CN112571403B - Exoskeleton device for carrying assistance - Google Patents
Exoskeleton device for carrying assistance Download PDFInfo
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- CN112571403B CN112571403B CN202011390795.3A CN202011390795A CN112571403B CN 112571403 B CN112571403 B CN 112571403B CN 202011390795 A CN202011390795 A CN 202011390795A CN 112571403 B CN112571403 B CN 112571403B
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- back plate
- upper limb
- steel wire
- shoulder joint
- wire rope
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 90
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 86
- 210000001624 hip Anatomy 0.000 claims abstract description 69
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 67
- 239000010959 steel Substances 0.000 claims abstract description 67
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 21
- 210000001981 hip bone Anatomy 0.000 claims abstract description 19
- 210000003423 ankle Anatomy 0.000 claims abstract description 10
- 210000002310 elbow joint Anatomy 0.000 claims description 52
- 210000000245 forearm Anatomy 0.000 claims description 24
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 8
- 210000000629 knee joint Anatomy 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 7
- 230000009471 action Effects 0.000 description 11
- 238000005452 bending Methods 0.000 description 4
- 210000002414 leg Anatomy 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010050296 Intervertebral disc protrusion Diseases 0.000 description 1
- 208000004760 Tenosynovitis Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the field of service robots, and discloses an exoskeleton device for carrying assistance, which comprises an upper limb structure, a back plate structure, a hip bone structure, a lower limb structure and an ankle structure; the upper limb structure is connected with the backboard structure, the backboard structure is connected with the hip bone structure through a rotating shaft, the hip bone structure is connected with the lower limb structure, the lower limb structure is connected with the ankle structure, the backboard structure comprises a backboard, the shoulder joint pulley is fixed on the backboard, and the backboard is fixedly provided with the waist power-assisted motor system; the backboard is hinged with the hip bone structure. The invention solves the problem of poor man-machine matching in the squat process of the traditional exoskeleton; the waist power assisting device further strengthens the protection of operators; the upper limb structure designed by the invention has the advantages that the electric cylinder drives the steel wire rope to replace the driving mode of the Bowden cable, so that the power assisting efficiency is improved.
Description
Technical Field
The invention relates to the field of service robots, in particular to an exoskeleton device for carrying assistance.
Background
With the development of the logistics industry, a large number of logistics workers have tenosynovitis, lumbar disc herniation and other diseases due to the fact that the work intensity is high and the physical protection cannot be well achieved, and therefore the physical joint protection of the logistics workers is urgent. The carrying action is the most common action for logistics practitioners, and is usually carried by the ground to carry the article and place the article at a certain position after carrying the article for a certain distance.
For example, national patent publication CN110842893A discloses a method, a device and a system for judging gait of carrying exoskeleton, the method comprises acquiring a predetermined number of samples collected in an initial standing state, wherein each sample comprises four parameters, namely the combined pressure of a predetermined number of bandage sensors in front of a left leg, the combined pressure of a predetermined number of bandage sensors behind the left leg, the combined pressure of a predetermined number of bandage sensors in front of a right leg and the combined pressure of a predetermined number of bandage sensors behind the right leg; calculating the mean value of each of the four parameters in a preset number of samples; acquiring a group of data acquired under the current initial standing state; and judging the gait according to the acquired data and the mean value of the four parameters. The invention focuses on the control and sensing aspects of the transportation exoskeleton, but does not relate to the stress analysis and the structural design of the transportation exoskeleton.
In addition, the situation that the back is not attached to the exoskeleton backboard due to the fact that the waist is bent when the load is carried is not considered in the conventional assistance upper limb exoskeleton, the distance between an operator and the exoskeleton backboard is increased under the working condition, and the upper limb exoskeleton and the upper limb of a person can slide due to the fact that the backboard is usually fixedly connected with the shoulder joint of the upper limb, so that the wearing comfort is affected, and the accuracy of assistance is greatly affected. Meanwhile, the waist bearing moment is more obvious than that of an upper limb for the carrying action of the load, but the carrying exoskeleton is less involved in waist assisting force.
Disclosure of Invention
The present invention provides an exoskeleton device for carrying assistance that solves the above-mentioned problems of the prior art.
An exoskeleton device for carrying assistance comprises an upper limb structure, a back plate structure, a hip bone structure, a lower limb structure and an ankle structure; the upper limb structure is connected with the back plate structure, the back plate structure is connected with the hip bone structure through the rotating shaft, the hip bone structure is connected with the lower limb structure, and the lower limb structure is connected with the ankle structure.
Further, the upper limb structure comprises a left upper limb structure and a right upper limb structure, the left upper limb structure and the right upper limb structure are symmetrical, and the left upper limb structure and the right upper limb structure respectively comprise a forearm structure, an elbow joint electric cylinder, an upper arm structure, a shoulder joint turntable connecting plate, a shoulder joint pulley and a shoulder joint electric cylinder; the tail end of the forearm structure is fixedly connected with an elbow joint turntable, and the elbow joint turntable is used for assisting the flexion of the forearm structure; an elbow joint driving steel wire rope is fixedly arranged on the elbow joint rotary table, one end of the elbow joint driving steel wire rope is connected with the elbow joint rotary table, and the other end of the elbow joint driving steel wire rope is fixedly connected with an extension rod of the elbow joint electric cylinder; the elbow joint driving steel wire rope is used for being contracted in the same step with an extension rod of the elbow joint electric cylinder and driving the elbow joint rotary disc to rotate; the elbow joint electric cylinder is fixedly arranged on the upper arm structure; one end of the upper arm structure is hinged with the elbow joint rotary table, and the other end of the upper arm structure is fixed on the shoulder joint rotary table; the shoulder joint rotary table is hinged with the shoulder joint rotary table connecting plate; a shoulder joint driving steel wire rope is fixedly arranged on the shoulder joint rotary table, one end of the shoulder joint driving steel wire rope is fixed on the shoulder joint rotary table, the other end of the shoulder joint driving steel wire rope is connected with an extension rod of the shoulder joint electric cylinder through a shoulder joint pulley, and the shoulder joint driving steel wire rope is used for transferring force to the shoulder joint rotary table; the shoulder joint pulley is used for changing the force transmission direction of the shoulder joint driving steel wire rope.
Furthermore, the left upper limb structure is connected with the back plate structure through a first hinge, and the right upper limb structure is connected with the back plate structure through a second hinge; the back plate structure comprises a back connecting plate and a back plate, one side of the first hinge is connected with the shoulder joint turntable of the left upper limb structure, and the other side of the first hinge is connected with the left side of the back connecting plate; one side of the second hinge is connected with the shoulder joint turntable of the right upper limb structure, and the other side of the second hinge is connected with the right side of the back connecting plate; the shoulder joint electric cylinder of the left upper limb structure and the shoulder joint electric cylinder of the right upper limb structure are respectively fixed on the backboard.
Further, a back connecting plate support is fixedly connected with the back connecting plate and provided with a waist joint driving steel wire rope anchor point and a back connecting plate earring support; the back plate is provided with a back plate groove, a back plate sliding block is arranged in the back plate groove, and the back plate sliding block can move in the back plate groove in a single degree of freedom; the back plate sliding block is provided with a back plate sliding block earring support; be equipped with the postnotum support column on the postnotum connecting plate earring support, the one end and the postnotum connecting plate earring support of postnotum support column are articulated, and the other end and the postnotum slider earring support of postnotum support column are articulated.
Furthermore, the shoulder joint pulley is fixed on the back plate, and the back plate is also fixedly provided with a waist power-assisted motor system; the backboard is hinged with the hip bone structure.
Further, the waist power-assisted motor system is connected with a back plate waist joint driving steel wire rope anchor point through a waist power-assisted steel wire rope; one end of the waist assisting steel wire rope is fixedly connected with the back connecting plate support through a waist joint driving steel wire rope anchor point, the other end of the waist assisting steel wire rope is connected with the waist assisting motor system through a waist assisting pulley, the waist assisting pulley is fixed on the back plate, and the waist assisting pulley is used for changing the force transmission direction of the waist assisting steel wire rope.
Furthermore, the forearm structure is provided with a forearm protecting band which is used for being bound with the forearm of the upper limb of the person; the upper arm structure is provided with an upper arm protecting belt which is used for being bound with the upper arm of the upper limb of the person.
Furthermore, the back connecting plate can be adjusted according to the shoulder width of different people.
Furthermore, the lower limb structure comprises a knee joint structure and an ankle joint structure, and the knee joint structure and the ankle joint structure are driven by the Bowden cable to carry out walking assistance.
The invention has the beneficial effects that: the invention provides a power assisting device for transporting an exoskeleton, which solves the problem of poor man-machine matching property in the squat process of the traditional exoskeleton in terms of transporting actions. In the aspect of the power assisting effect, compared with the traditional exoskeleton, the waist power assisting device is added, so that the protection to operators is further enhanced. In consideration of the power assisting mode, the upper limb structure of the invention replaces the driving mode of a Bowden cable by driving a steel wire rope by an electric cylinder, thereby improving the power assisting efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an exoskeleton device for carrying assistance according to a first embodiment of the present invention.
Fig. 1-1 is a schematic view of a traditional exoskeleton and human spine in an upright position.
Fig. 1-2 are schematic diagrams of postures of a traditional exoskeleton and a human spine when a human body bends over and squats.
Fig. 2 is a schematic side view of the exoskeleton device for carrying assistance according to the first embodiment.
Fig. 3 is a schematic view of an upper limb structure provided in the first embodiment.
Fig. 4 is a schematic view of a connection structure of a backboard support column provided in the first embodiment.
Fig. 5 is a schematic view of a connection structure of a backplate slider according to the first embodiment.
Fig. 6 is a schematic structural view of the back connecting plate support provided in the first embodiment.
Fig. 7 is a schematic diagram of a backplate structure according to the first embodiment.
0-1 part of spine, 0-2 parts of upper limb exoskeleton, 0-3 parts of exoskeleton backboard, 0-4 parts of human upper limb, 1 part of upper limb structure, 2 parts of backboard structure, 3 parts of hip bone structure, 4 parts of lower limb structure, 5 parts of ankle structure, 1-1 parts of forearm structure, 1-2 parts of forearm protecting band, 1-3 parts of elbow joint turntable, 1-4 parts of elbow joint driving steel wire rope, 1-5 parts of elbow joint electric cylinder, 1-6 parts of upper arm protecting band, 1-7 parts of upper arm structure, 1-8 parts of shoulder joint turntable, 1-9 parts of shoulder joint driving steel wire rope, 1-10 parts of shoulder joint turntable connecting plate, 1-11 parts of hinge, 1-12 parts of back connecting plate, 1-13 parts of back support connecting plate, 1-14 parts of back backboard supporting column, 1-15 parts of back backboard supporting column, 2-1 parts of a back plate sliding block, 2-2 parts of a back plate, 2-3 parts of a shoulder joint electric cylinder, 2-4 parts of a shoulder joint pulley, 2-5 parts of a waist assisting pulley, 2-6 parts of a waist assisting motor system and 2-6 parts of a waist assisting steel wire rope.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, and it should be understood that the terms so used are interchangeable under appropriate circumstances and are merely used to describe the distinguishing manner in which the embodiments of the present invention distinguish between similar elements. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements, but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
In the first embodiment, when an operator lifts an object on the ground, the operator generally performs squat, bending and upper limb extension actions, and the back spine is a flexible joint during bending, so that the bending radius of the whole spine changes in real time, while the upper limb structure and the back plate of the traditional exoskeleton are generally rigidly connected, so that unfriendly interactivity between the upper limb exoskeleton and the upper limb of the person inevitably occurs if the person is in a squat and bending state, as shown in fig. 1-1 and fig. 1-2, the exoskeleton in the prior art comprises an upper limb exoskeleton 0-2 and an exoskeleton back plate 0-3, the upper limb exoskeleton 0-2 and the exoskeleton back plate 0-3 are rigidly connected, and when the person stands upright, the spine 0-1 of the person fits the exoskeleton back plate 0-3. When the person squats and bends down, the upper limb exoskeleton 0-2 and the upper limbs 0-4 of the human body have poor interactivity. In addition, carrying the exoskeleton involves the person walking a certain distance while carrying the load, which determines the need to transfer the load to the ground through the exoskeleton support structure.
The embodiment of the invention provides an exoskeleton device for carrying assistance, which is shown in fig. 1 and 2 and comprises an upper limb structure 1, a back plate structure 2, a hip bone structure 3, a lower limb structure 4 and an ankle structure 5; the upper limb structure 1 is connected with the back plate structure 2, the back plate structure 2 is connected with the hip bone structure 3 through a rotating shaft, the hip bone structure 3 is connected with the lower limb structure 4, and the lower limb structure 4 is connected with the ankle structure 5.
As shown in fig. 3, the upper limb structure 1 comprises a left upper limb structure and a right upper limb structure, the left upper limb structure and the right upper limb structure are symmetrical, and the left upper limb structure and the right upper limb structure respectively comprise a forearm structure 1-1, an elbow joint electric cylinder 1-5, an upper arm structure 1-7, a shoulder joint turntable 1-8, a shoulder joint turntable connecting plate 1-10, a shoulder joint pulley 2-3 and a shoulder joint electric cylinder 2-2; the tail end of the forearm structure 1-1 is fixedly connected with an elbow joint turntable 1-3, and the elbow joint turntable 1-3 is used for assisting the flexion of the forearm structure 1-1; an elbow joint driving steel wire rope 1-4 is fixedly arranged on the elbow joint rotary table 1-3, one end of the elbow joint driving steel wire rope 1-4 is connected with the elbow joint rotary table 1-3, and the other end of the elbow joint driving steel wire rope 1-4 is connected with an extension rod of an elbow joint electric cylinder 1-5; the elbow joint driving steel wire rope 1-4 is used for being contracted with an extension rod of an elbow joint electric cylinder in the same step and driving the elbow joint rotary disc 1-3 to rotate; the elbow joint electric cylinder 1-5 is fixedly arranged on the upper arm structure 1-7; one end of the upper arm structure 1-7 is hinged with the elbow joint rotary table 1-3, and the other end of the upper arm structure 1-7 is fixed on the shoulder joint rotary table 1-8; the shoulder joint rotary tables 1-8 are hinged with the shoulder joint rotary table connecting plates 1-10, and the rotation of the shoulder joint rotary tables 1-8 can realize the assistance of the extension of the upper arm. A shoulder joint driving steel wire rope 1-9 is fixedly arranged on the shoulder joint rotary table 1-8, one end of the shoulder joint driving steel wire rope 1-9 is fixed on the shoulder joint rotary table 1-8, the other end of the shoulder joint driving steel wire rope 1-9 is fixed on an extension rod of a shoulder joint electric cylinder 2-2 through a shoulder joint pulley 2-3, and the shoulder joint driving steel wire rope 1-9 is used for transferring force to the shoulder joint rotary table 1-8; the shoulder joint pulleys 2-3 are used for changing the force transmission direction of the shoulder joint driving steel wire ropes 1-9.
The upper limb structure is connected with the back plate structure through hinges 1-11 (a first hinge or a second hinge), the left upper limb structure is connected with the back plate structure through the first hinge, and the right upper limb structure is connected with the back plate structure through the second hinge; the back plate structure 2 is provided with a back connecting plate 1-12 and a back plate 2-1, one side of a first hinge is connected with a shoulder joint turntable of the left upper limb structure, and the other side of the first hinge is connected with the left side of the back connecting plate 1-12; one side of the second hinge is connected with a shoulder joint turntable of the right upper limb structure, and the other side of the second hinge is connected with the right side of the back connecting plate 1-12; the shoulder joint electric cylinder of the left upper limb structure and the shoulder joint electric cylinder of the right upper limb structure are respectively fixed on the back plate 2-1. The hinges 1-11 are used for connecting each structure of the upper limb in the sagittal plane with the structure of the coronal plane, and ensure the freedom degree of the opening and closing action of the shoulder joints.
The back connecting plates 1-12 are fixedly connected with back connecting plate supports 1-13 (see figure 6), and the back connecting plate supports 1-13 are provided with waist joint driving steel wire rope anchor points and back connecting plate earring supports; the backboard 2-1 is provided with a backboard groove, a backboard sliding block 1-15 (see figure 5) is arranged in the backboard groove, the backboard sliding block 1-15 can move in the backboard groove with single degree of freedom, and the main function is to adapt to the separation of the upper limb structure and the backboard when the spine is bent. The back plate sliding blocks 1-15 are provided with back plate sliding block earring supports; the back connecting plate earring support is provided with back backboard supporting columns 1-14 (see figure 4), one ends of the back backboard supporting columns 1-14 are hinged with the back connecting plate earring support, and the other ends of the back backboard supporting columns 1-14 are hinged with the back backboard sliding block earring support. The backboard support posts 1-14 act to support the entire support of the upper limb structure while transferring the load forces acting on the upper limb structure to the lower limb structure.
As shown in fig. 7, the shoulder joint pulley 2-3 is fixed on the backboard 2-1, and the backboard 2-1 is also fixedly provided with a waist power-assisted motor system 2-5; the backboard 2-1 is hinged with the hip structure 3.
The waist power-assisted motor system 2-5 is connected with a back plate waist joint driving steel wire rope anchor point through a waist power-assisted steel wire rope 2-6; one end of a waist assisting steel wire rope 2-6 is fixedly connected with a back connecting plate support 1-13 through a waist joint driving steel wire rope anchor point, the other end of the waist assisting steel wire rope 2-6 is connected with a waist assisting motor system 2-5 through a waist assisting pulley 2-4, the waist assisting pulley 2-4 is fixed on a back plate 2-1, and the waist assisting pulley 2-4 is used for changing the force transmission direction of the waist assisting steel wire rope 2-6.
The waist power-assisted motor system is fixed on the back plate, and the motor drives the turntable to drive the waist steel wire rope so as to drive the upper limb structure, so that the power assistance to the waist joint can be realized; the waist boosting pulley mainly changes the force transmission direction of a waist boosting steel wire rope, one end of the waist boosting steel wire rope is fixed with the waist boosting motor system, and the other end of the waist boosting steel wire rope is fixed with the backboard connecting support, so that the backboard can be pulled, and the waist boosting is realized.
The forearm structure 1-1 is provided with a forearm protecting band 1-2, and the forearm protecting band 1-2 is used for being bound with the forearm of the upper limb of a person; the upper arm structure 1-7 is provided with an upper arm protecting belt 1-6, and the upper arm protecting belt 1-6 is used for being bound with the upper arm of the upper limb of the human body.
The back connecting plates 1-12 can be adjusted according to the shoulder widths of different people, so that good man-machine wearing coupling is guaranteed.
The lower limb structure 4 includes a knee joint structure and an ankle joint structure, which are driven by a bowden cable to assist walking.
The invention relates to a rigid exoskeleton device which mainly comprises an upper limb structure, a back plate structure, a hip bone structure, a lower limb structure and an ankle structure, wherein the upper limb structure drives a steel wire rope by an electric push rod to drive an elbow joint and a shoulder joint, the upper limb structure and the back plate structure are connected through a slider-crank structure (a back plate support column and a back plate slider), the back plate structure and the hip bone structure are connected through a rotating shaft, and the hip bone structure and the back plate structure have rotational freedom degree so as to facilitate walking. In the aspect of lower limbs, the three degrees of freedom of a hip joint, a knee joint and an ankle joint are provided, wherein the knee joint and the ankle joint realize walking assistance through Bowden cable driving.
In this embodiment, forearm and upper arm can be according to the average length design of operating personnel upper limbs forearm, also can stretch out and draw back the adjustment through mechanical structure.
For example, 5Kg of articles are lifted from the floor, transported to a position of 200m, and then lifted to a shelf of 1.5 m height. An operator wears the carrying power-assisted exoskeleton device designed by the invention through the forearm protecting belts 1-2 and the upper arm protecting belts 1-6, and firstly sends a starting instruction to an exoskeleton control system, the exoskeleton device for carrying power designed by the invention squats with a person and extends an upper limb structure to grab a load, and meanwhile, the waist power-assisted motor system 2-5 and the shoulder joint electric cylinder slowly release the waist power-assisted steel wire rope 2-6 and the shoulder joint driving steel wire rope 1-9, so that the upper limb structure 1 is partially separated from the back plate 2-1 and synchronously moves to a load end along with the upper limb part of the human body; at the moment, the upper limb structure 1 of the exoskeleton and the upper limb of the human keep a relatively stable state, and position movement does not occur. When a person grabs a load and carries the load, a carrying instruction signal is given, the actions of waist erection, upper limb extension and the like are involved, the waist power assisting motor system 2-5 and the shoulder joint electric cylinder 2-2 are synchronously recovered, so that the exoskeleton can generate power assisting effect on the waist, and the shoulder joint electric cylinder 2-2 and the elbow joint electric cylinder 1-5 pull the shoulder joint driving steel wire ropes 1-9 and the elbow joint driving steel wire ropes 1-4, so that corresponding joints (shoulder joints and elbow joints) are also assisted correspondingly. Then, when an operator starts a walking instruction, the exoskeleton control system is switched to a lower limb assistance mode to assist the knee joints and the ankle joints of the lower limbs. And finally, after the user arrives at the destination, an operator starts a lifting instruction, at the moment, the shoulder joint electric cylinder 2-2 and the elbow joint electric cylinder 1-5 pull the steel wire ropes (the shoulder joint driving steel wire ropes 1-9 and the elbow joint driving steel wire ropes 1-4) so as to continuously lift and assist the shoulder joint and the elbow joint, and the load is placed to the position of 1.5 meters, so that the whole complete action process is realized.
The invention carries out deep analysis on the actions of carrying operators, and from the aspects of whole actions and human limb stress, the invention considers the change of the back curvature when the operators bend down to carry loads, thereby designing a carrying power assisting device which can separate an exoskeleton trunk from a human back, enables exoskeleton upper limbs to keep low interference degree with human, and improves the human-computer interaction friendliness of a rigid exoskeleton. Meanwhile, through test analysis, in the process of carrying the load, the waist and the hip of a person are large in load moment, but the hip has strong bearing capacity, and the waist is relatively fragile, so that the waist power-assisted motor system is considered in the aspect of carrying the design of the exoskeleton. In addition, the force transmission efficiency of the traditional flexible power assisting device, namely the Bowden cable, is low, so that the upper limb power assisting device adopts a form that an electric cylinder drives a steel wire rope to drive.
By adopting the technical scheme disclosed by the invention, the following beneficial effects are obtained:
the invention provides a power assisting device for transporting an exoskeleton, which solves the problem of poor man-machine matching property in the squat process of the traditional exoskeleton in terms of transporting actions. In the aspect of the power assisting effect, compared with the traditional exoskeleton, the waist power assisting device is added, so that the protection to operators is further enhanced. In consideration of the power assisting mode, the upper limb structure of the invention replaces the driving mode of a Bowden cable by driving a steel wire rope by an electric cylinder, thereby improving the power assisting efficiency.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and such modifications and improvements should also be considered within the scope of the present invention.
Claims (4)
1. An exoskeleton device for carrying assistance is characterized by comprising an upper limb structure, a back plate structure, a hip bone structure, a lower limb structure and an ankle structure; the upper limb structure is connected with the back plate structure, the back plate structure is connected with the hip bone structure through a rotating shaft, the hip bone structure is connected with the lower limb structure, and the lower limb structure is connected with the ankle structure;
the upper limb structure comprises a left upper limb structure and a right upper limb structure, the left upper limb structure is symmetrical to the right upper limb structure, and the left upper limb structure and the right upper limb structure respectively comprise a forearm structure, an electric elbow joint cylinder, an upper arm structure, a shoulder joint turntable connecting plate, a shoulder joint pulley and an electric shoulder joint cylinder; the tail end of the forearm structure is fixedly connected with an elbow joint turntable, and the elbow joint turntable is used for assisting the flexion of the forearm structure; an elbow joint driving steel wire rope is fixedly arranged on the elbow joint rotary table, one end of the elbow joint driving steel wire rope is connected with the elbow joint rotary table, and the other end of the elbow joint driving steel wire rope is fixedly connected with an extension rod of an elbow joint electric cylinder; the elbow joint driving steel wire rope is used for being retracted in the same step with an extension rod of the elbow joint electric cylinder and driving the elbow joint rotary table to rotate; the elbow joint electric cylinder is fixedly arranged on the upper arm structure; one end of the upper arm structure is hinged with the elbow joint rotary table, and the other end of the upper arm structure is fixed on the shoulder joint rotary table; the shoulder joint rotary table is hinged with the shoulder joint rotary table connecting plate; the shoulder joint turntable is provided with a shoulder joint driving steel wire rope, one end of the shoulder joint driving steel wire rope is fixed on the shoulder joint turntable, the other end of the shoulder joint driving steel wire rope is connected with an extension rod of the shoulder joint electric cylinder through the shoulder joint pulley, and the shoulder joint driving steel wire rope is used for transferring force to the shoulder joint turntable; the shoulder joint pulley is used for changing the force transmission direction of the shoulder joint driving steel wire rope;
the left upper limb structure is connected with the back plate structure through a first hinge, and the right upper limb structure is connected with the back plate structure through a second hinge; the back plate structure comprises a back connecting plate and a back plate, one side of the first hinge is connected with the shoulder joint rotary table of the left upper limb structure, and the other side of the first hinge is connected with the left side of the back connecting plate; one side of the second hinge is connected with the shoulder joint rotary table of the right upper limb structure, and the other side of the second hinge is connected with the right side of the back connecting plate; the shoulder joint electric cylinder of the left upper limb structure and the shoulder joint electric cylinder of the right upper limb structure are respectively fixed on the back plate;
the back connecting plate support is provided with a waist joint driving steel wire rope anchor point and a back connecting plate earring support; the back plate is provided with a back plate groove, a back plate sliding block is arranged in the back plate groove, and the back plate sliding block can move in the back plate groove in a single degree of freedom; the back plate sliding block is provided with a back plate sliding block earring support; a back plate support column is arranged on the back connecting plate ear ring support, one end of the back plate support column is hinged with the back connecting plate ear ring support, and the other end of the back plate support column is hinged with the back plate sliding block ear ring support;
the shoulder joint pulley is fixed on the back plate, and a waist power-assisted motor system is also fixedly arranged on the back plate; the back plate is hinged with the hip bone structure;
the waist power-assisted motor system is connected with a back plate waist joint driving steel wire rope anchor point through a waist power-assisted steel wire rope; one end of the waist assisting steel wire rope is fixedly connected with the back connecting plate support through the waist joint driving steel wire rope anchor point, the other end of the waist assisting steel wire rope is connected with the waist assisting motor system through a waist assisting pulley, the waist assisting pulley is fixed on the back plate, and the waist assisting pulley is used for changing the force transmission direction of the waist assisting steel wire rope.
2. An exoskeleton device as claimed in claim 1 where the forearm structure is provided with a forearm guard for binding with the forearm of a person's upper limb; the upper arm structure is provided with an upper arm protecting belt which is used for being bound with the upper arm of the upper limb of the person.
3. An exoskeleton device as claimed in claim 1 or claim 2 where the back connection plate is adjustable to suit the shoulder width of different persons.
4. The exoskeleton device for handling assistance as claimed in claim 3 wherein the lower limb structures comprise a knee joint structure and an ankle joint structure, the knee joint structure and the ankle joint structure assisting walking via bowden cable drive.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113232011B (en) * | 2021-06-07 | 2022-07-01 | 西北工业大学 | Upper limb power-assisted robot with active and passive combination |
| CN113580109B (en) * | 2021-08-09 | 2023-08-18 | 华南理工大学 | Passive exoskeleton robot for assisting upper limbs in carrying operation |
| CN113814962B (en) * | 2021-09-27 | 2022-12-13 | 国网江苏省电力有限公司扬州供电分公司 | Intelligent climbing exoskeleton system |
| CN115091436A (en) * | 2022-07-18 | 2022-09-23 | 电子科技大学 | Wearable upper limb exoskeleton driven by rigid-flexible coupling lasso |
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