the front backpack mechanism and the back backpack mechanism respectively comprise a shoulder pressure reducing module, a hip load module, a suspension backpack module and a sensing control system, the sensing control system is electrically connected with the hip load module, the hip load module is used for driving the suspension backpack module, the suspension backpack module is movably connected with the shoulder pressure reducing module, the two shoulder pressure reducing modules are detachably connected, and the two hip load modules are detachably connected.
The equivalent rigidity between the hip load module and the suspension backpack module is adjusted, so that the load distribution algorithm is applied to adjust the load pressure distribution proportion of the shoulder and the hip, and the effect of transferring the shoulder pressure to the hip is achieved.
Preferably, the hip weight module comprises a hip back plate, a motor support, a motor, a coupling, a ball screw support, a screw and a slider;
the motor support is arranged at the lower end of the hip backboard and faces away from a human body, the motor is arranged on the motor support and is electrically connected with the sensing control system, the ball screw support is arranged on the hip backboard and is positioned above the motor, a screw rod and a sliding block are arranged in the ball screw support, the sliding block is screwed on the screw rod and is connected with the suspension backpack module, the lower end of the screw rod penetrates out of the lower end of the ball screw support and is rotatably connected with the motor through the coupler, and the two hip backboards are detachably connected.
Preferably, the suspension backpack module comprises a backpack body, a backpack back plate, a shoulder fixing support, a first support seat, a first cylindrical guide rod, a first guide rod bracket and a hip spring;
the backpack back plate is arranged on the inner surface of the backpack body, the two shoulder fixing supports are arranged on the upper portion of the backpack back plate at intervals, the first supporting seat and the first guide rod bracket are both arranged on the backpack back plate and located below the shoulder fixing supports, the two shoulder fixing supports are respectively connected with the shoulder pressure reducing module in a sliding mode, the first guide rod bracket is located below the first supporting seat, the first cylindrical guide rod is arranged between the first supporting seat and the first guide rod bracket and connected with the sliding block, and the hip spring is sleeved on the first cylindrical guide rod and located above the sliding block.
Preferably, the sensing control system comprises two acceleration sensors, a pressure sensor, a central control board, a motor driving board, a battery and a battery bracket;
the battery support is arranged on the hip back plate and located on one side of the ball screw support, the battery is arranged in the battery support, the motor driving plate, the central control plate and one of the acceleration sensors are arranged on the hip back plate and located on the other side of the ball screw support, the other acceleration sensor is arranged on the backpack back plate, one of the acceleration sensors is located above the central control plate, the pressure sensor is arranged on the sliding block, the central control plate is respectively and electrically connected with the battery, the acceleration sensor, the pressure sensor and the motor driving plate, and the motor driving plate is electrically connected with the motor.
Preferably, wherein the shoulder pressure reduction module comprises a shoulder back plate, two support sets and a shoulder spring;
the support group comprises a second support seat, a second cylindrical guide rod and a second guide rod support, the second support seat and the second guide rod support are arranged on the shoulder back plate, the second cylindrical guide rod is arranged between the second support seat and the second guide rod support, the shoulder fixing support is in sliding connection with the second cylindrical guide rod, the shoulder spring is sleeved on the second cylindrical guide rod and abuts against the shoulder fixing support, and the shoulder back plate is detachably connected with the shoulder fixing support.
Preferably, the two hip back plates are detachably connected through a hip fixing belt, a first jack is arranged on each hip back plate, a first plug is arranged at the end of each hip fixing belt, and the first plug is plugged with the first jack.
Preferably, the two shoulder back plates are detachably connected through a shoulder fixing band, a plurality of second jacks are arranged on the shoulder back plates, a second plug is arranged at the end of the shoulder fixing band, and the second plug is plugged with the second jacks.
The invention also provides a load distribution algorithm for adjusting the load transfer type suspension backpack, which comprises the following steps:
on the basis that the ball screw driven by the motor has the function of changing rigidity, the backpack and the human body are connected with the hip through two springs at the shoulder partThe hip equivalent spring has the same equivalent displacement as the original spring. The two springs on the shoulder are fixed at two ends and have definite rigidity, so the two springs can be equivalently regarded as the rigidity k1Damping is c1A spring of (2). If the relative displacement of the backpack and the mass center of the human body is v-x, the relative speed is
Figure BDA0002733193740000041
The pressures acting on the shoulder and hip are then respectively:
Figure BDA0002733193740000042
when the stiffness of the linear spring is chosen to be much greater than the damping, the pressure distribution is mainly related to the spring stiffness,
Figure BDA0002733193740000043
therefore, k is adjusted during walking through the variable rigidity effect of the ball screw driven by the motor2Can adjust the pressure distribution of the hip and the shoulder according to the preset proportion.
Compared with the prior art, the invention at least comprises the following beneficial effects:
1. the invention provides a load transfer type suspension backpack which comprises a front backpack mechanism and a back backpack mechanism, wherein the front backpack mechanism and the back backpack mechanism are identical in structure and comprise a shoulder pressure reducing module, a hip load bearing module, a suspension backpack module and a sensing control system; the sensing control system is used for sensing the acceleration of a backpack body and a human body in the suspension backpack module so as to control the load transfer proportion, and the sensing control system starts the hip load module, drives the suspension backpack module to move up and down after being driven by the hip load module, and distributes certain shoulder pressure to the hip on the basis of reducing the dynamic load of the suspension backpack module so as to reduce the static load borne by the shoulders; the front backpack mechanism and the back backpack mechanism are symmetrically arranged along the coronal plane of a human body and are used for balancing overturning moment generated by the backpack, so that the damage to joints and muscles is reduced, and the metabolic consumption of weight-bearing walking of the human body is reduced.
2. The invention also provides a load distribution algorithm for adjusting the load transfer type suspension backpack, which can change the rigidity of the spring under the condition of not replacing the hip spring. Aiming at different walking speeds and load weights of the human body, the algorithm can adaptively transfer the shoulder load pressure of a certain proportion to the hip, so that the metabolic consumption of the human body in the weight-bearing walking process is reduced, and the effect of reducing the dynamic pressure of the shoulder by the suspension backpack is kept.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a human body side structure of an embodiment of the present invention.
Fig. 2 is a schematic view of a backpack-side structure of an embodiment of the present invention.
Fig. 3 is a schematic structural view of the front and rear double backpacks connected according to the embodiment of the invention.
Fig. 4 is a schematic view of the front and rear backpack of the present invention when connected.
Fig. 5 is a schematic view of the front backpack when attached according to an embodiment of the present invention.
Figure 6 is a schematic view of the backpack of an embodiment of the present invention when attached for wearing.
FIG. 7 is a diagram illustrating relative displacement relationships between components according to an embodiment of the present invention.
Figure 8 is an equivalent schematic of a ball screw and hip spring of an embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1-8, the present invention provides a load transfer type floating backpack, comprising:
the backpack comprises a front backpack mechanism 100 and a back backpack mechanism 200, wherein the front backpack mechanism 100 is arranged on the front side of a human body 300, the back backpack mechanism 200 is arranged on the back side of the human body 300, the front backpack mechanism 100 and the back backpack mechanism 200 respectively comprise a shoulder pressure reducing module 23, a hip weight module 24, a suspension backpack module 25 and a sensing control system, the sensing control system is electrically connected with the hip weight module 24, the hip weight module 24 is used for driving the suspension backpack module 25, the suspension backpack module 25 is movably connected with the shoulder pressure reducing module 23, the two shoulder pressure reducing modules 23 are detachably connected, and the two hip weight modules 24 are detachably connected;
wherein, the load distribution algorithm is applied to adjust the load pressure distribution proportion of the shoulder and the hip by adjusting the equivalent rigidity between the hip load module 24 and the suspension backpack module 25, so as to realize the effect of transferring the shoulder pressure to the hip.
The working principle of the technical scheme is as follows: the invention provides a load transfer type suspension backpack, which comprises a front backpack mechanism 100 and a back backpack mechanism 200, wherein the structures of the front backpack mechanism 100 and the back backpack mechanism are the same, and the load transfer type suspension backpack comprises a shoulder pressure reducing module 23, a hip load bearing module 24, a suspension backpack module 25 and a sensing control system; specifically, when the user uses the front and back backpack mechanisms 100, 200, which are placed on the shoulders of the human body 300, such that the front and back backpack mechanisms 100, 200 are symmetrically placed along the coronal plane of the human body 300, the two shoulder pressure reduction modules 23 are connected, and then the two hip weight modules 24 are connected, such that the front and back backpack mechanisms 100, 200 are fixed on the human body 300; in the walking process of a user, the shoulder pressure reducing module 23 and the hip load bearing module 24 are used for bearing the suspension backpack module 25, the sensing control system is used for sensing the acceleration of the backpack body and the human body 300 in the suspension backpack module 25 so as to control the load transfer proportion, the sensing control system starts the hip load bearing module 24, the hip load bearing module 24 drives the suspension backpack module 25 to move up and down after being driven, the pressure of the suspension backpack module 25 on shoulders is distributed to the hips, and the static load of the shoulders is reduced. That is, the effect of transferring shoulder pressure to the hip is achieved by adjusting the equivalent stiffness between the hip weight module 24 and the suspension backpack module 25, thereby adjusting the load pressure distribution ratio of the shoulder and hip via the load distribution algorithm.
The front and back rucksack mechanisms 100 and 200 may be used independently.
The beneficial effects of the above technical scheme are that: through the design of the structure, the invention provides a load transfer type suspension backpack, which comprises a front backpack mechanism 100 and a back backpack mechanism 200, wherein the structures of the front backpack mechanism 100 and the back backpack mechanism are the same, and the load transfer type suspension backpack comprises a shoulder pressure reducing module 23, a hip load bearing module 24, a suspension backpack module 25 and a sensing control system; the sensing control system is used for sensing the acceleration of the backpack body in the suspension backpack module 25 and the human body 300 so as to control the load transfer proportion, the sensing control system starts the hip load module 24, the hip load module 24 drives the suspension backpack module 25 to move up and down after driving, and certain shoulder pressure is distributed to the hip on the basis of reducing the dynamic load carried by the suspension backpack module 25 so as to reduce the static load carried by the shoulders; the front backpack mechanism 100 and the back backpack mechanism 200 are symmetrically arranged along the coronal plane of the human body 300 and are used for balancing the overturning moment generated by the backpack, so that the damage to joints and muscles is reduced, and the metabolic consumption of the human body in load walking is reduced.
In one embodiment, the hip weight module 24 includes a hip back plate 4, a motor mount 7, a motor 6, a coupling 14, a ball screw mount 9, a screw 11, and a slider 12;
the motor support 7 is arranged at the lower end of the hip back plate 4 and faces away from a human body, the motor 6 is arranged on the motor support 7 and is electrically connected with the sensing control system, the ball screw support 9 is arranged on the hip back plate 4 and is positioned above the motor 6, a screw 11 and a slide block 12 are arranged in the ball screw support 9, the slide block 12 is screwed on the screw 11 and is connected with the suspended backpack module 25, the lower end of the screw 11 penetrates out of the lower end of the ball screw support 9 and is rotatably connected with the motor 6 through a coupling 14, and the two hip back plates 4 are detachably connected.
The working principle of the technical scheme is as follows: the present embodiment provides a structure for hip weight-bearing module 24, hip weight-bearing module 24 being used to carry the pressure generated by suspended backpack module 25 at the hip location of human body 300; specifically, the hip weight module 24 comprises a hip back plate 4, a motor support 7, a motor 6, a coupling 14, a ball screw support 9, a screw 11 and a slider 12; during the use, the user installs hip backplate 4 at the hip, and sensing control system then perception suspension knapsack module 25 and the acceleration of human 300 and then control load transfer proportion when walking, and sensing control system driving motor 6 rotates, and motor 6 then drives the lead screw 11 rotation in the ball screw support 9 through shaft coupling 14, and then makes slider 12 carry out the removal from top to bottom on lead screw 11 and along ball screw support 9, and then drives suspension knapsack module 25 and also reciprocates to change suspension knapsack module 25's position.
That is, the equivalent stiffness between the hip weight module 24 and the suspension backpack module 25 is adjusted by the variable stiffness action of the lead screw 11 driven by the motor 6, so that the load pressure distribution ratio of the shoulder and the hip is adjusted by the load distribution algorithm, and the effect of transferring the shoulder pressure to the hip is achieved.
The beneficial effects of the above technical scheme are that: through the design of the structure, the embodiment provides a specific structure of the hip weight bearing module 24, and the hip weight bearing module 24 comprises the hip back plate 4, the motor support 7, the motor 6, the coupler 14, the ball screw support 9, the screw 11 and the slider 12, so that a certain shoulder pressure can be distributed to the hip on the basis of reducing the dynamic load of the suspension backpack module 25 to reduce the static load of the shoulders.
In one embodiment, the suspension backpack module 25 includes a backpack body 15, a backpack back panel 21, a shoulder fixing mount 16, a first support mount 3, a first cylindrical guide rod 2, a first guide rod bracket 1, and a hip spring 29;
the backpack back plate 21 is disposed on the inner surface of the backpack body 15, the two shoulder fixing supports 16 are disposed on the backpack back plate 21 at intervals, the first support seat 3 and the first guide rod bracket 1 are both disposed on the backpack back plate 21 and located below the shoulder fixing supports 16, the two shoulder fixing supports 16 are respectively connected with the shoulder pressure reducing module 23 in a sliding manner, the first guide rod bracket 1 is located below the first support seat 3, the first cylindrical guide rod 2 is disposed between the first support seat 3 and the first guide rod bracket 1, the first cylindrical guide rod 2 is connected with the slider 12, and the hip spring 29 is sleeved on the first cylindrical guide rod 2 and located above the slider 12.
The working principle of the technical scheme is as follows: the present embodiment provides a structure of a suspension backpack module 25, specifically, the suspension backpack module 25 includes a backpack body 15, a backpack back plate 21, a shoulder fixing support 16, a first support seat 3, a first cylindrical guide rod 2, a first guide rod bracket 1, and a hip spring 29; the backpack body 15 is mounted on a backpack back plate 21, and the backpack back plate 21 provides bearing for the backpack body 15; the slide block 12 in the hip load bearing module 24 is connected with the first cylindrical guide rod 2, so when the slide block 12 moves up and down on the screw rod 11 and along the ball screw support 9, the slide block 12 moves on the first cylindrical guide rod 2, the first guide rod support 1 is connected between the first support seat 3 and the first guide rod support 1, the hip spring 29 on the first guide rod support 1 is propped against the slide block 12, and because the shoulder fixing support 16 is in sliding connection with the shoulder pressure reducing module 23, when the slide block 12 presses the hip spring 29 upwards, the hip spring 29 and the first support seat 3 are pushed to push the backpack back plate 21 and the backpack body 15 upwards; while also varying the length of hip spring 29.
The beneficial effects of the above technical scheme are that: through the design of the structure, the embodiment provides a specific structure of the suspension backpack module 25, the suspension backpack module 25 includes a backpack body 15, a backpack back plate 21, a shoulder fixing support 16, a first support seat 3, a first cylindrical guide rod 2, a first guide rod support 1 and a hip spring 29, and is used in cooperation with the shoulder pressure reducing module 23 and the hip weight bearing module 24 to further distribute the shoulder pressure of the suspension backpack module 25 to the hip to reduce the static load of the shoulder
In one embodiment, the sensing control system comprises two acceleration sensors 10, a pressure sensor, a central control board 13, a motor driving board, a battery and a battery bracket 5;
the battery support 5 is disposed on the hip back plate 4 and located on one side of the ball screw support 9, the battery is disposed in the battery support 5, the motor drive board, the central control board 13, one of the acceleration sensors 10 is disposed on the hip back plate 4 and located on the other side of the ball screw support 9, the other acceleration sensor 10 is disposed on the backpack back plate 21, one of the acceleration sensors 10 is located above the central control board 13, the pressure sensor is disposed on the slider 12, the central control board 13 is electrically connected to the battery, the acceleration sensors 10, the pressure sensors, and the motor drive board, respectively, and the motor drive board is electrically connected to the motor 6.
The working principle of the technical scheme is as follows: the embodiment provides a structure of a sensing control system, which comprises two acceleration sensors 10, a pressure sensor, a central control board 13, a motor drive board, a battery and a battery bracket 5; specifically, a battery (not shown) is mounted in the battery holder 5, and the battery holder 5 provides protection for the battery; one acceleration sensor 10 is mounted on the hip back plate 4 and used for acquiring the acceleration of the mass center of the human body 300, the other acceleration sensor 10 is mounted on the backpack back plate 21 and used for measuring the acceleration of the mass center of the backpack, the pressure sensor is mounted on the sliding block 12 and used for acquiring the pressure of the suspension backpack module 25 on the sliding block 12 and transmitting the values to the central control board 13, the central control board 13 controls the motor 6 through a motor driving board (not shown) to drive the screw rod 11 to realize the variable stiffness effect so as to change the equivalent stiffness of the hip spring 29, and the load distribution proportion of the hip and the shoulder is changed by adopting a load distribution algorithm, so that the static load and the dynamic load of the suspension backpack module 25 on the shoulder of the human body are reduced, and.
The beneficial effects of the above technical scheme are that: through the design of above-mentioned structure, provided the concrete structure of sensing control system in this embodiment, this sensing control system includes two acceleration sensor 10, pressure sensor, central control board 13, motor drive board, battery and battery holder 5, further reduces suspension knapsack module 25 to human shoulder static load and dynamic load, and then the metabolism when reducing the human heavy burden walking consumes.
In one embodiment, the shoulder pressure reduction module 23 comprises a shoulder back plate 19, two support groups, and a shoulder spring 8;
the support group comprises a second support seat 30, a second cylindrical guide rod 31 and a second guide rod support 32, the second support seat 30 and the second guide rod support 32 are arranged on the shoulder back plate 19, the second cylindrical guide rod 31 is arranged between the second support seat 30 and the second guide rod support 32, the shoulder fixing support 16 is in sliding connection with the second cylindrical guide rod 31, the shoulder spring 8 is sleeved on the second cylindrical guide rod 31 and abuts against the shoulder fixing support 16, and the two shoulder back plates 19 are detachably connected.
The working principle of the technical scheme is as follows: the present embodiment provides a structure of the shoulder pressure reduction module 23, the shoulder pressure reduction module 23 is used for bearing the pressure generated by the suspended backpack module 25 at the shoulder position of the human body 300; specifically, the shoulder pressure reducing module 23 includes a shoulder back plate 19, two support groups and a shoulder spring 8, wherein the support groups include a second support seat 30, a second cylindrical guide rod 31 and a second guide rod bracket 32; when in use, the two shoulder back plates 19 can be connected, the shoulder fixing support 16 is connected on the second cylindrical guide rod 31 in a sliding mode, the shoulder spring 8 abuts against the shoulder fixing support 16, and the whole shoulder back plate 19 provides load bearing for the suspension backpack module 25; the shoulder springs 8 cooperate with the hip springs 29 to provide resilient support for the entire suspension backpack module 25, and the equivalent deflection of the two is the same, thereby achieving the transfer of pressure of the suspension backpack module 25 against the shoulders of the person 300 to the hips.
The beneficial effects of the above technical scheme are that: through the design of the structure, the embodiment provides a specific structure of the shoulder pressure reduction module 23, and the shoulder pressure reduction module 23 includes a shoulder back plate 19, two support groups and a shoulder spring 8, where the support groups include a second support seat 30, a second cylindrical guide rod 31 and a second guide rod bracket 32; the shoulder springs 8 cooperate with the hip springs 29 to provide resilient support for the entire suspension backpack module 25, and the equivalent deflection of the two is the same, thereby achieving the transfer of pressure of the suspension backpack module 25 against the shoulders of the person 300 to the hips.
In one embodiment, the two hip back plates 4 are detachably connected through a hip fixing belt 18, a first jack 33 is arranged on the hip back plate 4, and a first plug is arranged at the end of the hip fixing belt 18 and is plugged into the first jack 33.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, a first insertion hole 33 is formed on the hip back plate 4, and a first plug (not shown) is disposed at an end of the hip fixing strap 18, and the first plug can be inserted into the first insertion hole 33, so that the two hip back plates 4 are detachably connected through the hip fixing strap 18.
In one embodiment, the two shoulder back plates 19 are detachably connected through a shoulder fixing strip 17, a plurality of second insertion holes 34 are formed in the shoulder back plates 19, and a second plug is arranged at the end of the shoulder fixing strip 17 and is inserted into the second insertion holes 34.
The working principle and the beneficial effects of the technical scheme are as follows: in this embodiment, the shoulder back plates 19 are provided with a plurality of second insertion holes 34, the end portions of the shoulder fixing straps 17 are provided with second plugs (not shown), and the second plugs can be inserted into the second insertion holes 34, so that the two shoulder back plates 19 are detachably connected through the shoulder fixing straps 17, the structure is simple, and the use by a user is convenient;
when carrying a heavy object with a small volume, the user has better flexibility when using the front backpack mechanism 100 or the backpack mechanism 200 independently; the shoulder fixing belt 17 is adopted to respectively connect the shoulder back plate 19 and the hip back plate 4 through the first insertion hole 33 and the second insertion hole 34; alternatively, the first insertion hole 33 and the second insertion hole 34 of the hip fixing belt 18 are respectively used for connecting the shoulder back plate 19 and the hip back plate 4.
The invention also provides a load distribution algorithm for adjusting the load transfer type suspension backpack, which comprises the following specific steps:
the variable stiffness effect of the screw rod 11 driven by the motor 6 is specifically analyzed as follows:
as shown in fig. 7, the hip spring 29 is not fixed at both ends, one end of the hip spring is driven by the screw rod 11 to move linearly, the displacement of the hip spring relative to the mass center of the human body is S, and the other end of the hip spring is fixed on the hip backboard 4; simultaneously hip spring 29 itself also can produce deformation under knapsack body 15 pressure, and its deformation volume is u, and the relative displacement of human body barycenter relative to ground and knapsack body 15 barycenter relative to ground is x and v respectively, so has:
v＝x+s+u
Figure BDA0002733193740000111
as shown in figure 8, the portion of the screw 11 connected to the hip spring 29 and the other end of the backpack are fixed, if they are considered as one with both ends fixed at points A and B, and have a stiffness kmDamping is cmThe stiffness and the damping of the equivalent spring are changed along with time, so that the original spring and the equivalent spring are subjected to forces with equal magnitude and same direction at the point A at any time, and then:
Figure BDA0002733193740000112
since the damping has less influence on the load pressure distribution, c can be made cmNamely, the equivalent spring damping is the same as the original spring damping, and at the moment:
Figure BDA0002733193740000113
it can be seen that for any one slider displacement S, kmWill change accordingly to make the above equation true. If will kmThe deformation u of the hip spring 29 corresponding to the fixed value is obtained, namely the above formula is satisfied by controlling and adjusting S, so that the rigidity k can be artificially setmThe equivalent spring of (2) and then make lead screw and spring have the variable stiffness effect under the regulation of sensing control system.
Since the amount of deformation of hip spring 29 is difficult to measure, and therefore needs to be translated into other measurable quantities, the relative displacement and relative velocity relationships can be derived by substituting the above equation for S:
Figure BDA0002733193740000114
wherein, the speed of the backpack body can be obtained by the acceleration sensor 10
Figure BDA0002733193740000115
The human body mass center speed can be obtained through the human body mass center acceleration sensor 10
Figure BDA0002733193740000116
F can be obtained by a pressure sensor of the hip spring 29Press and press。
Under the above conditions, the compound at k can be obtainedmUnder the condition of a fixed value, the motion equation of the slide block enables the screw rod 11 driven by the motor 6 to have the function of changing rigidity.
The specific analysis for the load distribution algorithm is as follows:
as can be seen from fig. 8, on the basis of the variable stiffness effect of the screw 11 driven by the motor 6, the backpack body 15 and the human body are connected together by two shoulder springs 9 and a hip equivalent spring, wherein the hip equivalent spring has the same equivalent displacement as the original spring. The shoulder spring 8 is fixed at two ends and has certain rigidity, so the equivalent can be regarded as a steelDegree k1Damping is c1A spring of (2). If the relative displacement between the backpack body 15 and the human body mass center is v-x, the relative velocity is
Figure BDA0002733193740000121
The pressures acting on the shoulder and hip are then respectively:
Figure BDA0002733193740000122
when the stiffness of the linear spring is chosen to be much greater than the damping, the pressure distribution is mainly related to the spring stiffness,
Figure BDA0002733193740000123
therefore, k is adjusted during walking through the variable rigidity effect of the screw rod 11 driven by the motor 62Can adjust the pressure distribution of the hip and the shoulder according to the preset proportion.
The advantage of this approach is the ability to vary the stiffness between the body and the backpack without replacing the hip springs. Aiming at different walking speeds and load weights of the human body, the shoulder load pressure in a certain proportion can be adaptively transferred to the hip, the metabolic consumption in the weight-bearing walking process of the human body is reduced, and the function of reducing the dynamic pressure of the shoulder by the suspension backpack is kept.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
While embodiments of the invention have been disclosed above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (8)

1.一种负载转移式悬浮背包，其特征在于，包括：1. a load transfer type suspension backpack, is characterized in that, comprises: 前背包机构(100)、后背包机构(200)，所述前背包机构(100)设置在人体(300)的前侧，所述后背包机构(200)设置在人体(300)的后侧，所述前背包机构(100)、所述后背包机构(200)均包括肩部减压模块(23)、髋部负重模块(24)、悬浮背包模块(25)和传感控制系统，所述传感控制系统与所述髋部负重模块(24)电连接，所述髋部负重模块(24)用于驱动所述悬浮背包模块(25)，所述悬浮背包模块(25)与所述肩部减压模块(23)可动连接，两个所述肩部减压模块(23)之间可拆卸连接，两个所述髋部负重模块(24)之间可拆卸连接；a front backpack mechanism (100) and a rear backpack mechanism (200), the front backpack mechanism (100) is arranged on the front side of the human body (300), and the rear backpack mechanism (200) is arranged on the rear side of the human body (300), The front backpack mechanism (100) and the rear backpack mechanism (200) each include a shoulder decompression module (23), a hip weight-bearing module (24), a suspension backpack module (25) and a sensor control system, and the The sensor control system is electrically connected to the hip weight-bearing module (24), the hip weight-bearing module (24) is used to drive the suspension backpack module (25), and the suspension backpack module (25) is connected to the shoulders The top decompression modules (23) are movably connected, the two shoulder decompression modules (23) are detachably connected, and the two hip load-bearing modules (24) are detachably connected; 其中，通过调节髋部负重模块(24)与悬浮背包模块(25)之间的等效刚度，从而通过负载分配算法调节肩部和髋部的负载压力分配比例，实现将肩部压力转移到髋部的效果。Among them, by adjusting the equivalent stiffness between the hip load-bearing module (24) and the suspension backpack module (25), the load distribution algorithm is used to adjust the load pressure distribution ratio between the shoulder and the hip, and the shoulder pressure is transferred to the hip. Department effect. 2.根据权利要求1所述的负载转移式悬浮背包，其特征在于，所述髋部负重模块(24)包括髋部背板(4)、电机支座(7)、电机(6)、联轴器(14)、滚珠丝杆支座(9)、丝杆(11)以及滑块(12)；2. The load-transfer type suspension backpack according to claim 1, wherein the hip weight-bearing module (24) comprises a hip backboard (4), a motor support (7), a motor (6), a coupling A shaft (14), a ball screw support (9), a screw (11) and a slider (12); 所述电机支座(7)设置在所述髋部背板(4)的下端并背向人体，所述电机(6)设置在所述电机支座(7)上并与所述传感控制系统电连接，所述滚珠丝杆支座(9)设在所述髋部背板(4)上并位于所述电机(6)的上方，所述滚珠丝杆支座(9)内设置有丝杆(11)、滑块(12)，所述滑块(12)螺接在所述丝杆(11)上并连接所述悬浮背包模块(25)，并且所述丝杆(11)的下端穿出所述滚珠丝杆支座(9)的下端并通过所述联轴器(14)与所述电机(6)转动连接，两个所述髋部背板(4)之间可拆卸连接。The motor support (7) is arranged at the lower end of the hip backboard (4) and faces away from the human body, and the motor (6) is arranged on the motor support (7) and is controlled with the sensor The system is electrically connected, the ball screw support (9) is arranged on the hip back plate (4) and is located above the motor (6), and the ball screw support (9) is provided with a A lead screw (11) and a slider (12), the slider (12) is screwed on the lead screw (11) and connected to the suspension backpack module (25), and the lead screw (11) is The lower end passes through the lower end of the ball screw support (9) and is rotatably connected to the motor (6) through the coupling (14), and the two hip backboards (4) are detachable connect. 3.根据权利要求2所述的负载转移式悬浮背包，其特征在于，所述悬浮背包模块(25)包括背包本体(15)、背包背板(21)、肩部固定支座(16)、第一支撑座(3)、第一圆柱导杆(2)、第一导杆支架(1)以及髋部弹簧(29)；3. The load transfer type suspension backpack according to claim 2, wherein the suspension backpack module (25) comprises a backpack body (15), a backpack backboard (21), a shoulder fixing support (16), a first support seat (3), a first cylindrical guide rod (2), a first guide rod bracket (1) and a hip spring (29); 所述背包背板(21)设置在所述背包本体(15)的内表面上，所述肩部固定支座(16)处有两个并间隔地设置在所述背包背板(21)的上部，所述第一支撑座(3)、所述第一导杆支架(1)均设置在所述背包背板(21)上并位于所述肩部固定支座(16)的下方，两个所述肩部固定支座(16)分别与所述肩部减压模块(23)滑动连接，所述第一导杆支架(1)位于所述第一支撑座(3)的下方，所述第一圆柱导杆(2)设置在所述第一支撑座(3)、所述第一导杆支架(1)之间，并且所述第一圆柱导杆(2)与所述滑块(12)连接，所述髋部弹簧(29)套设在所述第一圆柱导杆(2)上并位于所述滑块(12)的上方。The backpack backboard (21) is arranged on the inner surface of the backpack body (15), and two shoulder fixing supports (16) are arranged at intervals on the backboard of the backpack (21). In the upper part, the first support seat (3) and the first guide rod bracket (1) are both arranged on the backpack backboard (21) and below the shoulder fixing support (16). Each of the shoulder fixing supports (16) is respectively slidably connected with the shoulder decompression module (23), and the first guide rod bracket (1) is located below the first support seat (3), so The first cylindrical guide rod (2) is arranged between the first support seat (3) and the first guide rod bracket (1), and the first cylindrical guide rod (2) is connected to the slider (12) Connection, the hip spring (29) is sleeved on the first cylindrical guide rod (2) and located above the slider (12). 4.根据权利要求2所述的负载转移式悬浮背包，其特征在于，所述传感控制系统包括两个加速度传感器(10)、压力传感器、中央控制板(13)、电机驱动板、电池以及电池支架(5)；4. The load transfer type suspension backpack according to claim 2, characterized in that the sensing control system comprises two acceleration sensors (10), a pressure sensor, a central control board (13), a motor drive board, a battery and battery holder (5); 所述电池支架(5)设置在所述髋部背板(4)上并位于所述滚珠丝杆支座(9)的一侧，所述电池设置在所述电池支架(5)内，所述电机驱动板、所述中央控制板(13)、其中一个所述加速度传感器(10)设置在所述髋部背板(4)上并位于所述滚珠丝杆支座(9)的另一侧，另一个所述加速度传感器(10)设置在所述背包背板(21)上，其中一个所述加速度传感器(10)位于所述中央控制板(13)的上方，所述压力传感器设置在所述滑块(12)上，所述中央控制板(13)分别与所述电池、所述加速度传感器(10)、所述压力传感器、所述电机驱动板电连接，所述电机驱动板与所述电机(6)电连接。The battery bracket (5) is arranged on the hip back plate (4) and is located on one side of the ball screw support (9), and the battery is arranged in the battery bracket (5), so The motor drive board, the central control board (13), and one of the acceleration sensors (10) are arranged on the hip backboard (4) and located on the other side of the ball screw support (9). side, another acceleration sensor (10) is arranged on the backpack back panel (21), one of the acceleration sensors (10) is located above the central control panel (13), and the pressure sensor is arranged at On the slider (12), the central control board (13) is respectively electrically connected to the battery, the acceleration sensor (10), the pressure sensor, and the motor drive board, and the motor drive board is connected to the battery, the acceleration sensor (10), the pressure sensor and the motor drive board. The motor (6) is electrically connected. 5.根据权利要求3所述的负载转移式悬浮背包，其特征在于，所述肩部减压模块(23)包括肩部背板(19)、两个支撑组以及肩部弹簧(8)；5. The load transfer type suspension backpack according to claim 3, wherein the shoulder decompression module (23) comprises a shoulder backboard (19), two support groups and a shoulder spring (8); 所述支撑组包括第二支撑座(30)、第二圆柱导杆(31)、第二导杆支架(32)，所述第二支撑座(30)、所述第二导杆支架(32)设置在肩部背板(19)上，所述第二圆柱导杆(31)设置在所述第二支撑座(30)、所述第二导杆支架(32)之间，所述肩部固定支座(16)与所述第二圆柱导杆(31)滑动连接，所述肩部弹簧(8)套接在所述第二圆柱导杆(31)上并抵顶所述肩部固定支座(16)，两个所述肩部背板(19)之间可拆卸连接。The support group comprises a second support seat (30), a second cylindrical guide rod (31), a second guide rod bracket (32), the second support seat (30), the second guide rod bracket (32) ) is arranged on the shoulder back plate (19), the second cylindrical guide rod (31) is arranged between the second support seat (30) and the second guide rod bracket (32), the shoulder The fixed support (16) is slidably connected with the second cylindrical guide rod (31), and the shoulder spring (8) is sleeved on the second cylindrical guide rod (31) and abuts against the shoulder The fixed support (16) is detachably connected between the two shoulder backboards (19). 6.根据权利要求2所述的负载转移式悬浮背包，其特征在于，两个所述髋部背板(4)之间通过髋部固定带(18)可拆卸连接，所述髋部背板(4)上设置有第一插孔(33)，所述髋部固定带(18)的端部设置有第一插头，所述第一插头与所述第一插孔(33)插接。6. The load-transfer type suspension backpack according to claim 2, wherein the two hip backboards (4) are detachably connected by a hip fixing strap (18), and the hip backboards (4) A first jack (33) is provided on the top, and the end of the hip fixing band (18) is provided with a first plug, and the first plug is inserted into the first jack (33). 7.根据权利要求5所述的负载转移式悬浮背包，其特征在于，两个所述肩部背板(19)之间通过肩部固定带(17)可拆卸连接，所述肩部背板(19)上设置有多个第二插孔(34)，所述肩部固定带(17)的端部设置有第二插头，所述第二插头与所述第二插孔(34)插接。7. The load transfer type suspension backpack according to claim 5, wherein the two shoulder backboards (19) are detachably connected by a shoulder fixing strap (17), the shoulder backboards (19) is provided with a plurality of second jacks (34), the end of the shoulder fixing belt (17) is provided with a second plug, and the second plug is inserted into the second jack (34) catch. 8.一种调节负载转移式悬浮背包的负载分配算法，其特征在于，8. A load distribution algorithm for adjusting a load transfer type suspension backpack, characterized in that, 在电机驱动的滚珠丝杆具有变刚度作用的基础上，背包和人体是通过肩部两根弹簧和髋部一根等效弹簧连接在一起，其中髋部等效弹簧具有和原弹簧相同的等效位移。肩部两弹簧由于两端固定且刚度确定，因此可将其等效看作刚度为k1，阻尼为c1的一根弹簧。若背包和人体质心的相对位移为v-x，相对速度为
Figure FDA0002733193730000031
那么作用在肩部和髋部的压力分别为：On the basis of the variable stiffness effect of the motor-driven ball screw, the backpack and the human body are connected together by two springs at the shoulder and one equivalent spring at the hip, wherein the equivalent spring at the hip has the same etc. effective displacement. Since the two springs at the shoulder are fixed at both ends and their stiffness is determined, they can be equivalently regarded as one spring with stiffness k 1 and damping c 1 . If the relative displacement of the knapsack and the center of mass of the body is vx, the relative velocity is
Figure FDA0002733193730000031
Then the pressures acting on the shoulders and hips are:
Figure FDA0002733193730000032
Figure FDA0002733193730000032
 当选用的线性弹簧的刚度比阻尼大很多时，压力分配主要与弹簧刚度有关，
Figure FDA0002733193730000033
因此，通过电机驱动的滚珠丝杆的变刚度作用来调节行走过程中k2的大小即可按照预先设定的比例来调节髋部和肩部的压力分配。When the stiffness of the selected linear spring is much larger than the damping, the pressure distribution is mainly related to the spring stiffness.
Figure FDA0002733193730000033
Therefore, the pressure distribution between the hip and shoulder can be adjusted according to a preset ratio by adjusting the size of k 2 during the walking process through the variable stiffness effect of the motor-driven ball screw.
CN202011124649.6A 2020-10-20 2020-10-20 Load transfer type suspension backpack Pending CN112244474A (en)

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CN113425074A (en) * 2021-05-26 2021-09-24 刘保伸 Back frame with fast assembling structure and shock absorbing structure
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Application publication date: 20210122