CN114940448A

CN114940448A - Wearable device with flexible component

Info

Publication number: CN114940448A
Application number: CN202210590345.1A
Authority: CN
Inventors: 王继来; 郭树标; 饶静; 李取浩; 万熠; 梁西昌; 李宜姗; 高兴
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2022-05-27
Filing date: 2022-05-27
Publication date: 2022-08-26
Anticipated expiration: 2042-05-27
Also published as: CN114940448B

Abstract

The invention discloses a wearable device with a flexible component, which relates to the technical field of wearable devices and comprises a wearing component, a supporting component, a walking auxiliary device and an auxiliary supporting device, wherein the flexible component is arranged on the contact surface of the wearing component and a human body; the supporting component comprises a supporting arm connected with the wearing component, and a steel wire rope of the electric driving unit penetrates through the supporting arm and is connected with the grabbing part by bypassing the pulley; the walking assisting device is provided with the bottom of the wearing component and is used for matching with the leg; the auxiliary supporting device is rotatably installed at the rear of the wearing assembly and used for extending out to contact the ground when rotating to a vertical state. The invention does not need to frequently bend the back and the legs while lifting and carrying the heavy object, does not increase the discomfort of the waist, can reduce the load on the body of an operator and improves the stability of carrying the heavy object.

Description

Wearable device with flexible component

Technical Field

The invention relates to the technical field of wearable devices, in particular to a wearable device with a flexible component.

Background

In order to reduce the labor intensity of operators during the carrying process, various wearable devices have been developed to assist in carrying heavy objects. Publication No. CN111300377A discloses a lower limb wearing reinforced robot based on steel wire drive, including backplate base, battery, hip joint driver and knee joint driver, backplate base one side is provided with the battery. It reduces and integrate user's back through steel wire transmission technique with whole power unit, has reduced the structure of joint department, reduces the whole thickness of shank mechanism, reduces the motion deflection inertia, has cancelled motor and the speed reduction unit of traditional wearable equipment installation in joint department simultaneously, and all powers pass through steel wire transmission technique and reach each drive joint to make equipment miniaturization, the lightweight.

Publication No. CN110883762A discloses a waist hip joint driving enhanced exoskeleton, which comprises a waist support, a back integrated unit and a back baffle, wherein the middle of one side wall of the waist support is connected with the back integrated unit through a screw. The hybrid transmission chain technology of the gear reducer and the synchronizing wheel speed reducing belt is combined, the real-time force feedback technology is combined, the whole power mechanism and the servo driver are dispersed to all parts of a human body, the structure of a joint is reduced, the whole thickness of a leg mechanism is reduced, the movement deflection inertia is reduced, and a motor and a speed reducing unit which are directly installed at the joint of the traditional exoskeleton equipment are eliminated, so that the equipment is miniaturized and lightened.

Although the above device can reduce the labor intensity to some extent, the following problems still exist: when the existing wearing device is operated, actions such as bending down, twisting waist, squatting and the like cannot be avoided; moreover, when the lifting device moves heavy objects, the lifting device can shake, and waist discomfort of an operator can be caused.

Disclosure of Invention

In view of the disadvantages of the prior art, the present invention provides a wearable device with a flexible component, which does not need to bend the back and legs frequently while lifting and carrying heavy objects, does not increase the discomfort of the waist, can reduce the load on the body of the operator, and can improve the stability of carrying heavy objects.

In order to realize the purpose, the invention is realized by the following technical scheme:

embodiments of the present invention provide a wearable device with a flexible component, comprising:

the wearing component is provided with a flexible part on the contact surface with the human body;

the supporting component comprises a supporting arm connected with the wearing component, and a steel wire rope of the electric driving unit penetrates through the supporting arm and is connected with the grabbing part by bypassing the pulley;

the walking auxiliary device is provided with the bottom of the wearing component and is used for matching with the leg;

and the auxiliary supporting device is rotatably arranged behind the wearing assembly and used for extending out to contact the ground when rotating to a vertical state.

As a further implementation mode, the supporting arm is detachably connected with the wearing assembly, is of a hollow structure and is provided with a vertical installation section and an arc-shaped hoisting section.

As a further implementation manner, the support assembly further comprises a shell, the electric drive unit is arranged in the shell and comprises a motor and a winding drum connected with the motor, and the steel wire rope is wound on the winding drum; the motor is powered by a battery.

In a further embodiment, the wearing assembly comprises a backrest part, a waistband part and a shoulder strap part, the backrest part is connected with the two shoulder strap parts, and the waistband part and the backrest part are connected through symmetrically arranged adjusting cylinders.

As a further implementation mode, the supporting arm is provided with a guide hole, and the supporting arm penetrates through the guide hole through a connecting piece to be connected with the backrest part.

As a further implementation mode, a groove is formed in the rear side of the waistband part, and an air cushion is filled in the groove.

As a further implementation mode, the grabbing parts are connected with the steel wire ropes through the buffer parts.

As a further implementation, the gripping member is a hook or a suction cup.

As a further realization, a guide rail or a guide wheel for guiding the steel wire rope is arranged in the supporting arm.

As a further implementation mode, the auxiliary supporting device adopts an oil cylinder.

The invention has the following beneficial effects:

(1) the electric lifting device is provided with the supporting component and the electric driving unit, so that an operator does not need to bend down and bend legs when lifting and carrying heavy objects, the operator can stand to operate straight, the back and the two legs do not need to be bent frequently, and the heavy objects can be stabilized only by applying proper force by arms; if the heavy object needs to be carried, the back part of the heavy object does not need to be bent, and the heavy object can be carried only by moving or rotating the body in parallel after the heavy object is fixed by the steel wire rope; the wearing device is provided with a flexible component, so that an operator is protected.

(2) The invention is provided with the supporting auxiliary device, when the heavy object is moved, the supporting auxiliary device can be rotated to be supported on the ground, at the moment, the weight of the heavy object and the weight of the device are transmitted from the waist of an operator to the ground, when the weight is larger, the waist stress of the operator is lightened, and when the supporting is not needed, the supporting auxiliary device can be rotated and retracted.

(3) The adjustable air cylinder is provided with a plurality of adjusting structures, can better adapt to different physical conditions of operators and adapt to various motion modes of lifting, descending, carrying, rotating and the like of heavy objects, and can provide buffering when carrying the heavy objects and reduce torque transmitted to the waist; meanwhile, the walking assisting device is arranged to transfer most of the weight of the heavy object and the weight of the operator to the walking assisting device, so that the load on the body of the operator is reduced.

(4) According to the invention, the buffer part is arranged between the steel wire rope and the grabbing part so as to absorb the impact on the corresponding part of the body of an operator under the conditions of heavy object shaking and the like, and meanwhile, the stability of carrying the heavy object is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a schematic block diagram of the present invention according to one or more embodiments.

The device comprises a flexible cushion layer 1, a flexible cushion layer 2, a backrest part 3, a backrest belt part 4, a waistband part 5, an electric drive unit 6, a support arm 7, an adjusting cylinder 8, a steel wire rope 9, a shell 10, a pulley 11, a walking auxiliary device 12, an auxiliary support device 13, a spring 14, a hook 15, a first support 16, a second support 17 and a support plate.

Detailed Description

The first embodiment is as follows:

the embodiment provides a wearable device with a flexible component, as shown in fig. 1, comprising a wearing component, a supporting component, a walking assisting device 11, an assisting supporting device 12 and an electric driving unit 5, wherein the wearing component is used for wearing and is provided with the flexible component, so that the wearing is more comfortable; the support assembly is connected with the wearing assembly, and the auxiliary supporting device 12 is connected with the end part of the wearing assembly and used for matching with the leg.

Specifically, the wearing assembly comprises a backrest part 2, a strap part 3 and a waistband part 4, the shape of the backrest part 2 can be adjusted according to actual requirements, such as rectangle, circle, ellipse or other shapes, and the surface of the backrest part 2 contacting with the human body is provided with a flexible component. The flexible member is made of a flexible material such as a honeycomb fabric.

The backrest part 2 is connected with the two shoulder belt parts 3, a flexible cushion layer is arranged on the inner side of one end of the backrest part 2 connected with the shoulder belt parts 3, and the width of the flexible cushion layer is larger than that of the backrest belt parts 3 so as to increase the comfort of shoulders; the other end of the back belt part 3 is provided with a buckle and is connected with the front side of the waist belt part 4, and the wearing is convenient through the buckle.

The front and rear directions of the present embodiment are all referred to the actual wearing direction.

The back belt part 3 is connected with the waist belt part 4 through two symmetrically arranged adjusting cylinders 7, the telescopic length of the adjusting cylinders 7 can be adjusted in length according to the force transmitted by the supporting arms 6, so that most of moment applied to the backrest 2 by the supporting arms 6 can be absorbed, the moment is reduced to the hip of an operator, the moment is further transmitted to the walking assisting device 11, and the load of the operator is greatly reduced.

The back belt part 3 is connected with the back side of the waist belt part 4 through a support component, the support component comprises a shell 9 and a support arm 6, the shell 9 and the support arm 6 are detachably connected, and both the shell 9 and the support arm 6 are of hollow structures; an electric drive unit 5 is arranged in the shell 9, a steel wire rope 8 penetrates through the support arm 6, and one end of the steel wire rope 8 extends out of the support arm 6 and is connected with the grabbing part; lifting and carrying of the weights is effected by the electric drive unit 5.

The housing 9 is further provided with a charging interface for charging a device in which the rechargeable battery is installed.

As shown in fig. 1, the belt portion 4 includes a belt body, the middle of which protrudes toward the inside to form a groove on the outside, and the housing 9 is fixed to the groove by bolts, and the installation position is adjustable. The two ends of the waistband main body are symmetrically arranged and have a bending radian, and the two ends of the waistband main body can be connected through buckles so as to open or close the waistband part 4.

In this embodiment, the buckle of the waistband body is a polypropylene webbing buckle. Of course, in other embodiments, the snap may take other forms.

Both ends of the waistband body are provided with telescopic ends to adjust the total length of the waistband part 4. The waistband main body is made of metal materials, such as aluminum. The inner surface of the waistband main body is provided with a flexible material so as to increase the wearing comfort. The outer side of the waistband main body is provided with a non-net foam pad, and the inner side and the outer side of the waistband main body are both covered with honeycomb fabrics and are slightly larger than the waistband main body.

The grooves in the waistband sections 4 are provided with inflatable cushions which further improve the comfort of the wearer. The both sides symmetry of recess is provided with a plurality of vertical mounting holes of arranging, and the mounting hole that corresponds not co-altitude through supporting component realizes that the mounting height is adjustable.

The electric drive unit 5 comprises a battery, a motor, a winding drum and a steel wire rope 8, one end of the steel wire rope 8 is wound on the winding drum, and the other end of the steel wire rope 8 extends to the outer side of the support arm 6 along the inside of the support arm 6; the pulley 10 is installed to the one end that the casing 9 was kept away from to support arm 6, and wire rope 8 walks around pulley 10 to connect through buffer unit and snatch the part, buffer unit can cushion the impact to the corresponding position of operator's health under the circumstances such as the heavy object rocks.

In this embodiment, the cushioning member is a spring 13 and the gripping member is a hook 14 or a suction cup. The larger the weight, the more the spring 13 can absorb the impact transmitted to the joint, particularly the buttocks and the lower back. The outside of the spring is wrapped with a corrugated pipe or an expandable fabric bag.

The steel wire rope 8 is a flexible steel wire rope, and is formed by weaving 25 strands of metal stranded wires with the sections of 3mm, for example.

The battery is used for supplying power for the motor, and the motor links to each other with the reel to the drive reel rotates, thereby the reel rotates and drives 8 receive and releases of wire rope and promote and reduce the heavy object, makes the heavy object promote and reduce with controllable mode through the motion of control motor.

As shown in fig. 1, the support arm 6 has a vertical mounting section and an arc-shaped lifting section, and a control button and a speed change device are provided on the support arm 6 for precisely controlling the height and rate of lifting and lowering of the weight. The support arm 6 is also provided with guides or guide wheels inside to reduce the friction to which the cable 8 is subjected inside the support arm 6, especially in the bends. The support arm 7 may also be provided with a slide at the end to adjust the length of its horizontal end.

The mounting section of the support arm 7 is provided with a guide hole which is long-strip-shaped, the guide hole corresponds to the mounting hole of the backrest part 2 at different positions through the guide hole, and the connection with the backrest part 2 is realized by screwing in a connecting piece (such as a bolt); the height of the supporting arm 6 can be adjusted by changing the corresponding position of the guide hole.

The auxiliary supporting device 12 is rotatably installed on the side of the shell 9 opposite to the groove of the waist belt portion 4, and the auxiliary supporting device 12 is driven to rotate by another motor. In the present embodiment, the auxiliary supporting device 12 employs a cylinder.

When the motor drives the supporting auxiliary device 12 to rotate, the oil cylinder extends until the oil cylinder is vertically supported on the ground; when the operator walks, the cylinder retracts off the ground while the motor rotates to rotate the support assist device 12 back to the initial position. Therefore, an operator can operate the lifting device in a standing mode when lifting and lowering the heavy object, the back and the legs do not need to be bent frequently, and the heavy object is stabilized only by applying proper force through the arms; if the heavy object needs to be carried, the back bending is not needed, and the carrying can be realized only by the parallel movement or the rotation of the body after the heavy object is fixed by the steel wire rope 8.

The walking assisting devices 11 are provided with the bottoms of the wearing components and are arranged in two groups, each group of walking assisting devices 11 comprises a first support 15, a second support 16 and a supporting plate 17, one end of the first support 15 is connected with the waist belt part 4, the other end of the first support is hinged with the second support 16, and the supporting plate 17 is connected to the tail end of the second support 16; wherein the first support 15 corresponds to a thigh of a human body, the second support 16 corresponds to a calf of the human body, and the support plate 17 is used for supporting a foot.

The second support 16 is connected with the belt portion 4 through the air cylinder, and the operator does not need to bend down and squat when carrying heavy objects, so that the walking assisting device 11 has a simple structure, and can be carried by the legs of the operator to walk passively.

The operator wears the wearing device of the embodiment and connects the grabbing part with the heavy object, so that the operator does not need to bend down; the belt part 4, the strap part 3, the adjusting cylinder 7 and the like are adjusted to comfortable positions, then the control button is operated, the starting motor drives the winding drum to rotate, and then a heavy object can be lifted. When the heavy object needs to be moved or rotated, the operator only needs to properly hold the heavy object by arms, turns to or moves without stooping, the labor intensity is greatly reduced, and the wearing comfort is greatly improved by a plurality of adjusting structures and flexible parts.

The specific working process is as follows:

hoisting a heavy object:

an operator approaches the heavy object, adjusts the body posture, approaches the supporting arm 6 to the heavy object, and starts the motor to drive the winding drum to rotate, so that the grabbing part grabs the heavy object and fixes the grabbing part; and then, starting the motor again to drive the winding drum to rotate, and hoisting the heavy object to a proper height. In the whole process, an operator can stand to operate, the back and the legs do not need to be bent, and only the arms are needed to apply proper force to stabilize the heavy objects.

If the heavy object is heavy, the speed change device on the supporting arm 6 is adjusted, so that the heavy object with larger weight can be lifted, and meanwhile, the lifting speed of the heavy object is adjusted, and the protection of an operator is facilitated.

Carrying heavy objects:

when the heavy object can be carried after being lifted, an operator walks towards the area where the heavy object is to be placed, if the heavy object slightly shakes during moving, the heavy object is lightly held by both hands, and the operator can select the walking speed by himself according to the weight of the heavy object and the body condition of the operator until the area where the heavy object is to be placed is reached.

Placing a heavy object:

after the heavy object area is placed, the body posture is adjusted, the heavy object is close to the heavy object area, the winding drum is driven to rotate by the starting motor, the heavy object descends, and in the descending process, the position of the heavy object can be slightly adjusted through slight movement of the body or the arm, so that the position of the heavy object can be placed more accurately.

After the weight reaches the designated position, the grabbing part loosens and releases the weight; if the weight needs to be slightly moved after placement, the weight can be lifted again to a certain height, and readjusted and placed until the accurate position is reached. In the whole process, the operator does not need to bend down and bend legs, and only needs slight rotation of the body and the action of arms. If the weight of the weight is large, the speed change device on the supporting arm is adjusted, so that the weight can be lowered at a proper speed.

Holding a weight:

in the process of carrying the heavy objects, the operators are stopped or need to rest or line up when placing the heavy objects, the heavy objects need to be kept at the moment, and when the heavy objects are kept for a short time, the auxiliary supporting device 12 can be rotated to the supporting ground, so that a triangular support is formed, the load of the operators is reduced, and the speed of carrying the heavy objects is increased.

This embodiment can save operator's physical power, and owing to set up a plurality of flexible component, plays protection operator's effect, improves the travelling comfort of dressing. The embodiment has a plurality of adjustment structures, and can be better adapted to different physical conditions of operators and a plurality of motion modes such as lifting, descending, carrying, rotating and the like.

The device can have wide industrial application in all fields of logistics delivery or worker lifting and transporting heavy objects. Meanwhile, various weights can be lifted by matching with different weight connecting structures, and the application range is wide.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wearable device having a flexible component, comprising:

2. The wearable device with the flexible component of claim 1, wherein the support arm is detachably connected to the wearing assembly, and the support arm has a hollow structure and has a vertical installation section and an arc-shaped lifting section.

3. The wearable device with the flexible component according to claim 1, wherein the support assembly further comprises a housing, the electric drive unit is disposed in the housing, the electric drive unit comprises a motor and a winding drum connected to the motor, and the steel cable is wound on the winding drum; the motor is powered by a battery.

4. The wearable device with the flexible component of claim 1, wherein the wearable assembly comprises a backrest portion, a waistband portion and a harness portion, the backrest portion connects the two harness portions, and the waistband portion is connected to the backrest portion by symmetrically arranged adjustment cylinders.

5. The wearable device with the flexible component of claim 4, wherein the support arm defines a guide hole, and the support arm is connected to the backrest portion through the guide hole by a connecting member.

6. The wearable device with the flexible component of claim 4, wherein the back side of the waistband portion is provided with a groove, and the groove is filled with an air cushion.

7. The wearable device with the flexible component of claim 1, wherein the grasping component is connected to the wire rope through a buffer component.

8. A wearable device with flexible parts according to claim 1 or 7, characterized in that the gripping part is a hook or a suction cup.

9. The wearable device with the flexible component of claim 1, wherein a guide rail or a guide wheel for guiding the cable is provided in the support arm.

10. The wearable device with the flexible component of claim 1, wherein the auxiliary support device is a ram.