CN114888784A - Load moving exoskeleton - Google Patents
Load moving exoskeleton Download PDFInfo
- Publication number
- CN114888784A CN114888784A CN202210557507.1A CN202210557507A CN114888784A CN 114888784 A CN114888784 A CN 114888784A CN 202210557507 A CN202210557507 A CN 202210557507A CN 114888784 A CN114888784 A CN 114888784A
- Authority
- CN
- China
- Prior art keywords
- rod
- bottom plate
- exoskeleton
- dwang
- bracing piece
- 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
- 210000000689 upper leg Anatomy 0.000 abstract description 11
- 238000004080 punching Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
Images
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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention relates to the field of manipulators, in particular to a load-bearing moving exoskeleton which comprises a foot component, a wearing component, an energy box and two driving components, wherein the wearing component comprises a waist supporting ring and a top rod, the driving components comprise a driving motor and a rotating rod, and the foot component comprises a bottom plate, a supporting rod and a restorer. Medical personnel's foot is placed on the bottom plate during use, then be connected shank and thigh with bracing piece and dwang in proper order, then be connected the waist support ring, the person of will hindering is fixed on the top pole, thereby drive driving motor can drive the dwang and rotate and drive the thigh and lift up and put down, the restorer loops through the waist support ring with the weight of the person of hindering, the dwang, the restorer transmits the burden that bears in order to alleviate the health on bracing piece and the bottom plate, thereby can conveniently drive the person of hindering and remove, and the work efficiency is improved.
Description
Technical Field
The invention relates to the field of manipulators, in particular to a load moving exoskeleton.
Background
When emergency rescue and relief work are carried out, people are often injured and cannot move, and at the moment, medical care personnel need to carry the injured people from the emergency rescue and relief work line to the wounded centralized point in a mode of carrying the injured people by back or carrying the injured people by a stretcher.
The existing mode of carrying the stretcher by back through manpower or lifting the stretcher by two persons has the disadvantages of heavy burden, low efficiency and easy missing of rescue time.
Disclosure of Invention
The invention aims to provide a load moving exoskeleton, which can reduce the moving load of workers and improve the working efficiency.
In order to achieve the above object, the present invention provides a weight-bearing mobile exoskeleton, comprising a foot assembly, a wearing assembly, an energy tank and two driving assemblies, wherein the wearing assembly comprises a waist support ring and a top rod, the top rod is arranged at one side of the waist support ring, the energy tank is arranged at one side of the top rod, the driving assembly comprises a driving motor and a rotating rod, the driving motor is fixedly arranged at one side of the waist support ring and is connected with the energy tank, the rotating rod is fixedly connected with an output end of the driving motor, the foot assembly comprises a bottom plate, a support rod and a restorer, the support rod is rotatably connected with the rotating rod and is positioned at one side of the rotating rod far away from the waist support ring, the bottom plate is rotatably connected with the support rod and is positioned at one side of the support rod, and the restorer is arranged on the support rod, and is adjacent to the rotating rod.
Wherein, foot component still includes the driver, the driver includes second motor, drive gear and track, the second motor sets up one side of bottom plate, the track with the bottom plate rotates to be connected, and is located one side of second motor, drive gear with the output fixed connection of second motor, and with the track meshing.
The foot component further comprises a lifting plate and an adjusting screw rod, the lifting plate is connected with the bottom plate in a sliding mode and located on one side of the crawler belt, and the adjusting screw rod is connected with the bottom plate in a threaded mode and is connected with the lifting plate in a rotating mode.
The lifting plate is provided with a push plate, and the push plate is positioned on one side far away from the driving motor.
The foot component further comprises a non-slip pad, and the non-slip pad is fixedly connected with the lifting plate and is positioned at the bottom of the lifting plate.
The top rod comprises a support rod body, a sliding rod and a clamping rod, the sliding rod is provided with a plurality of through holes, the sliding rod is connected with the support rod body in a sliding mode and is located on one side of the support rod body, and the clamping rod is connected with the support rod body in a sliding mode and is located in the through holes.
Wherein, dress the subassembly and still include the punching bag, the punching bag with waist support ring can dismantle the connection, and is located one side of waist support ring.
The invention relates to a load-bearing mobile exoskeleton, wherein a top rod is arranged at one side of a waist support ring, the waist support ring can be worn on the waist of a user, the top rod is used for fixing the patient on the top rod when the patient is carried, an energy box is arranged at one side of the top rod, electric energy can be provided through the energy box, a driving assembly comprises a driving motor and a rotating rod, the driving motor is fixedly arranged at one side of the waist support ring and is connected with the energy box, the rotating rod is fixedly connected with the output end of the driving motor, the rotating rod can be driven to rotate through the driving motor, so that the thighs of the person can be driven to be lifted up or put down, the structure of the rotating rod can be adaptively adjusted to be coincident with the rotating track of the thighs, and the related structure is the prior art, and will not be described in detail herein. Foot subassembly includes bottom plate, bracing piece and restorer, the bracing piece with the dwang rotates to be connected, and is located the dwang is kept away from one side of waist support ring, the bottom plate with the bracing piece rotates to be connected, and is located one side of bracing piece, the restorer sets up on the bracing piece, and be close the dwang, through the bracing piece with the bottom plate can support people's foot and shank, the restorer can be right the dwang supports. When in use, the feet of medical staff are placed on the bottom plate, then the shanks and the thighs are sequentially connected with the supporting rod and the rotating rod, then the waist supporting ring is connected, an injured person is fixed on the top rod, then the driving motor can drive the rotating rod to rotate so as to drive the thighs to be lifted and put down, the restorer sequentially passes through the waist supporting ring, the rotating rod and the restorer to be transmitted to the supporting rod and the bottom plate so as to reduce the bearing burden of the body, so that the injured person can be conveniently driven to move, and the working efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of a weight-shifting exoskeleton of the present invention.
Figure 2 is a left side view of the weight moving exoskeleton of the present invention.
Figure 3 is a top block diagram of a weight moving exoskeleton of the present invention.
Figure 4 is a cross-sectional schematic view of a weight-shifting exoskeleton of the present invention.
Fig. 5 is an enlarged view of a detail a of fig. 2.
1-foot component, 2-wearing component, 3-energy box, 4-driving component, 11-bottom plate, 12-supporting rod, 13-restorer, 14-driver, 15-lifting plate, 16-adjusting screw, 17-non-slip mat, 21-waist supporting ring, 22-top rod, 23-hanging bag, 41-driving motor, 42-rotating rod, 43-raster, 44-photoelectric sensor, 131-first plate, 132-second plate, 133-second spring, 141-second motor, 142-driving gear, 143-crawler belt, 151-pushing plate, 221-supporting rod body, 222-sliding rod, 223-clamping rod, 224-connecting ring, 2221-through hole.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5, the present invention provides a weight-bearing mobile exoskeleton:
including foot subassembly 1, dress subassembly 2, energy case 3 and two drive assembly 4, dress subassembly 2 includes waist support ring 21 and top pole 22, top pole 22 sets up one side of waist support ring 21, energy case 3 sets up one side of top pole 22, drive assembly 4 includes driving motor 41 and dwang 42, driving motor 41 is fixed to be set up one side of waist support ring 21, and with energy case 3 is connected, dwang 42 with driving motor 41's output fixed connection, foot subassembly 1 includes bottom plate 11, bracing piece 12 and restorer 13, bracing piece 12 with dwang 42 rotates to be connected, and is located dwang 42 keeps away from one side of waist support ring 21, bottom plate 11 with bracing piece 12 rotates to be connected, and is located one side of bracing piece 12, the repositioner 13 is disposed on the support rod 12 and adjacent to the rotating rod 42.
In this embodiment, the top rod 22 is disposed on one side of the waist support ring 21, through the waist support ring 21 can be worn on the waist of the user, the top rod 22 is used for fixing the patient on the top rod 22 when carrying the patient, the energy box 3 is disposed on one side of the top rod 22, through the energy box 3 can provide electric energy, the driving assembly 4 comprises a driving motor 41 and a rotating rod 42, the driving motor 41 is fixedly disposed on one side of the waist support ring 21 and is connected with the energy box 3, the rotating rod 42 is fixedly connected with the output end of the driving motor 41, through the driving motor 41, the rotating rod 42 can be driven to rotate, so that the thigh of the user can be driven to be lifted up or put down, in order to coincide with the rotating track of the thigh, the structure of the rotating rod 42 can be adaptively adjusted, the related structure is the prior art and is not described in detail herein. Foot subassembly 1 includes bottom plate 11, bracing piece 12 and restorer 13, the bracing piece 12 with dwang 42 rotates to be connected, and is located dwang 42 is kept away from one side of waist support ring 21, bottom plate 11 with bracing piece 12 rotates to be connected, and is located one side of bracing piece 12, restorer 13 sets up on the bracing piece 12, and is close dwang 42, through bracing piece 12 with bottom plate 11 can support people's foot and shank, restorer 13 can be right dwang 42 supports. When in use, the feet of medical staff are placed on the bottom plate 11, then the lower legs and the thighs are sequentially connected with the supporting rod 12 and the rotating rod 42, then the waist supporting ring 21 is connected, the wounded person is fixed on the top rod 22, then the driving motor 41 can drive the rotating rod 42 to rotate so as to drive the thighs to be lifted and put down, the restorer 13 sequentially passes the weight of the wounded person through the waist supporting ring 21, the rotating rod 42 and the restorer 13 to the supporting rod 12 and the bottom plate 11 so as to reduce the bearing burden of the body, so that the wounded person can be conveniently driven to move, and the working efficiency is improved.
Further, the foot assembly 1 further comprises a driver 14, the driver 14 comprises a second motor 141, a driving gear 142 and a caterpillar track 143, the second motor 141 is disposed on one side of the bottom plate 11, the caterpillar track 143 is rotatably connected with the bottom plate 11 and is disposed on one side of the second motor 141, and the driving gear 142 is fixedly connected with an output end of the second motor 141 and is engaged with the caterpillar track 143.
In this embodiment, in order to save physical strength when moving to a relatively stable zone, the second motor 141 may drive the driving gear 142 to rotate, so as to drive the caterpillar 143 to rotate, so as to automatically advance on a relatively gentle ground to save physical strength of medical staff.
Further, the foot assembly 1 further comprises a lifting plate 15 and an adjusting screw 16, the lifting plate 15 is slidably connected with the bottom plate 11 and is located on one side of the caterpillar 143, and the adjusting screw 16 is in threaded connection with the bottom plate 11 and is rotatably connected with the lifting plate 15.
In this embodiment, when the road is rough, the user needs to go forward by walking with two legs, and at this time, the adjusting screw 16 needs to be rotated to drive the lifting plate 15 to move downward to contact the ground, so that the crawler belt 143 is separated from the ground, and the user can walk more conveniently.
Further, the lifting plate 15 has a pushing plate 151, and the pushing plate 151 is located on a side away from the driving motor 41.
In the present embodiment, the push plate 151 is provided to push away impurities on the ground so as to prevent objects such as ground debris from affecting the forward movement of the crawler 143, thereby making the forward movement more stable.
Further, the foot assembly 1 further comprises a non-slip pad 17, and the non-slip pad 17 is fixedly connected with the lifting plate 15 and is located at the bottom of the lifting plate 15.
In this embodiment, the friction between the lifting plate 15 and the ground can be increased by the anti-slip pad 17, so that the movement is more stable.
Further, the top rod 22 includes a support rod body 221, a sliding rod 222 and a clamping rod 223, the sliding rod 222 has a plurality of through holes 2221, the sliding rod 222 is slidably connected to the support rod body 221 and is located at one side of the support rod body 221, and the clamping rod 223 is slidably connected to the support rod body 221 and is located in the through holes 2221.
In the present embodiment, the height of the support can be changed by sliding the sliding bar 222, so that the sliding bar 222 can be stored in the supporting bar body 221 when it is not necessary to fix a wounded person, and can be extended again for use when necessary.
Further, the top rod 22 further comprises a connection ring 224, and the connection ring 224 is fixedly connected to the sliding rod 222 and is located on the top of the sliding rod 222.
In this embodiment, the connecting ring 224 can be provided to easily fix the injured person, thereby facilitating the use.
Further, dress subassembly 2 still includes punching bag 23, punching bag 23 with waist support ring 21 can dismantle the connection, and is located one side of waist support ring 21.
In this embodiment, other items may be placed in the punching bag 23 for convenience of carrying and moving.
Further, the driving assembly 4 further includes a grating 43 and a photoelectric sensor 44, the grating 43 is fixedly connected to the output end of the driving motor 41, and the photoelectric sensor 44 is disposed on one side of the grating 43.
In the present embodiment, the grating 43 and the photoelectric sensor 44 cooperate to detect the moving direction of the thigh, so that the driving motor 41 can be automatically controlled to operate after the moving direction is detected, and the response is faster.
Further, the restorer 13 includes a first plate 131, a second plate 132 and a second spring 133, the first plate 131 is fixedly connected to the support rod 12 and is located at one side of the support rod 12, the second plate 132 is rotatably connected to the first plate 131 and is located at one side close to the rotation rod 42, and the second spring 133 is disposed between the first plate 131 and the second plate 132.
In the present embodiment, the second plate 132 may support the rotating plate under the support of the second spring 133 under the support of the first plate 131, so that a part of load may be shared, and thus, the use may be more labor-saving.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A weight-bearing mobile exoskeleton is characterized in that,
including foot subassembly, wearing subassembly, energy case and two drive assembly, it includes waist support ring and top pole to dress the subassembly, the top pole sets up one side of waist support ring, the energy case sets up one side of top pole, drive assembly includes driving motor and dwang, driving motor is fixed to be set up one side of waist support ring, and with the energy case is connected, the dwang with driving motor's output fixed connection, foot subassembly includes bottom plate, bracing piece and restorer, the bracing piece with the dwang rotates to be connected, and is located the dwang is kept away from one side of waist support ring, the bottom plate with the bracing piece rotates to be connected, and is located one side of bracing piece, the restorer sets up on the bracing piece, and be close to the dwang.
2. The weight-shifting exoskeleton of claim 1 wherein,
foot subassembly still includes the driver, the driver includes second motor, drive gear and track, the second motor sets up one side of bottom plate, the track with the bottom plate rotates to be connected, and is located one side of second motor, drive gear with the output fixed connection of second motor, and with the track meshing.
3. The weight-shifting exoskeleton of claim 2 wherein,
the foot component further comprises a lifting plate and an adjusting screw rod, the lifting plate is connected with the bottom plate in a sliding mode and located on one side of the crawler belt, and the adjusting screw rod is connected with the bottom plate in a threaded mode and is connected with the lifting plate in a rotating mode.
4. The weight-shifting exoskeleton of claim 3 wherein,
the lifting plate is provided with a push plate, and the push plate is positioned on one side far away from the driving motor.
5. The weight-shifting exoskeleton of claim 4 wherein,
the foot component further comprises a non-slip pad, and the non-slip pad is fixedly connected with the lifting plate and is positioned at the bottom of the lifting plate.
6. The weight-shifting exoskeleton of claim 1 wherein,
the top rod comprises a support rod body, a sliding rod and a clamping rod, the sliding rod is provided with a plurality of through holes, the sliding rod is connected with the support rod body in a sliding mode and is located on one side of the support rod body, and the clamping rod is connected with the support rod body in a sliding mode and is located in the through holes.
7. The weight-shifting exoskeleton of claim 1 wherein,
the wearing assembly further comprises a hanging bag, wherein the hanging bag is detachably connected with the waist supporting ring and is positioned on one side of the waist supporting ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210557507.1A CN114888784A (en) | 2022-05-19 | 2022-05-19 | Load moving exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210557507.1A CN114888784A (en) | 2022-05-19 | 2022-05-19 | Load moving exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114888784A true CN114888784A (en) | 2022-08-12 |
Family
ID=82724623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210557507.1A Pending CN114888784A (en) | 2022-05-19 | 2022-05-19 | Load moving exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114888784A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116551657A (en) * | 2022-09-10 | 2023-08-08 | 中国农业科学院果树研究所 | Exoskeleton with rotating member and application method thereof |
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| CN106943278A (en) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | Center drive lower limb exoskeleton robot |
| CN207344581U (en) * | 2017-10-24 | 2018-05-11 | 河南金佰利警用装备科技有限公司 | A kind of power-assisted mechanical bone |
| CN108818496A (en) * | 2018-04-24 | 2018-11-16 | 上海理工大学 | A kind of unpowered ectoskeleton auxiliary robot |
| CN209827446U (en) * | 2018-09-28 | 2019-12-24 | 西安理工大学 | Wearable unilateral lower limb rehabilitation power assisting device |
| US20200086478A1 (en) * | 2016-12-20 | 2020-03-19 | Southeast University | Exoskeleton device for supporting anti-radiation protective clothing |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN212146417U (en) * | 2020-04-07 | 2020-12-15 | 迈宝智能科技(苏州)有限公司 | Lower limb load assisting exoskeleton capable of realizing rapid self-locking in standing state |
-
2022
- 2022-05-19 CN CN202210557507.1A patent/CN114888784A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200086478A1 (en) * | 2016-12-20 | 2020-03-19 | Southeast University | Exoskeleton device for supporting anti-radiation protective clothing |
| CN106943278A (en) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | Center drive lower limb exoskeleton robot |
| CN207344581U (en) * | 2017-10-24 | 2018-05-11 | 河南金佰利警用装备科技有限公司 | A kind of power-assisted mechanical bone |
| CN108818496A (en) * | 2018-04-24 | 2018-11-16 | 上海理工大学 | A kind of unpowered ectoskeleton auxiliary robot |
| CN209827446U (en) * | 2018-09-28 | 2019-12-24 | 西安理工大学 | Wearable unilateral lower limb rehabilitation power assisting device |
| CN111329721A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Lower limb assistance exoskeleton device with spring energy storage and rapid unloading |
| CN212146417U (en) * | 2020-04-07 | 2020-12-15 | 迈宝智能科技(苏州)有限公司 | Lower limb load assisting exoskeleton capable of realizing rapid self-locking in standing state |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116551657A (en) * | 2022-09-10 | 2023-08-08 | 中国农业科学院果树研究所 | Exoskeleton with rotating member and application method thereof |
| CN116551657B (en) * | 2022-09-10 | 2023-11-07 | 中国农业科学院果树研究所 | Exoskeleton with rotating member and application method thereof |
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