CN115070734A

CN115070734A - Active and passive combined type carrying assistance exoskeleton

Info

Publication number: CN115070734A
Application number: CN202210821644.1A
Authority: CN
Inventors: 王昌宏; 黎波; 刘家红; 黄森; 谢丹; 靖晔; 李志影; 钟韵; 陈新志立; 袁冬; 李桂江; 陈雨雪
Original assignee: Chongqing University of Technology
Current assignee: Chongqing University of Technology
Priority date: 2022-07-13
Filing date: 2022-07-13
Publication date: 2022-09-20

Abstract

The invention discloses an active and passive combined type carrying power-assisted exoskeleton which comprises a back component, a hip joint component, a leg component, a bionic spine component and a power-assisted component, wherein the back component is connected with the hip joint component; the bionic spine component comprises a plurality of bionic spines, and two adjacent bionic spines are rotationally connected through a first axial rotating part; the power-assisted assembly comprises a power part and a power-assisted spring, two ends of the power-assisted spring are respectively connected with a first steel wire pull rope and a second steel wire pull rope, the other end of the first steel wire pull rope is connected with the bionic spine assembly, the other end of the second steel wire pull rope is wound on the double-wire winch and then is connected with the hip joint assembly, and the power part is connected with the double-wire winch through a gear assembly, so that the power part can drive the double-wire winch to rotate through the gear assembly. The invention can not only assist the hip joint, but also assist the waist and the back, and meanwhile, the assistance form of the active and passive structure has good assistance effect, light weight and low cost.

Description

Active and passive combined type carrying assistance exoskeleton

Technical Field

The invention relates to the technical field of wearable equipment, in particular to an active and passive combined type carrying assisting exoskeleton.

Background

With the improvement of modern living standard and the development of social productivity, the transportation and the transportation of goods become important activities of people in production and life, and the convenience, rapidness and safety of the transportation become necessary conditions for improving the benefit and reliable service. A series of places such as ports, cargo collection and distribution places, logistics transportation places, factories, construction sites, agricultural markets, industrial parks, supermarkets and shopping malls are the places which are most frequently and intensively used for carrying, and the cargo transportation mode and the material carrying efficiency have great influence on the labor productivity. How to make the transport more convenient, rapid, safe becomes the important problem of improving production efficiency.

The carrying movement is a complex whole body coordination work for human body, including the participation of feet, legs, waist, back and arms. The carrying assisting exoskeleton device is a device for providing assisting power for human body carrying operation, and can provide effective assisting power for the human body carrying process by using the carrying assisting exoskeleton device in the carrying process. The carrying assisting exoskeleton in the prior art is of an active type and a passive type, wherein power is actively provided through power sources such as a motor, hydraulic pressure and a pneumatic cylinder, the auxiliary effect is achieved by enhancing strength, the active exoskeleton can obviously improve the capability of lifting heavy objects by people due to the assistance of external power output, but a series of problems such as heavy weight, high cost, complex design and the like need to be solved due to the increase of power source parts such as the motor and the hydraulic cylinder, and the mobility of a wearer can be limited due to energy storage, so that huge burden can be caused to the carrier when the energy is exhausted. The passive type has a problem that the power assisting effect is poor and the carrying weight cannot meet the requirement. Meanwhile, the carrying assistance exoskeleton in the prior art is mainly used for assisting hip joints, and the assistance effect is poor.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide one kind not only can carry out the helping hand to hip joint, can also carry out the helping hand to back, and the helping hand is effectual simultaneously, light in weight, the passive convolution transport helping hand ectoskeleton of owner with low costs.

In order to solve the technical problems, the invention adopts the following technical scheme:

an active-passive combination transport assisting exoskeleton comprises a back assembly, a hip joint assembly and leg assemblies; the back component comprises a shoulder strap and a back plate, and the shoulder strap is used for being worn on the upper limbs of the human body; the hip joint assembly is used for adapting to the position of a hip joint of a human body, the leg assembly is used for being worn on a leg of the human body, and the active and passive combined type carrying and power-assisted exoskeleton further comprises a bionic spine assembly and a power-assisted assembly;

the bionic spine assembly comprises a plurality of bionic spines arranged along the vertical direction, two adjacent bionic spines are rotatably connected through a first axial rotating part so as to adapt to the movement of the waist of a human body, the uppermost bionic spine is connected with the back plate, and the lowermost bionic spine is connected with the hip joint assembly;

the power assisting assembly comprises a power part and a power assisting spring arranged along the vertical direction, two ends of the power assisting spring in the vertical direction are respectively connected with a first steel wire pulling rope and a second steel wire pulling rope, the first steel wire pulling rope and the second steel wire pulling rope are in a tightening state at initial positions, one end of the first steel wire pulling rope, which is far away from the first steel wire pulling rope and connected with the power assisting spring, is connected with the bionic spine assembly, so that when the bionic spine in the bionic spine assembly rotates relatively, the first steel wire pulling rope can generate tension on the power assisting spring, one end of the second steel wire pulling rope, which is far away from the second steel wire pulling rope and connected with the power assisting spring, is wound on a double-wire winch and then connected with the hip joint assembly, so that when a human body drives the hip joint assembly to move, the second steel wire pulling rope can drive the double-wire winch to rotate and generate tension on the power assisting spring, the power part is connected with the double-wire winch through a gear assembly, so that the power part can drive the double-wire winch to rotate through the gear assembly.

In this scheme, the direction of the human body is taken as the reference direction, namely, the front, the back, the left, the right, the upper and the lower directions in this scheme are respectively corresponding to the front, the back, the left, the right, the upper and the lower directions of the human body, meanwhile, the axial direction in this scheme is the left and right direction, the vertical direction is the up and down direction, the longitudinal direction is the front and back direction, and the forward rotating direction of each part in this scheme is the rotating direction corresponding to each part when bending waist, the reverse rotating direction is the rotating direction when getting up, and the initial state is the state of each part when the human body is upright.

The working principle of the invention is as follows: when the carrying assisting exoskeleton is used, the carrying straps of the back component are worn on the upper limbs of a human body, and the leg components are worn on the legs of the human body, so that the carrying assisting exoskeleton is worn.

When a user bends down to carry heavy objects, on one hand, each bionic spine in the bionic spine assembly rotates a certain angle relatively, so that the first steel wire pull rope generates pulling force on the power-assisted spring; on the other hand, when the human body bends down, the hip joint assembly is driven by the human body to move, at the moment, a second steel wire pull rope connected with the hip joint assembly synchronously moves along with the hip joint assembly, at the moment, the second steel wire pull rope drives a double-wire winch to rotate, the second steel wire pull rope is contracted and wound on the double-wire winch, at the moment, the second steel wire pull rope generates pulling force on the power-assisted spring, and under the action of the first steel wire pull rope and the second steel wire pull rope, the power-assisted spring generates larger pulling force to store elastic potential energy; when the user stands up, the elastic potential energy release of helping hand spring storage provides the helping hand for standing up on the one hand, the design of first steel wire stay cord and second steel wire stay cord can make helping hand spring carry out the helping hand to human back and hip joint position simultaneously, on the other hand power component rotates, drive the rotation of double-line capstan through the gear assembly, the rotation of double-line capstan produces the helping hand to second steel wire stay cord, second steel wire stay cord provides the helping hand through the motion of hip joint subassembly to human hip joint, so this scheme is when the user stands up, power component starts, carry out power transmission back cooperation helping hand spring's pulling force simultaneously to hip joint rotation and lumbar vertebrae activity through the gear assembly, the tensile helping hand that carries out of back muscle, in order to reach laborsaving effect.

And when the user carries out the lift heavy object of not obviously bowing, each bionical backbone in the bionical backbone subassembly can be forced to rotate so that bionical backbone subassembly is crooked to its lumbar vertebrae joint's activity, and only first steel wire stay cord drives helping hand spring stretch this moment to only carry out the helping hand to back of the body muscle joint when rising.

In conclusion, the invention can not only assist the hip joint, but also assist the waist and the back, and meanwhile, the assistance form of the active and passive structure has good assistance effect, light weight and low cost.

Preferably, the bionic spine assembly further comprises a plurality of first bearings, the first bearings are rotatably connected with the bionic spine at the corresponding positions through first connecting shafts arranged along the axial direction, the outer circumference of the first bearing is provided with a first clamping groove, the first bearings are grouped in pairs, the first bearings in different groups are distributed along the vertical direction, the two first bearings in the same group are distributed along the longitudinal direction, and the two first bearings in the same group are contacted, a space for the first steel wire pull rope to pass through is formed between the first clamping grooves of the two first bearings in the same group, and a first connecting rod is further arranged on the bionic spine at the lowest part, and one end of the first steel wire pull rope, which is far away from the end where the first steel wire pull rope is connected with the power-assisted spring, sequentially penetrates through the space between the two first bearings of the same group and then is fixedly connected to the first connecting rod.

Like this, the setting of first bearing can make first steel wire stay cord be in the tensioning state all the time, and can provide the direction to the motion of first steel wire stay cord, guarantees first steel wire stay cord to helping hand spring's pulling force direction.

Preferably, the power assembly further comprises a second bearing and a third bearing, the second bearing and the third bearing are rotatably connected with the back plate through a second connecting shaft and a third connecting shaft respectively, a second clamping groove is further formed in the outer circumference of the second bearing, a third clamping groove is further formed in the outer circumference of the third bearing, a first winch groove and a second winch groove are formed in the outer circumference of the double-wire winch respectively, and one end, far away from the second steel wire rope, of the second steel wire rope, connected with the power-assisted spring sequentially crosses over the second clamping groove, the first winch groove, the second winch groove and the third clamping groove and then is connected with the hip joint assembly.

Like this, the setting of second bearing and third bearing can make the second steel wire stay cord be in the tensioning state all the time, and can provide the direction to the motion of second steel wire stay cord, guarantees the second steel wire stay cord to helping hand spring's pulling force direction.

Preferably, the gear assembly includes a first gear and a second gear which are engaged with each other, the diameter of the second gear is larger than that of the first gear, the first gear is fixedly connected to the power member, so that the power member can drive the first gear to rotate when rotating, and the second gear is fixedly connected to the double-wire winch, so that the double-wire winch can rotate along with the second gear when the first gear drives the second gear to rotate.

Like this, the power of power spare can transmit for the double-line capstan winch through the gear assembly, and the diameter of second gear is greater than the diameter of first gear simultaneously, utilizes the second gear can amplify the effort of first gear and then transmit for the double-line capstan winch, and then strengthens the helping hand effect of power spare.

Preferably, the first gear with connect through one-way bearing between the pivot of power spare, just the forward direction of rotation of first gear does the free rotation direction of one-way bearing, the reverse direction of rotation direction of first gear does the locking direction of one-way bearing, so that can be relative during the forward rotation of first gear one-way bearing free rotation, just can pass through during the reverse rotation of power spare one-way bearing drives first gear rotates.

Therefore, when stooping, the second steel wire pull rope drives the double-wire winch to rotate in the positive direction, the second gear connected with the double-wire winch drives the first gear to rotate in the positive direction, and the first gear freely rotates under the action of the one-way bearing, so that the power part is prevented from generating resistance to the stooping process; when the bicycle is lifted up, under the action of the one-way bearing, the power part drives the first gear to synchronously rotate, and the first gear drives the double-wire winch to rotate through the second gear, so that the lifting assisting effect is realized.

Preferably, the hip joint assembly comprises a hip joint adjusting rod, the bionic spine is connected to the hip joint adjusting rod, hip joint parts are symmetrically arranged on two axial sides of the hip joint adjusting rod, each hip joint part comprises a capstan base and a boosting winch, the boosting winch is located in the capstan base and fixedly connected with the capstan base, a through hole is formed in the capstan base, and one end, far away from the end connected with the boosting spring, of the second steel wire pull rope penetrates through the through hole and then is fixedly connected with the boosting winch.

Therefore, the hip joint adjusting rod can adjust the length of the hip joint adjusting rod to adapt to the wearing requirements of different users, and the second steel wire pull rope penetrates through the through hole in the winch seat and then is fixedly connected with the boosting winch, so that when a human body bends, the boosting winch can be driven by the human body to rotate, and then the second steel wire pull rope drives the double-wire winch to rotate and generate pulling force for the boosting spring.

Preferably, the hip joint component further comprises an adjusting seat, a first connecting pipe, a second connecting pipe and a third connecting pipe, one end of the adjusting seat close to the hip joint adjusting rod is rotationally connected with the hip joint adjusting rod through a rolling bearing, so as to adapt to the extending and retracting movement of the hip joint of the human body, one end of the adjusting seat far away from the adjusting seat and connected with the hip joint adjusting rod is connected with the first connecting pipe, one end of the first connecting pipe, which is far away from the adjusting seat, is connected with the capstan base, one end of the capstan base, which is far away from the first connecting pipe, is connected with the second connecting pipe, one end of the second connecting pipe, which is far away from the end connected with the capstan base, is connected with the third connecting pipe through a first longitudinal rotating piece, the end, far away from the end connected with the second connecting pipe, of the third connecting pipe is connected with the leg component.

Preferably, one end of the adjusting seat, which is close to the hip joint adjusting rod, is provided with a connecting part, a connecting hole for the hip joint adjusting rod to slide through is formed in the connecting part, and limiting rings are further arranged on two longitudinal sides of the connecting part so as to limit the longitudinal position of the connecting part on the hip joint adjusting rod through the limiting rings.

Therefore, the adjusting seat can be installed and fixed at different positions on the hip joint adjusting rod through the design of the connecting part and the limiting ring, so that the hip joint adjusting rod can better adapt to the wearing requirements of different users, and the wearing comfort is guaranteed.

Preferably, the back plate is further provided with a mounting support, the third connecting shaft is mounted on the mounting support, the boosting assembly further comprises a sleeve, the sleeve is of a hollow structure, two ends of the sleeve are respectively fixed to the mounting support and a through hole of the winch base, one end, far away from the second steel wire pulling rope and connected with the boosting spring, of the second steel wire pulling rope sequentially crosses over the second clamping groove, the first winch groove, the second winch groove and the third clamping groove and then extends into the sleeve, and one end, extending into the sleeve, of the second steel wire pulling rope penetrates through the sleeve and then is fixedly connected with the boosting winch.

Like this, through setting up the sleeve pipe, and fix the sheathed tube both ends respectively on the through-hole of erection support and capstan head, pass hollow structure's sleeve pipe with second steel wire stay cord simultaneously, because in whole handling, the second steel wire stay cord is to take place the motion, so the position of second steel wire stay cord is changed, can lead to second steel wire stay cord phenomenon such as winding probably to take place at the motion in-process like this, wear to establish in the sleeve pipe through with second steel wire stay cord, and fix sheathed tube both ends, thus, the second steel wire stay cord can only move along the sleeve pipe all the time, the winding problem takes place in the second steel wire stay cord motion process from this just having avoided, play the guard action to the second steel wire stay cord simultaneously, the reliability that this transport helping hand ectoskeleton used has been guaranteed.

Preferably, the active-passive combined carrying assisting exoskeleton comprises two groups of assisting components distributed along the axial direction and two groups of bionic spine components distributed along the axial direction, and the two groups of assisting components and the two bionic spine components are connected in a one-to-one correspondence manner.

Like this, the setting of two sets of helping hand subassemblies and bionical backbone subassembly can improve holistic helping hand effect, and then improves transport weight.

Compared with the prior art, the invention has the following advantages:

1. the invention is characterized in that a first steel wire rope connected with a human body bionic spine assembly and a second steel wire rope connected with a boosting winch in a hip joint component are simultaneously connected with a boosting spring. When the hip joint movement angle of a human body is small or the power part is not powered, the bionic spine assembly bends when the human body bends, the power-assisted spring is driven to elongate through the first steel wire pull rope, the power-assisted spring has a tightening force and stores elastic potential energy, when the human body gets up, the elastic potential energy stored by the power-assisted spring is released to assist, and at the moment, a passive power-assisted mode is adopted; when the hip joint of a human body has a large moving angle, the bionic spine component is bent, the first steel wire pull rope drives the power-assisted spring to elongate, the power-assisted winch pulls the second steel wire pull rope, the second steel wire pull rope drives the power-assisted spring to further elongate, when a user rises, the power-assisted spring releases energy power assistance, and meanwhile, the power part actively outputs intervention power assistance, namely active power assistance and passive power assistance at the same time.

2. The invention can conduct the force of the bearing object, so that part of the gravity is directly transmitted to the half body, the local pressure of the human body is reduced, the hip joint and the waist and back muscle and skeleton are boosted, the energy provided by the human body is reduced, the fatigue of the human body is relieved, meanwhile, the waist and back bone and muscle force generation can be reduced, and the effect of protecting the lumbar is achieved.

3. The invention converts the potential energy and the kinetic energy of the human body into the elastic potential energy of the power-assisted spring when stooping, and converts the kinetic energy of the power-assisted spring and the mechanical energy of the power part into the potential energy and the kinetic energy of the human body when getting up so as to realize the power-assisted effect.

4. The invention can not only assist the hip joint, but also assist the waist and back muscle joints, and has better assistance effect.

Drawings

FIG. 1 is a schematic structural view of an active and passive combined transport assisting exoskeleton of the present invention;

FIG. 2 is a schematic structural view of the active and passive combined transport assist exoskeleton without the protective panel;

FIG. 3 is a schematic structural diagram of a bionic spine assembly of the active and passive combined carrying assisting exoskeleton of the present invention;

FIG. 4 is a cross-sectional view of the bionic spine assembly of the active and passive combined transport assisting exoskeleton of the present invention;

FIG. 5 is a schematic diagram of a partial explosion at the power assist assembly of the active and passive combined transport assist exoskeleton of the present invention;

FIG. 6 is a partial schematic view of the hip joint assembly of the active and passive combination transport assist exoskeleton of the present invention;

fig. 7 is a schematic structural view of fig. 6 with the capstan base removed.

Description of reference numerals: the back component 1, the back strap 101, the back plate 102, the hip joint component 2, the hip joint adjusting rod 201, the adjusting seat 202, the first connecting pipe 203, the winch seat 204, the second connecting pipe 205, the third connecting pipe 206, the limiting ring 207, the boosting winch 208, the leg component 3, the bionic spine component 4, the first bionic spine 401, the second bionic spine 402, the third bionic spine 403, the fourth bionic spine 404, the fifth bionic spine 405, the first axial rotating component 406, the first connecting shaft 407, the first bearing 408, the first connecting rod 409, the boosting component 5, the boosting spring 501, the first pull rope steel wire 502, the second steel wire pull rope 503, the power component 504, the first gear 505, the second gear connecting shaft 506, the sleeve 507, the double-wire winch 508, the second bearing 509, the third bearing 510, the second connecting shaft 511, the third connecting shaft 512, the mounting support 513 and the protection panel 6.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are absolutely horizontal or hanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 7, an active and passive combined carrying assisting exoskeleton comprises a back component 1, a hip joint component 2, a leg component 3 and a protection panel 6; the back component 1 comprises a back belt 101 and a back plate 102, the back plate 102 is made of a carbon fiber plate, the weight can be reduced, the back belt 101 is used for being worn on the upper limbs of a human body, in the embodiment, the back belt 101 can be directly installed on the back plate 102 made of the carbon fiber plate and connected together through a hole in the back plate 102, and meanwhile, a waistband part in the back belt 101 can be directly matched and connected with a hip joint adjusting rod 201; the hip joint assembly 2 is used for adapting to the position of a hip joint of a human body, the leg assembly 3 is used for being worn on a leg of the human body, the leg assembly 3 comprises a leg binding piece, the leg binding piece is connected to the third connecting pipe 206 through a pin, and the active-passive combined carrying power-assisted exoskeleton further comprises a bionic spine assembly 4 and a power-assisted assembly 5;

the bionic spine assembly 4 comprises a plurality of bionic spines arranged along the vertical direction, two adjacent bionic spines are rotatably connected through the first axial rotating part 406, when the bionic spine assembly is used, the two adjacent bionic spines can be rotatably connected through a pin to adapt to the movement of the waist of a human body, the uppermost bionic spine is connected with the back plate 102, and the lowermost bionic spine is connected with the hip joint assembly 2;

the power assisting assembly 5 comprises a power part 504 and a power assisting spring 501 arranged along the vertical direction, in this embodiment, the power part 504 is a motor, two ends of the power assisting spring 501 in the vertical direction are respectively connected with a first steel wire pulling rope 502 and a second steel wire pulling rope 503, the first steel wire pulling rope 502 and the second steel wire pulling rope 503 are in a tightened state at initial positions, and one end of the first steel wire pulling rope 502, which is far away from the end connected with the power assisting spring 501, is connected with the bionic spine assembly 4, so that when the bionic spine in the bionic spine assembly 4 rotates relatively, the first steel wire pulling rope 502 can generate pulling force on the power assisting spring 501, one end of the second steel wire pulling rope 503, which is far away from the end connected with the power assisting spring 501, is wound on a double-wire winch 508 and then connected with the hip joint assembly 2, so that when a human body drives the hip joint assembly 2 to move, the second steel wire pulling rope 503 can drive the double-wire winch 508 to rotate and generate pulling force on the power assisting spring 501, the power member 504 is coupled to the twin wire winch 508 through a gear assembly such that the power member 504 can rotate the twin wire winch 508 through the gear assembly.

The working principle of the invention is as follows: when the carrying assisting exoskeleton is used, the carrying assisting exoskeleton is worn on upper limbs of a human body through the straps 101 of the back component 1 and worn on legs of the human body through the leg components 3, and the carrying assisting exoskeleton is worn.

When a user bends down to carry heavy objects, on one hand, each bionic spine in the bionic spine assembly 4 rotates a certain angle relatively, so that the first steel wire pull rope 502 generates pulling force on the power-assisted spring 501; on the other hand, when the user bends down, the human body drives the hip joint assembly 2 to move, at the moment, the second steel wire pulling rope 503 connected with the hip joint assembly 2 moves synchronously along with the hip joint assembly 2, at the moment, the second steel wire pulling rope 503 drives the double-wire winch 508 to rotate, the second steel wire pulling rope 503 is contracted and wound on the double-wire winch 508, at the moment, the second steel wire pulling rope 503 generates pulling force on the power-assisted spring 501, and under the action of the first steel wire pulling rope 502 and the second steel wire pulling rope 503, the power-assisted spring 501 generates larger pulling force to store elastic potential energy; when a user rises, on one hand, elastic potential energy stored in the power spring 501 is released to provide power for rising, the power spring 501 can simultaneously assist the waist, the back and the hip joint of the human body through the design of the first steel wire pull rope 502 and the second steel wire pull rope 503, on the other hand, the power part 504 rotates, the double-wire winch 508 is driven to rotate through the gear assembly, the double-wire winch 508 rotates to generate power for the second steel wire pull rope 503, the second steel wire pull rope 503 provides power for the movement of the hip joint of the human body through the hip joint assembly 2, so when the user rises, the power part 504 is started, the power is transmitted through the gear assembly, and then the power is matched with the pulling force of the power spring 501 to simultaneously assist the rotation of the hip joint and the movement of the lumbar vertebra and the stretching of the back muscles, so that the labor-saving effect is achieved.

And when the user carries out the heavy object of lifting of not obviously bowing, each bionical subassembly rotation in the bionical backbone subassembly 4 can be compelled in its lumbar vertebrae joint's activity so that bionical backbone subassembly 4 is crooked, and only first steel wire stay cord 502 drives helping hand spring 501 tensile this moment to only carry out the helping hand to back of the body muscle joint when rising up.

As also shown in fig. 3 and 4, in this embodiment, the biomimetic spine assembly 4 further comprises a plurality of first bearings 408, which, in particular use, the first bearing 408 can be a U-shaped bearing, the first bearing 408 is rotatably connected with the bionic spine at the corresponding position through a first connecting shaft 407 arranged along the axial direction, a first clamping groove is arranged on the outer circumference of the first bearing 408, the plurality of first bearings 408 are grouped in pairs, the first bearings 408 of different groups are distributed along the vertical direction, two first bearings 408 of the same group are distributed along the longitudinal direction, and the two first bearings 408 of the same group are contacted, a space for the first steel wire rope 502 to pass is formed between the first clamping grooves of the two first bearings 408 of the same group, a first connecting rod 409 is further arranged on the bionic spine at the lowest part, and one end of the first steel wire pull rope 502, which is far away from the end connected with the power-assisted spring 501, sequentially penetrates through the space between the two first bearings 408 of the same group and then is fixedly connected to the first connecting rod 409. In this embodiment, the bionic spine assembly 4 includes a first bionic spine 401, a second bionic spine 402, a third bionic spine 403, a fourth bionic spine 404, and a fifth bionic spine 405, where the second, third, and fourth bionic spines 404 are all connected to two sets of first bearings 408, the fifth bionic spine 405 is provided with a first connecting rod 409, and the first bionic spine 401 is provided with a set of first bearings 408 and an individual first bearing 408. During specific use, after initial assembly is completed, the bionic spine assembly 4 can be directly installed together through the first bionic spine 401, the fifth bionic spine 405, the back plate 102 and the holes reserved on the hip joint adjusting rod 201 through bolt connection, and then the first steel wire pull rope 502 is directly hung on the power-assisted spring 501 to complete installation of the bionic spine assembly 4.

In this way, the first bearing 408 is provided to enable the first wire rope 502 to be in a tensioned state all the time, and to provide guidance for the movement of the first wire rope 502, thereby ensuring the tension direction of the first wire rope 502 to the assist spring 501.

As shown in fig. 5, in this embodiment, the power assembly further includes a second bearing 509 and a third bearing 510, both the second bearing 509 and the third bearing 510 may be U-shaped bearings, the second bearing 509 and the third bearing 510 are rotatably connected to the back plate 102 through a second connecting shaft 511 and a third connecting shaft 512, a second clamping groove is further formed in an outer circumference of the second bearing 509, a third clamping groove is further formed in an outer circumference of the third bearing 510, a first capstan groove and a second capstan groove are formed in an outer circumference of the two-wire capstan 508, and an end of the second steel wire rope 503, which is far away from the end connected to the assist spring 501, sequentially passes through the second clamping groove, the first capstan groove, the second capstan groove, and the third clamping groove and then is connected to the hip joint assembly 2.

In this way, the second bearing 509 and the third bearing 510 are provided so that the second wire rope 503 is always in a tensioned state, and the movement of the second wire rope 503 can be guided, thereby ensuring the direction of the tension of the second wire rope 503 on the assist spring 501.

As shown in fig. 5, in this embodiment, the gear assembly includes a first gear 505 and a second gear 506 that are engaged with each other, a diameter of the second gear 506 is larger than a diameter of the first gear 505, the first gear 505 is fixedly connected to the power member 504, so that when the power member 504 rotates, the first gear 505 can be driven to rotate, and the second gear 506 is fixedly connected to the twin-wire winch 508, and specifically, the second gear 506 is connected to the twin-wire winch 508 through a bolt, so that when the first gear 505 drives the second gear 506 to rotate, the twin-wire winch 508 can rotate along with the second gear 506.

In this way, the power of the power member 504 can be transmitted to the double-wire winch 508 through the gear assembly, and meanwhile, the diameter of the second gear 506 is larger than that of the first gear 505, so that the acting force of the first gear 505 can be amplified and transmitted to the double-wire winch 508 through the second gear 506, and the power assisting effect of the power member 504 is further enhanced.

In this embodiment, the first gear 505 is connected to a rotating shaft of the power member 504 through a one-way bearing, a forward rotation direction of the first gear 505 is a free rotation direction of the one-way bearing, and a reverse rotation direction of the first gear 505 is a locking direction of the one-way bearing, so that the first gear 505 can rotate freely relative to the one-way bearing when rotating in the forward direction, and the power member 504 can drive the first gear 505 to rotate through the one-way bearing when rotating in the reverse direction.

Thus, when bending, the second wire rope 503 will drive the double-wire winch 508 to rotate in the forward direction, and at this time, the second gear 506 connected with the double-wire winch 508 drives the first gear 505 to rotate in the forward direction, and under the action of the one-way bearing, the first gear 505 rotates freely, thereby avoiding the power part 504 from generating resistance to the bending process; when the bicycle is lifted up, under the action of the one-way bearing, the power member 504 drives the first gear 505 to synchronously rotate, and the first gear 505 drives the double-wire winch 508 to rotate through the second gear 506, so that the lifting-up assisting effect is realized.

As shown in fig. 6 and 7, in this embodiment, the hip joint assembly 2 includes a hip joint adjusting rod 201, the bionic spine is connected to the hip joint adjusting rod 201, hip joint components are symmetrically disposed on two axial sides of the hip joint adjusting rod 201, the hip joint components include a capstan base 204 and a force-increasing capstan 208, the force-increasing capstan 208 is located in the capstan base 204 and is fixedly connected to the capstan base 204, specifically, the force-increasing capstan 208 and the capstan base 204 are locked and connected by a pin, a thin-wall bearing is disposed between the force-increasing capstan 208 and the capstan base 204 for limiting, a through hole is disposed on the capstan base 204, and one end of the second pull rope wire 503, which is far away from the connection force-increasing spring 501, passes through the through hole and is fixedly connected to the force-increasing capstan 208.

Thus, the length of the hip joint adjusting rod 201 can be adjusted to meet wearing requirements of different users, and the second steel wire rope 503 passes through the through hole on the winch base 204 and then is fixedly connected with the force-increasing winch 208, so that when a human body bends, the force-increasing winch 208 can be driven by the human body to rotate, and then the second steel wire rope 503 drives the double-wire winch 508 to rotate and generate pulling force on the force-increasing spring 501.

In this embodiment, the hip joint component further includes an adjusting seat 202, a first connecting tube 203, a second connecting tube 205 and a third connecting tube 206, wherein one end of the adjusting seat 202 close to the hip joint adjusting rod 201 is rotatably connected to the hip joint adjusting rod 201 through a rolling bearing to adapt to the extending and retracting movements of the hip joint of the human body, one end of the adjusting seat 202 far away from the hip joint adjusting rod 201 is connected to the first connecting tube 203, one end of the first connecting tube 203 far away from the adjusting seat 202 is connected to the capstan base 204, one end of the capstan base 204 far away from the first connecting tube 203 is connected to the second connecting tube 205, one end of the second connecting tube 205 far away from the capstan base 204 is connected to the third connecting tube 206 through a first longitudinal rotating member, and one end of the third connecting tube 206 far away from the second connecting tube 205 is connected to the leg assembly 3. Specifically, first connecting pipe 203, second connecting pipe 205 and third connecting pipe 206 all adopt carbon fiber side's pipe, with weight reduction, adjust and adopt between seat 202 and the first connecting pipe 203 to insert to dial the structure and connect, and adopt the pin to lock and die, with convenient dismantlement and connection, also connect through the pin between first connecting pipe 203 and the capstan head 204, also adopt between second connecting pipe 205 and the third connecting pipe 206 to insert to dial the structure and connect, and adopt the pin to lock and die.

In this embodiment, a connecting portion is disposed at one end of the adjusting seat 202 close to the hip joint adjusting rod 201, a connecting hole for the hip joint adjusting rod 201 to slide through is disposed at the connecting portion, and limiting rings 207 are further disposed at two longitudinal sides of the connecting portion, so as to limit the longitudinal position of the connecting portion on the hip joint adjusting rod 201 through the limiting rings 207.

Therefore, the adjusting seat 202 can be installed and fixed at different positions on the hip joint adjusting rod 201 through the design of the connecting part and the limiting ring 207, so that the wearing requirements of different users can be better met, and the wearing comfort is guaranteed.

In this embodiment, an installation support 513 is further disposed on the back plate 102, the third connection shaft 512 is installed on the installation support 513, the power assisting assembly 5 further includes a sleeve 507, the sleeve 507 is of a hollow structure, two ends of the sleeve 507 are respectively fixed at through holes of the installation support 513 and the winch base 204, one end of the second steel wire rope 503, which is far away from the second steel wire rope and connected with the power assisting spring 501, sequentially crosses over the second clamping groove, the first winch groove, the second winch groove and the third clamping groove and then extends into the sleeve 507, and one end of the second steel wire rope 503, which extends into the sleeve 507, penetrates through the sleeve 507 and then is fixedly connected with the power assisting winch 208.

Thus, by arranging the sleeve 507, fixing two ends of the sleeve 507 on the through holes of the mounting support 513 and the winch holder 204 respectively, and simultaneously penetrating the second wire rope 503 through the sleeve 507 with a hollow structure, because the second wire rope 503 is about to move in the whole carrying process, the position of the second wire rope 503 is changed, which may cause the second wire rope 503 to be wound and the like in the moving process, the second wire rope 503 is inserted into the sleeve 507 and fixed at two ends of the sleeve 507, so that the second wire rope 503 can only move along the sleeve 507 all the time, thereby avoiding the problem that the second wire rope 503 is wound in the moving process, and simultaneously protecting the second wire rope 503, ensuring the reliability of the carrying assisting exoskeleton.

In this embodiment, the active-passive combined carrying assisting exoskeleton comprises two groups of assisting assemblies 5 distributed along the axial direction and two groups of bionic spine assemblies 4 distributed along the axial direction, and the two groups of assisting assemblies 5 and the two bionic spine assemblies 4 are connected in a one-to-one correspondence manner.

Like this, the setting of two sets of helping hand subassemblies 5 and bionical backbone subassembly 4 can improve holistic helping hand effect, and then improves transport weight.

The complete working principle of the invention is as follows: when the carrying assisting exoskeleton is used, the connecting parts of the shoulder straps 101, the hip joint adjusting rods 201 and the adjusting seats 202 are adjusted to proper positions to better meet the wearing requirements of different users, then the shoulder straps 101 are worn on the upper limbs of a human body, the leg components 3 are worn on the legs of the human body, and the carrying assisting exoskeleton is worn.

When the user stooped to prepare to carry the heavy object, if the state of the user is not the lifting heavy object of obvious stooping, the activity of the lumbar joint of the user can force each bionic spine in the bionic spine assembly 4 to rotate so as to bend the bionic spine assembly 4, and only the first steel wire pull rope 502 drives the power spring 501 to stretch at the moment so as to only carry out power assistance on the waist and back muscle joints when getting up.

When the user lifts a heavy object with obvious stoop, on one hand, each bionic spine in the bionic spine assembly 4 rotates a certain angle relatively, so that the first steel wire pull rope 502 generates pulling force on the power-assisted spring 501; on the other hand, when the user bends down, the human body drives the hip joint assembly 2 to move, at the moment, the boosting winch 208 in the hip joint assembly 2 rotates along with the human body and drives the second steel wire pulling rope 503 to move synchronously, at the moment, the second steel wire pulling rope 503 drives the double-wire winch 508 to rotate and enables the second steel wire pulling rope 503 to contract and wind on the double-wire winch 508, at the moment, the second steel wire pulling rope 503 generates pulling force on the boosting spring 501, and under the action of the first steel wire pulling rope 502 and the second steel wire pulling rope 503, the boosting spring 501 generates larger pulling force to store elastic potential energy; when a user rises, on one hand, elastic potential energy stored in the power spring 501 is released to provide power for rising, the power spring 501 can simultaneously assist the waist, the back and the hip joint of the human body through the design of the first steel wire pull rope 502 and the second steel wire pull rope 503, on the other hand, the power part 504 rotates, the double-wire winch 508 is driven to rotate through the gear assembly, the double-wire winch 508 rotates to generate power for the second steel wire pull rope 503, the second steel wire pull rope 503 provides power for the movement of the hip joint of the human body through the hip joint assembly 2, so when the user rises, the power part 504 is started, the power is transmitted through the gear assembly, and then the power is matched with the pulling force of the power spring 501 to simultaneously assist the rotation of the hip joint and the movement of the lumbar vertebra and the stretching of the back muscles, so that the labor-saving effect is achieved.

Compared with the prior art, the invention is characterized in that the first steel wire pull rope 502 connected with the bionic spine component 4 of the human body and the second steel wire pull rope 503 connected with the boosting winch 208 in the hip joint component are simultaneously connected with the boosting spring 501. When the hip joint movement angle of the human body is small or the power part 504 is not powered, the bionic spine component 4 is bent when the human body bends, the power-assisted spring 501 is driven to elongate through the first steel wire pull rope 502, the power-assisted spring 501 has tightening force and stores elastic potential energy, when the human body gets up, the elastic potential energy stored in the power-assisted spring 501 is released to assist, and at the moment, a passive power-assisted mode is adopted; when the hip joint of a human body has a large movement angle, the bionic spine component 4 is bent, the first steel wire pull rope 502 drives the power-assisted spring 501 to elongate, the power-assisted winch 208 pulls the second steel wire pull rope 503, the second steel wire pull rope 503 drives the power-assisted spring 501 to further elongate, when a user rises, the power-assisted spring 501 releases energy power assistance, and the power part 504 actively outputs intervention power assistance, namely active power assistance and passive power assistance. The invention can conduct the force of the bearing object, so that part of the gravity is directly transmitted to the half body, the local pressure of the human body is reduced, the hip joint and the waist and back muscle and skeleton are boosted, the energy provided by the human body is reduced, the fatigue of the human body is relieved, meanwhile, the waist and back bone and muscle force generation can be reduced, and the effect of protecting the lumbar is achieved. The invention converts the potential energy and the kinetic energy of the human body into the elastic potential energy of the power-assisted spring 501 when stooping, and converts the kinetic energy of the power-assisted spring 501 and the mechanical energy of the power piece 504 into the potential energy and the kinetic energy of the human body when getting up to realize the power-assisted effect. The invention can not only assist the hip joint, but also assist the waist and back muscle joints, and has better assistance effect.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.

Claims

1. An active and passive combined transport assisting exoskeleton comprises a back component, a hip joint component and a leg component; the back component comprises a shoulder strap and a back plate, and the shoulder strap is used for being worn on the upper limbs of the human body; the hip joint assembly is used for adapting to the position of a hip joint of a human body, and the leg assembly is used for being worn on a leg of the human body;

2. The active-passive combined type carrying assisting exoskeleton of claim 1, wherein the bionic spine assembly further comprises a plurality of first bearings, the first bearings are rotatably connected with the bionic spine at corresponding positions through first connecting shafts arranged along an axial direction, first clamping grooves are formed in the outer circumferences of the first bearings, the first bearings are arranged in pairs, the first bearings in different groups are distributed along a vertical direction, the two first bearings in the same group are distributed along a longitudinal direction, the two first bearings in the same group are in contact with each other, a space for the first steel wire pulling rope to pass through is formed between the first clamping grooves of the two first bearings in the same group, a first connecting rod is further arranged on the lowermost spine, and one end of the first steel wire pulling rope, far away from the end of the first steel wire pulling rope, connected with the assisting spring, sequentially penetrates through the space between the two first bearings in the same group and then is fixedly connected with the first connecting rod On the rod.

3. The active-passive combined carrying assisting exoskeleton of claim 2, wherein the power assembly further comprises a second bearing and a third bearing, the second bearing and the third bearing are rotatably connected with the back plate through a second connecting shaft and a third connecting shaft respectively, a second clamping groove is further formed in the outer circumference of the second bearing, a third clamping groove is further formed in the outer circumference of the third bearing, a first winch groove and a second winch groove are formed in the outer circumference of the double-wire winch respectively, and one end, far away from the assisting spring, of the second steel wire rope is connected with the hip joint assembly after sequentially crossing over the second clamping groove, the first winch groove, the second winch groove and the third clamping groove.

4. The active-passive combination carry assist exoskeleton of claim 3, wherein the gear assembly comprises a first gear and a second gear that are engaged with each other, the second gear having a diameter larger than the first gear, the first gear being fixedly connected to the power member such that rotation of the power member causes the first gear to rotate, the second gear being fixedly connected to the two-wire winch such that the two-wire winch follows the second gear when the first gear causes the second gear to rotate.

5. The active-passive combination transport assisting exoskeleton of claim 4, wherein the first gear is connected with a rotating shaft of the power member through a one-way bearing, a forward rotation direction of the first gear is a free rotation direction of the one-way bearing, and a reverse rotation direction of the first gear is a locking direction of the one-way bearing, so that the first gear can freely rotate relative to the one-way bearing when rotating forward, and the first gear can be driven to rotate by the one-way bearing when the power member rotates reversely.

6. The active-passive combined carrying assisting exoskeleton as claimed in claim 5, wherein the hip joint assembly comprises a hip joint adjusting rod, the bionic spine is connected to the hip joint adjusting rod, hip joint parts are symmetrically arranged on two axial sides of the hip joint adjusting rod, the hip joint parts comprise a winch base and a force-increasing winch, the force-increasing winch is located in the winch base and fixedly connected with the winch base, a through hole is formed in the winch base, and one end, far away from the end, connected with the force-increasing spring, of the second steel wire pull rope penetrates through the through hole and then is fixedly connected with the force-increasing winch.

7. The active-passive combination carry assist exoskeleton of claim 6, the hip joint component also comprises an adjusting seat, a first connecting pipe, a second connecting pipe and a third connecting pipe, one end of the adjusting seat close to the hip joint adjusting rod is rotationally connected with the hip joint adjusting rod through a rolling bearing, so as to adapt to the extending and retracting movement of the hip joint of the human body, one end of the adjusting seat far away from the adjusting seat and connected with the hip joint adjusting rod is connected with the first connecting pipe, one end of the first connecting pipe, which is far away from the adjusting seat, is connected with the capstan base, one end of the capstan base, which is far away from the first connecting pipe, is connected with the second connecting pipe, one end of the second connecting pipe, which is far away from the end connected with the capstan base, is connected with the third connecting pipe through a first longitudinal rotating piece, the end, far away from the end connected with the second connecting pipe, of the third connecting pipe is connected with the leg component.

8. The active-passive combined carrying assisting exoskeleton as claimed in claim 7, wherein a connecting portion is disposed at one end of the adjusting seat close to the hip joint adjusting rod, a connecting hole is disposed at the connecting portion, the connecting hole is used for the hip joint adjusting rod to slide through, and limiting rings are disposed at two longitudinal sides of the connecting portion, so as to limit the longitudinal position of the connecting portion on the hip joint adjusting rod through the limiting rings.

9. The active-passive combined carrying assisting exoskeleton of claim 8, wherein a mounting support is further arranged on the back plate, the third connecting shaft is mounted on the mounting support, the assisting assembly further comprises a sleeve, the sleeve is of a hollow structure, two ends of the sleeve are respectively fixed to through holes of the mounting support and the winch base, one end, far away from the assisting spring, of the second steel wire pulling rope stretches into the sleeve after sequentially crossing the second clamping groove, the first winch groove, the second winch groove and the third clamping groove, and one end, stretching into the sleeve, of the second steel wire pulling rope penetrates through the sleeve and then is fixedly connected with the assisting winch.

10. The active-passive combination transport-assisting exoskeleton of claim 9, wherein the active-passive combination transport-assisting exoskeleton comprises two sets of power-assisting assemblies distributed along an axial direction and two sets of bionic spine assemblies distributed along the axial direction, and the two sets of power-assisting assemblies and the two bionic spine assemblies are connected in a one-to-one correspondence manner.