CN112975917A - Waist and abdomen assisting exoskeleton - Google Patents
Waist and abdomen assisting exoskeleton Download PDFInfo
- Publication number
- CN112975917A CN112975917A CN202110422834.1A CN202110422834A CN112975917A CN 112975917 A CN112975917 A CN 112975917A CN 202110422834 A CN202110422834 A CN 202110422834A CN 112975917 A CN112975917 A CN 112975917A
- Authority
- CN
- China
- Prior art keywords
- torque balance
- waistband
- pull wire
- balance mechanism
- waist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001015 abdomen Anatomy 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 230000000694 effects Effects 0.000 abstract description 7
- 210000001624 hip Anatomy 0.000 description 17
- 238000010586 diagram Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 239000011229 interlayer Substances 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a waist and abdomen assisting exoskeleton which is provided with a waistband, wherein two side surfaces of the waistband are respectively connected with torque balance mechanisms through horizontal rotating shafts, the upper end of each torque balance mechanism is correspondingly connected with the lower end of a support framework symmetrically arranged behind the waistband, the lower end of each torque balance mechanism is connected with a pull wire, a pull wire fixing piece is arranged at the lower part of the pull wire, and the upper end and the lower end of the support framework are connected with shoulder straps. Need not the pivot and connect the mechanical structure of upper part of the body skeleton and shank skeleton, only need the acting as go-between to implement the pulling force through torque balance mechanism to the supporting framework, the supporting framework pulls thereupon and baldric acts on the human body, provides the moment of torsion with transport atress opposite direction to the human body in order to reach the helping hand effect, and simple structure, quality are light, can improve the person of dress motion flexibility and dress comfort level, and the helping hand effect is showing.
Description
Technical Field
The invention relates to wearable equipment, in particular to a waist and abdomen assisting exoskeleton capable of improving the movement flexibility and the wearing comfort.
Background
Waist and abdomen helping hand ectoskeleton is a wearable equipment, can improve wearing person's handling capacity and durability. The basic structure of the existing waist and abdomen assisting exoskeleton drives a rotating shaft positioned at a hip joint part through a motor, a pneumatic element, a hydraulic element or an elastic element, and then provides strength opposite to the carrying stress direction at the front side of thighs and chest of a wearer through a leg framework and an upper body framework which are connected with the rotating shaft, so as to help the trunk of a human body to be straightened so as to provide assistance. The drive is active by motor, pneumatic or hydraulic drive, passive by elastic elements such as spring and rubber, and semi-automatic by elastic elements and clutch system. No matter what kind of form reaches the helping hand effect, because upper part of the body skeleton and shank skeleton are connected through the mechanical structure of many pivots, the structure is complicated and heavy, and the degree of freedom of mechanical skeleton can't match in human motion completely, has influenced the person's of dress motion flexibility and has dressed the travelling comfort. In addition, although the existing waist and abdomen assisting exoskeleton can assist, the existing waist and abdomen assisting exoskeleton cannot provide effective direct protection for lumbar vertebrae.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a waist and abdomen assisting exoskeleton capable of improving the movement flexibility and the wearing comfort.
The technical solution of the invention is as follows: the waist and abdomen assisting exoskeleton is provided with a waistband, two side faces of the waistband are respectively connected with torque balance mechanisms through horizontal rotating shafts, the upper end of each torque balance mechanism is correspondingly connected with the lower end of a support framework symmetrically arranged behind the waistband, the lower end of each torque balance mechanism is connected with a pull wire, a pull wire fixing piece is arranged at the lower part of the pull wire, and the upper end and the lower end of the support framework are connected with shoulder straps.
The waist belt is characterized in that a vertical shaft rotating wheel and a first transverse shaft rotating wheel are arranged in the middle of the torque balance mechanism, a second transverse shaft rotating wheel is arranged at the lower end of the torque balance mechanism, a transverse wire guide pipe is arranged behind the waist belt, the pull wire penetrates through the wire guide pipe, and two ends of the pull wire are connected with the pull wire fixing piece sequentially through the vertical shaft rotating wheel, the first transverse shaft rotating wheel and the second transverse shaft rotating wheel.
The rigid-flexible combined exoskeleton is a mechanical structure without connecting a rotating shaft with an upper body framework and a leg framework, and only a pull wire is needed to apply tension to a supporting framework through a torque balance mechanism, the supporting framework pulls a shoulder strap to act on a human body along with the tension, and the torque opposite to the carrying stress direction is provided for the human body so as to achieve the assistance effect. Simple structure, quality are light, can improve the person's of dress motion flexibility and dress comfort level, and the helping hand effect is showing. Especially, the special bracing wire structure design can provide pressure to the back of the lumbar vertebra to stabilize the lumbar vertebra while providing assistance for the human body, and has the function of protecting the lumbar vertebra.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of the present invention.
FIG. 2 is an enlarged view of a portion of a waistband according to an embodiment of the invention.
Fig. 3 is a schematic structural view of a torque balance mechanism portion according to an embodiment of the present invention.
Fig. 4 is a wearing diagram of an embodiment of the present invention.
Fig. 5 is a schematic diagram of the effect of the embodiment of the present invention.
Detailed Description
As shown in figures 1-3, the waist and abdomen assisting exoskeleton is provided with a waistband 1, two side surfaces of the waistband 1 are respectively connected with the center of a torque balance mechanism 3 positioned on the outer side of the waistband 1 through flanges and a horizontal rotating shaft 2, so that the torque balance mechanism 3 can rotate relative to the waistband 1. The torque balance mechanism 3 has two arms extending outward from the center with a certain angle therebetween, the outer end of one arm is the upper end of the torque balance mechanism 2, and the outer end of the other arm is the lower end of the torque balance mechanism 2. The upper end of each torque balance mechanism 2 is correspondingly connected with the lower end of a support framework 4 symmetrically arranged behind the waistband 1, namely the upper end of one torque balance mechanism 2 is connected with the lower end of one support framework 4, the lower end of each torque balance mechanism 2 is connected with a stay wire 5, and a stay wire fixing piece 6 is arranged at the lower part of the stay wire 5. The pull wire 5 can be an elastic rope or an elastic element such as a series spring, rubber and the like to form a passive type, or can be an active type driven by a motor, pneumatic or hydraulic as in the prior art, or can be a semi-automatic type. The stay wire fixing member 6 may be a band for fixing the stay wire 5 and the lower leg near the knee, for limiting the floating of the stay wire 5, or may be a foot wearing structure, or may be provided with a band and a foot wearing structure at the same time. The upper end of the supporting framework 4 is connected with the shoulder belt 7, the length of the shoulder belt 7 can be adjusted through the adjusting buckle, and the lower end of the shoulder belt 7 can be connected with the lower end of the supporting framework 4 through the connecting buckle 12.
In order to provide effective protection for the lumbar vertebra of a wearer, a vertical axis runner 8 and a first horizontal axis runner 9 are arranged in the middle of the torque balance mechanism 5, a second horizontal axis runner 10 is arranged at the lower end of the torque balance mechanism 5, a transverse conduit 11 is arranged at the back of the waist belt 1, and the conduit 11 can be placed in the interlayer of the waist belt 1 as shown in fig. 2 or on the outer surface of the waist belt 1. The stay wire 5 passes through the conduit 11 and both ends of the stay wire are connected with the stay wire fixing part 7 through the vertical shaft rotating wheel 8, the first horizontal shaft rotating wheel 9 and the second horizontal shaft rotating wheel 10 in sequence.
The embodiment of the invention is shown in figure 4 when worn: the waist belt 1 and the shoulder belt 7 are respectively positioned at the waist and the shoulder of a wearer, and the stay wire fixing piece 6 is fixed with a human body. When the wearer is in a non-working (stooping) state such as standing upright or traveling, the pull string 6 is kept loose and does not affect the movement of the wearer.
The effect of the embodiment of the invention is shown in fig. 5, when the wearer bends over, etc., the pull wire 6 is under tension. The torque balance mechanism 3 generates torque in the same direction as the direction from the bending state to the straight waist state under the action of the pulling force of the pulling wire 6, and the torque transmits the assistance to the upper body of the human body through the supporting framework 4 connected with the torque balance mechanism 3 and the shoulder straps 7.
Claims (2)
1. A waist and abdomen assisting exoskeleton is characterized in that: the waistband is provided with a waistband (1), two side faces of the waistband (1) are respectively connected with torque balance mechanisms (3) through horizontal rotating shafts (2), the upper end of each torque balance mechanism (2) is correspondingly connected with the lower end of a support framework (4) symmetrically arranged behind the waistband (1), the lower end of each torque balance mechanism (2) is connected with a pull wire (5), a pull wire fixing part (6) is arranged on the lower portion of the pull wire (5), and the upper end and the lower end of the support framework (4) are connected with shoulder straps (7).
2. The lumbar-abdominal, power-assisted exoskeleton of claim 1, wherein: the waist belt is characterized in that a vertical shaft rotating wheel (8) and a first transverse shaft rotating wheel (9) are arranged in the middle of the torque balance mechanism (3), a second transverse shaft rotating wheel (10) is arranged at the lower end of the torque balance mechanism (5), a transverse wire guide pipe (11) is arranged behind the waist belt (1), and the pull wire (5) penetrates through the wire guide pipe (11) and two ends of the pull wire are connected with the pull wire fixing piece (7) sequentially through the vertical shaft rotating wheel (8), the first transverse shaft rotating wheel (9) and the second transverse shaft rotating wheel (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110422834.1A CN112975917A (en) | 2021-04-20 | 2021-04-20 | Waist and abdomen assisting exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110422834.1A CN112975917A (en) | 2021-04-20 | 2021-04-20 | Waist and abdomen assisting exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112975917A true CN112975917A (en) | 2021-06-18 |
Family
ID=76341258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110422834.1A Pending CN112975917A (en) | 2021-04-20 | 2021-04-20 | Waist and abdomen assisting exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112975917A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894771A (en) * | 2021-08-27 | 2022-01-07 | 北京机械设备研究所 | Active pull-belt type upper limb assistance exoskeleton |
| CN115120473A (en) * | 2022-06-23 | 2022-09-30 | 北京航空航天大学 | Walking-aid exoskeleton for paraplegic patient |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016182074A1 (en) * | 2015-05-13 | 2016-11-17 | 学校法人東京理科大学 | Forward bent posture supporting device |
| WO2018151167A1 (en) * | 2017-02-15 | 2018-08-23 | 株式会社イノフィス | Lumbar part assistance device |
| CN208147844U (en) * | 2018-04-04 | 2018-11-27 | 赤源动力（大连）科技有限责任公司 | A kind of waist assistance exoskeleton |
| CN109623782A (en) * | 2018-12-04 | 2019-04-16 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Wearable assistance exoskeleton robot |
| CN214772035U (en) * | 2021-04-20 | 2021-11-19 | 赤源动力（大连）科技有限责任公司 | Waist and abdomen assisting exoskeleton |
-
2021
- 2021-04-20 CN CN202110422834.1A patent/CN112975917A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016182074A1 (en) * | 2015-05-13 | 2016-11-17 | 学校法人東京理科大学 | Forward bent posture supporting device |
| WO2018151167A1 (en) * | 2017-02-15 | 2018-08-23 | 株式会社イノフィス | Lumbar part assistance device |
| CN208147844U (en) * | 2018-04-04 | 2018-11-27 | 赤源动力（大连）科技有限责任公司 | A kind of waist assistance exoskeleton |
| CN109623782A (en) * | 2018-12-04 | 2019-04-16 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | Wearable assistance exoskeleton robot |
| CN214772035U (en) * | 2021-04-20 | 2021-11-19 | 赤源动力（大连）科技有限责任公司 | Waist and abdomen assisting exoskeleton |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894771A (en) * | 2021-08-27 | 2022-01-07 | 北京机械设备研究所 | Active pull-belt type upper limb assistance exoskeleton |
| CN115120473A (en) * | 2022-06-23 | 2022-09-30 | 北京航空航天大学 | Walking-aid exoskeleton for paraplegic patient |
| CN115120473B (en) * | 2022-06-23 | 2023-04-18 | 北京航空航天大学 | Walking-aid exoskeleton for paraplegic patient |
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