CN118024213A - Light-duty passive modularization helping hand ectoskeleton - Google Patents
Light-duty passive modularization helping hand ectoskeleton Download PDFInfo
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- CN118024213A CN118024213A CN202211417375.9A CN202211417375A CN118024213A CN 118024213 A CN118024213 A CN 118024213A CN 202211417375 A CN202211417375 A CN 202211417375A CN 118024213 A CN118024213 A CN 118024213A
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- 230000006870 function Effects 0.000 claims abstract description 16
- 230000005484 gravity Effects 0.000 claims abstract description 4
- 210000002414 leg Anatomy 0.000 claims description 76
- 210000001624 hip Anatomy 0.000 claims description 44
- 210000004394 hip joint Anatomy 0.000 claims description 28
- 210000000629 knee joint Anatomy 0.000 claims description 23
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 15
- 230000033001 locomotion Effects 0.000 claims description 14
- 210000000689 upper leg Anatomy 0.000 claims description 14
- 238000005265 energy consumption Methods 0.000 claims description 13
- 238000013461 design Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 230000006399 behavior Effects 0.000 claims description 6
- 230000017525 heat dissipation Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 210000003141 lower extremity Anatomy 0.000 claims description 4
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 claims 3
- 238000000926 separation method Methods 0.000 claims 2
- 210000003423 ankle Anatomy 0.000 description 5
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 238000010276 construction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000012546 transfer Methods 0.000 description 2
- 208000025978 Athletic injury Diseases 0.000 description 1
- 244000025254 Cannabis sativa Species 0.000 description 1
- 206010049565 Muscle fatigue Diseases 0.000 description 1
- 206010041738 Sports injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
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- 210000003205 muscle Anatomy 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009711 regulatory function Effects 0.000 description 1
- 230000003867 tiredness Effects 0.000 description 1
- 208000016255 tiredness Diseases 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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Abstract
The invention discloses a light passive modularized power assisting exoskeleton, which comprises a man-machine bearing system, a leg supporting system and an elastic power assisting system, wherein the leg supporting system is arranged on the main body; the man-machine knapsack system is composed of a knapsack bracket, braces and waist seals, and mainly realizes the function of connecting and adapting with a wearer. The leg support system is connected with the man-machine backpack system through a molar belt. The elastic assisting device mainly comprises a waist inserting plate, flexible binding, leg telescopic pipes and shoe covers, realizes the functions of supporting legs and transmitting load gravity to the ground, is connected to the leg supporting system through a joint shaft, and mainly comprises an elastic adjusting knob, a ratchet wheel, pawls and torsion springs, wherein the elastic adjusting knob is used for changing the telescopic state of the torsion springs to realize elastic adjustment of joints, so that the elastic assisting function is realized.
Description
Technical Field
The invention relates to the field of robots and automation, in particular to a light passive modularized power-assisted exoskeleton.
Background
With the rapid development of economy in China, people have higher and higher requirements on life quality, travel or hiking is a novel decompression mode, and people need to carry a large number of living goods or local features and the like when going out to play, climb mountains or visit friends and relatives, walk for a long time under the load condition, so that the physical energy consumption is huge, and the happiness of life is greatly reduced. The shooting fan traveling outdoors walks high mountain, jungle or village, has rugged road and is difficult to pass, heavy equipment is needed to be carried, tiredness is generated during the journey, and shooting mood and quality are affected. There is a need to solve the real life problems of "stationary back", "not far away", "not fast going" and the like in complex environments such as mountains, jungles and the like, particularly in areas where vehicles cannot reach.
In the life application scenes of long-distance walking such as mountain climbing activities, medical rescue, going out and playing, the physical energy consumption is high, the injury is easy, and the efficiency is low. The light passive modularized power assisting exoskeleton is a wearable robot in fact, can assist a wearer to carry more equipment and living materials in hiking, assists medical staff to break through terrain limitation, carries medical materials and transfers wounded persons, and therefore needs to develop the light passive modularized power assisting exoskeleton to strengthen human strength.
Disclosure of Invention
In order to overcome the problems of the complex environments such as mountain, jungle and the like, particularly the living reality such as 'back immobility', 'short walk' and the like of vehicles which cannot reach areas, the invention aims to provide the light passive modularized assisting exoskeleton which can assist the lower limb joints to bend and stretch, strengthen the muscle strength, relieve the muscle fatigue and prevent sports injury, has small interference on the freedom degree of human body movement and high flexibility, can adapt to the walking requirement of vehicles such as rough mountain roads, steep slopes, grass and the like in the areas which cannot reach, has light weight, high modularized design, is convenient to carry, has high fitting degree with human bodies, is convenient to match with the developing function of equipment, is effectively integrated with other systems, can be worn in protective clothing, and meets the wearing requirement of various physical energy consumption. In the future civil development process, the method has important roles.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
A light passive modularized booster exoskeleton, which comprises a man-machine backpack system 1, a leg support system 2 and an elastic booster system 3; the man-machine backpack system 1 comprises a backpack bracket 11, a back cushion 12, a brace 13, a plug buckle 14, a telescopic buckle 15, a waist seal 16, a supporting pallet 17, a supporting pallet rotating shaft 18, a supporting pallet limiting spring 19, a pallet limiting knob 110 and a supporting plugboard 111, and mainly realizes the functions of connecting, adapting and bearing a backpack weight with a wearer;
The leg support system 2 comprises a waist insertion plate 21, a hip connecting rod 22, a joint bearing cover 23, a hip joint upper rod 24, a rotary sleeve screw 25, a rotary sleeve 26, a hip joint lower rod 27, a leg upper rod 28, a leg binding cover 29, a leg telescopic pipe 210, a length adjusting button 211, a flexible binding 212, an adjusting limiting plate 213, an adjusting reset spring 214, a leg lower rod 215, an ankle joint rod 216, an ankle joint rotating shaft 217, an ankle joint bearing 218, a sole support 219, a sole connecting pad 220 and a shoe cover 221, and transmits part of the weight of an exoskeleton and load weights to the ground through the leg support system, so that the physical energy consumption of a wearer is reduced, and the load bearing capacity of the wearer is further improved;
The elastic power assisting system 3 comprises an elastic adjusting knob 31, an elastic adjusting end cover 32, a torsion spring shell end cover 33, a pawl reset spring 34, a pawl 35, a torsion spring adjusting square shaft 36, a ratchet reset spring 37, a ratchet 38, a torsion spring rotating shaft 39, a torsion spring 310, a torsion spring base 311, a torsion spring stop ring 312, a torsion spring adjusting ring 313, a torsion spring shell 314 and a joint shaft 315, energy generated by limb motions when a wearer walks is stored, the released energy is used for assisting the walking motions, and the walking durability of the wearer is improved.
The back cushion 12, the braces 13 and the waist seal 16 are connected to the back support 11, the plug buckle 14 and the telescopic buckle 15 are connected to the braces 13, the supporting support plate 17 and the supporting insert plate 111 are connected to form a whole through the supporting support plate rotating shaft 18, the supporting support plate limiting spring 19 and the support plate limiting knob 110, and the whole is installed on the waist seal 16 through a molar belt.
The back cushion 12 is internally filled with EVA to increase the cushion and skin, and a concave part is designed between the two EVA filling blocks to form air flow heat dissipation, so that the comfort of the wearer wearing the back cushion for a long time is improved.
The waist seal 16 is provided with EVA filled in the back cushion 12, concave parts designed and breathable materials adopted, and the front end of the waist seal 16 is subjected to concave treatment, so that the pressure of the waist seal on the bellies is relieved when a wearer performs special behaviors (such as bending, squatting and sitting behaviors), and the comfort of the wearer is further improved.
The telescopic buckle 15 of the harness 13 is used for adjusting the harness 13 to fit wearers of different heights. The plug buckle 14 and the magic tape on the waist seal 16 designed by the braces 13 are firmly connected with the wearer, so that the wearer is prevented from being separated from the exoskeleton in the process of strenuous exercise.
The back support 11 and the supporting support plate 17 can bear the weight, and the weight of the loaded weight is dispersed to the back and the waist, so that the ache of a single stress point of the body for a long time is relieved to a certain extent.
The hip connection rod 22 is mounted on the waist insertion plate 21, the joint bearing cap 23 and the hip upper rod 24 are mounted on the hip connection rod 22, the rotating sleeve screw 25, the rotating sleeve 26 and the hip lower rod 27 are connected to the hip upper rod 24, the hip lower rod 27 is connected to the leg upper rod 28, the leg binding cap 29, the length adjusting button 211, the flexible binding 212, the adjusting limiting plate 213, the adjusting return spring 214 and the leg lower rod 215 are mounted on the leg extension tube 210, the thigh and the shank adopt the same structure, the ankle joint rod 216 is connected with the leg lower rod 215, the ankle joint shaft 217 and the ankle joint bearing 218 are mounted on the ankle joint rod 216, the plantar support 219 is connected to the ankle joint bearing 218, and the plantar connection pad 220 and the plantar support 221 are mounted on the plantar support 219.
The leg support system 2 adopts a modularized design, and the waist insertion plate 21 is connected with the man-machine backpack system 1 through a molar belt and can be manually and directly separated. The upper leg lever 28 and the lower leg lever 215 are separated from the leg extension tube 210 by buttons. The exoskeleton is not required to be disassembled in a modularized way by means of tools, so that the exoskeleton is convenient to store, carry and maintain.
The hip, knee and ankle joints of the leg support system 2 are designed with multiple degrees of freedom to achieve various typical motions of the wearer, such as flexion-extension, pronation-supination, adduction-abduction, and the like.
The upper leg rod 28 and the lower leg rod 215 are marked with scales, the effective lengths of the upper leg rod 28 and the lower leg rod 215 can be adjusted through the length adjusting button 211, the adjusting reset spring 214 and the adjusting limiting plate 213, and the adjustable leg rest can be adjusted for wearers with different height requirements.
The flexible wear-resistant layer is added on the inner side of the flexible binding 212, and the outer side of the flexible binding is fixed with the leg by using a magic tape and a plug buckle, so that friction between the flexible wear-resistant layer and the leg in the movement process is reduced.
The leg support system 2 is in intimate contact with the wearer and the exoskeleton extends to the ground, transferring the load weight and a portion of the exoskeleton weight to the ground, reducing the physical energy consumption of the wearer and increasing the load carrying capacity of the wearer.
The elastic adjusting end cover 32 and the torsional spring adjusting square shaft 36 are arranged on the elastic adjusting knob 31, the torsional spring shell end cover 33 and the torsional spring adjusting ring 313 are arranged on the torsional spring shell 314, the pawl restoring spring 34 and the pawl 35 are connected to the torsional spring shell end cover 33, the torsional spring rotating shaft 39 is connected with the torsional spring adjusting square shaft 36 and the ratchet 38 through the ratchet restoring spring 37, one end of the torsional spring 310 is connected with the torsional spring base 311, the other end of the torsional spring 310 is connected with the torsional spring rotating shaft 39, the torsional spring stopping ring 312 is arranged on the torsional spring adjusting ring 313, and one end of the joint shaft 315 is connected with the torsional spring base 311, and the other end of the joint shaft is connected with the leg supporting system 2.
The elasticity of the elastic power assisting system 3 has an adjusting function, the pawl 35 and the ratchet 38 have unidirectional rotation performance, and the elasticity of the elastic power assisting system 3 can be adjusted by changing the expansion and contraction amount of the torsion spring 310 through rotation of the elastic adjusting knob 31. The elastic adjusting knob 31 has a mark, which can ensure the consistency of the elasticity of the elastic units of the left leg mechanism and the right leg mechanism.
The elastic power assisting system 3 is provided with an elastic release mechanism, the ratchet return spring 34 is compressed by pressing the elastic adjusting end cover 32, so that the pawl 35 and the ratchet 38 are separated, the torsion spring 310 is elastically released, and the ratchet return spring 34 returns the ratchet 38 after elastic release. And the elastic power assisting system 3 is provided with a touch preventing mechanism, and the elastic adjusting end cover 32 can be pressed down to release elasticity only when the torsion spring adjusting ring 313 rotates to a position matched with the torsion spring shell 314.
The hip joint and the knee joint of the exoskeleton adopt elastic power assisting systems 3 with the same structure, when a wearer stands, torsion springs 310 at the hip joint and the knee joint are respectively in a stretching state and a loosening state, when the wearer lifts the legs, the torsion springs 310 at the hip joint restore to a normal state, a tensile force is applied to the thigh, the knee joint bends and stretches the torsion springs 310 at the knee joint, and the knee joint stores energy; when the leg is put, the torsion spring 310 at the hip joint is stretched due to the gravity, the hip joint stores energy, and the torsion spring 310 at the knee joint is restored to a normal state, thereby giving tension to the lower leg. Thus, the walking aid has the assistance function on the lower limbs of the wearer, and the walking durability of the wearer is improved.
The power-assisted exoskeleton is light in weight, convenient to carry and modularly designed in structure, and the appearance is designed in an ergonomic mode, so that the power-assisted exoskeleton is convenient to wear and meets the requirements of comfort and breathability. The power assisting system for the hip joint and the knee joint transmits partial weights of load weights and exoskeleton to the ground, reduces physical energy consumption of a wearer, and greatly improves the load bearing capacity and the walking durability of the wearer.
Compared with the prior art, the light passive modularized power assisting exoskeleton has the characteristics of light weight, modularized structural design, convenience in carrying, high fitting degree with a human body, small interference on the degree of freedom of movement of the human body and high flexibility. EVA is filled in the man-machine backpack system of the light passive modularized power-assisted exoskeleton, and the concave is designed in the middle, so that the buffering and heat dissipation functions with skin are improved, and the comfort of a wearer in wearing the man-machine backpack system for a long time is improved. The telescopic buckle is used for adjusting the braces to adapt to wearers with different heights. The plug buckle and the magic tape are firmly connected with the wearer, so that the wearer is prevented from being separated from the exoskeleton in the process of intense exercise. The leg support system adopts a modularized design, does not need to carry out modularized disassembly on the exoskeleton by means of tools, and is convenient to store, carry and maintain. The exoskeleton is in close contact with the wearer and extends to the ground, so that part of the weight of the load weight and the exoskeleton is transferred to the ground, physical energy consumption of the wearer is reduced, and the load bearing capacity of the wearer is improved. The elasticity of elasticity helping hand system has regulatory function, and elasticity adjusting knob's sign design has guaranteed that the elasticity of two shank mechanism elastic element is unanimous about, and in addition, elasticity helping hand system has designed elasticity release mechanism and touch-proof mechanism, has guaranteed elasticity and can adjust according to the wish of wearer. The light passive modularized power-assisted exoskeleton is convenient to be matched with the development function of equipment, is effectively integrated with other systems, can be worn quickly without assistance, can assist a human body to complete typical actions, and transmits partial weights of load weights and the exoskeleton to the ground, so that physical energy consumption of a wearer is reduced, and the load bearing capacity and walking durability of the wearer are greatly improved. The power assisting device has low maintenance cost, reduces the use of manpower and material resources, saves a great amount of cost, and has certain significance.
Drawings
FIG. 1 is a schematic overall layout of a lightweight passive modular assisted exoskeleton of the present invention.
FIG. 2 is a schematic diagram of a man-machine backpack system of a lightweight passive modular booster exoskeleton of the present invention.
Fig. 3 is a schematic diagram of a leg support system of a lightweight passive modular assisted exoskeleton of the present invention.
FIG. 4 is a schematic diagram of an elastic assistance system of a lightweight passive modular assistance exoskeleton of the present invention.
Detailed Description
The following describes in detail the embodiments of the present invention with reference to the drawings and examples.
An overall layout schematic of a lightweight passive modular assisted exoskeleton is shown in fig. 1. A booster exoskeleton composition and mounting arrangement is described, including a man-machine backpack system 1, a leg support system 2, and an elastic booster system 3.
Wherein the man-machine carrying system 1 realizes the functions of connection adaptation and carrying weight for the wearer. The leg support system 2 is connected with the man-machine backpack system 1 through a molar belt interface, and part of the weight of the exoskeleton and the load weight is transferred to the ground through the leg support system, so that the physical energy consumption of a wearer is reduced, and the load bearing capacity of the wearer is improved. The elastic power assisting system 3 is arranged on the leg supporting system 2, stores energy generated by limb movement of a wearer during walking, releases the energy for assisting the walking movement, and improves the durability of the walking of the wearer.
Fig. 2 shows a schematic illustration of a construction of a man-machine backpack system 1. The figure design of the structure of the man-machine carrying system 1 is described, mainly illustrating the function and interface design of the parts.
The back cushion 12, the braces 13 and the waist seals 16 are connected to the back support 11, the plug buckle 14 and the telescopic buckle 15 are connected to the braces 13, the supporting support plate 17 and the supporting insert plate 111 are connected to form a whole through the supporting support plate rotating shaft 18, the supporting support plate limiting spring 19 and the support plate limiting knob 110, and the whole is installed on the waist seals 16 through molar belts.
The back cushion 12 is internally filled with EVA to increase cushioning with the skin and is provided with a concave portion between two EVA filling blocks to form air flow heat dissipation and increase the comfort of the wearer wearing the cushion for a long time.
The waist seal 16, except for filling EVA inside, designing concave and adopting ventilation material, is the same as the back cushion 12, the front end of the waist seal 16 is concave processed, so that the pressure of the waist seal to the bellies is relieved when the wearer performs special behaviors (such as bending, squatting and sitting behaviors), and the comfort of the wearer is further improved.
The telescopic buckle 15 of the harness 13 is used to adjust the harness 13 to fit wearers of different heights. The plug buckle 14 and the magic tape on the waist seal 16 designed by the braces 13 are firmly connected with the wearer, so that the wearer is prevented from being separated from the exoskeleton in the process of strenuous exercise.
The back support 11 and the supporting plate 17 can bear the weight, and the weight of the loaded weight is dispersed to the back and the waist, so that the ache of a single stress point of the body for a long time is relieved to a certain extent.
The man-machine backpack system 1 can also adopt other structural forms which can be adjusted in a fit way with the height of a wearer, buffer, heat dissipation and quick wearing.
A schematic view of one structural form of the leg support system 2 is shown in fig. 3. The principle of operation of this construction of the leg support system 2 is described, mainly illustrating the length adjustment and selection and force transmission of the support structure.
Hip connection rod 22 is mounted on waist insertion plate 21, joint bearing cap 23 and hip connection rod 24 are mounted on hip connection rod 22, rotation sleeve screw 25, rotation sleeve 26 and hip connection rod 27 are connected to hip connection rod 24, hip connection rod 27 is connected to leg upper rod 28, leg binding cap 29, length adjustment button 211, flexible binding 212, adjustment limiting plate 213, adjustment return spring 214 and leg lower rod 215 are mounted on leg extension tube 210, thigh and shank adopt the same structure, ankle connection rod 216 is connected to leg lower rod 215, ankle rotation shaft 217 and ankle connection bearing 218 are mounted on ankle connection rod 216, plantar support 219 is connected to ankle connection bearing 218, plantar connection pad 220 and shoe cover 221 are mounted on plantar support 219.
The leg support system 2 adopts a modularized design, and the waist insertion plate 21 is connected with the man-machine backpack system 1 through a molar belt and can be manually and directly separated. The upper leg lever 28 and the lower leg lever 215 are separated from the leg extension tube 210 by buttons. The exoskeleton is not required to be disassembled in a modularized way by means of tools, so that the exoskeleton is convenient to store, carry and maintain.
The hip, knee and ankle joints of the leg support system 2 are designed with multiple degrees of freedom to achieve various typical motions of the wearer in flexion-extension, pronation-supination, adduction-abduction, and the like.
The upper leg lever 28 and the lower leg lever 215 are marked with scales, and the effective lengths of the upper leg lever 28 and the lower leg lever 215 can be adjusted by the length adjusting button 211, the adjusting reset spring 214 and the adjusting limiting plate 213, so that the adjustable leg rest can be adjusted for wearers with different height requirements.
The flexible wear-resistant layer is added on the inner side of the flexible binding 212, and the outer side of the flexible binding is fixed with the leg by using a magic tape and a plug buckle, so that friction between the flexible wear-resistant layer and the leg in the movement process is reduced.
The leg support system 2 is in intimate contact with the wearer and the exoskeleton extends to the ground, transferring the load weights and some of the exoskeleton weight to the ground, reducing the physical energy consumption of the wearer and increasing the load carrying capacity of the wearer.
The leg support system 2 may take other forms that enable leg length adjustment and transfer of forces to the ground.
Fig. 4 shows a schematic illustration of a construction of the spring force assistance system 3. The working principle of the elastic assistance system 3 is described, mainly illustrating the assistance principle and the elastic adjustment mode.
The elastic adjusting end cover 32 and the torsional spring adjusting square shaft 36 are arranged on the elastic adjusting knob 31, the torsional spring shell end cover 33 and the torsional spring adjusting ring 313 are arranged on the torsional spring shell 314, the pawl restoring spring 34 and the pawl 35 are connected to the torsional spring shell end cover 33, the torsional spring rotating shaft 39 is connected with the torsional spring adjusting square shaft 36 and the ratchet 38 through the ratchet restoring spring 37, one end of the torsional spring 310 is connected with the torsional spring base 311, the other end of the torsional spring 310 is connected with the torsional spring rotating shaft 39, the torsional spring stopping ring 312 is arranged on the torsional spring adjusting ring 313, one end of the joint shaft 315 is connected with the torsional spring base 311, and the other end of the joint shaft is connected with the leg supporting system 2.
The elasticity of the elastic power assisting system 3 has an adjusting function, the pawl 35 and the ratchet 38 have unidirectional rotation performance, and the elasticity of the elastic power assisting system 3 can be adjusted by changing the expansion and contraction amount of the torsion spring 310 through rotation of the elastic adjusting knob 31. The elastic adjusting knob 31 has a mark, which can ensure the consistency of the elasticity of the elastic units of the left leg mechanism and the right leg mechanism.
The elastic power assisting system 3 is provided with an elastic release mechanism, the ratchet return spring 34 is compressed by pressing the elastic adjusting end cover 32, so that the pawl 35 and the ratchet 38 are separated, the torsion spring 310 is elastically released, and the ratchet return spring 34 returns the ratchet 38 after elastic release. And the elastic power assisting system 3 is provided with a touch preventing mechanism, and the elastic adjusting end cover 32 can be pressed down to release elasticity only when the torsion spring adjusting ring 313 rotates to a position matched with the torsion spring shell 314.
The hip joint and the knee joint of the exoskeleton adopt elastic power assisting systems 3 with the same structure, when a wearer stands, torsion springs 310 at the hip joint and the knee joint are respectively in a stretching state and a loosening state, and when the wearer lifts the legs, the torsion springs 310 at the hip joint restore to a normal state, a tensile force is applied to the thigh, the knee joint bends and stretches the torsion springs 310 at the knee joint, and the knee joint stores energy; when the leg is put, the torsion spring 310 at the hip joint is stretched due to the gravity, the hip joint stores energy, and the torsion spring 310 at the knee joint is restored to a normal state, thereby giving tension to the lower leg. Thus, the walking aid has the assistance function on the lower limbs of the wearer, and the walking durability of the wearer is improved.
The elastic assisting system 3 can also adopt other structural forms capable of realizing elastic assisting.
The assisting exoskeleton is light in weight, is of a modularized structure design and convenient to carry, is of an ergonomic design in appearance, is convenient to wear, and meets requirements of comfort and air permeability. The power assisting system for the hip joint and the knee joint transmits partial weights of load weights and exoskeleton to the ground, reduces physical energy consumption of a wearer, and greatly improves the load bearing capacity and the walking durability of the wearer.
It should be noted that, although the technical solution and the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the above-mentioned embodiments, which are merely illustrative, and those skilled in the art can make many forms without departing from the spirit and scope of the present invention.
Claims (17)
1. A light passive modular booster exoskeleton, characterized in that: comprises a man-machine carrying system (1), a leg supporting system (2) and an elastic power assisting system (3); the man-machine backpack system (1) comprises a backpack bracket (11), a back cushion (12), a back strap (13), a plug buckle (14), a telescopic buckle (15), a waist seal (16), a supporting support plate (17), a supporting support plate rotating shaft (18), a supporting support plate limiting spring (19), a support plate limiting knob (110) and a supporting plugboard (111), so that the functions of connecting, adapting and bearing a backpack weight with a wearer are realized; the leg supporting system (2) comprises a waist inserting plate (21), a hip connecting rod (22), a joint bearing cover (23), a hip joint upper rod (24), a rotating sleeve screw (25), a rotating sleeve (26), a hip joint lower rod (27), a leg upper rod (28), a leg binding cover (29), a leg telescopic pipe (210), a length adjusting button (211), a flexible binding (212), an adjusting limiting plate (213), an adjusting reset spring (214), a leg lower rod (215), an ankle joint rod (216), an ankle joint rotating shaft (217), an ankle joint bearing (218), a plantar support (219), a plantar connecting pad (220) and a shoe cover (221), and transmits partial weights of the exoskeleton and load weights to the ground through the leg supporting system, so that the physical energy consumption of a wearer is reduced, and the load bearing capacity of the wearer is further improved; the elastic power assisting system (3) comprises an elastic adjusting knob (31), an elastic adjusting end cover (32), a torsion spring shell end cover (33), a pawl reset spring (34), a pawl (35), a torsion spring adjusting square shaft (36), a ratchet reset spring (37), a ratchet (38), a torsion spring rotating shaft (39), a torsion spring (310), a torsion spring base (311), a torsion spring stop ring (312), a torsion spring adjusting ring (313), a torsion spring shell (314) and a joint shaft (315), energy generated by limb movement when a wearer walks is stored, and the released energy is used for assisting walking movement, so that the durability of the walking of the wearer is improved.
2. A lightweight passive modular assisted exoskeleton as in claim 1 wherein: back cushion (12), braces (13) and waist seal (16) are connected on carrying support (11), plug buckle (14) and flexible knot (15) are connected on braces (13), support layer board (17) and support picture peg (111) are connected through support layer board pivot (18), support layer board spacing spring (19) and layer board spacing knob (110) and are constituteed an entirety, install on waist seal (16) through the mole area.
3. A lightweight passive modular assisted exoskeleton as claimed in claim 2 wherein: EVA is filled in the back cushion (12), so that the cushion is enlarged and the skin is buffered, and a concave part is designed between the two EVA filling blocks, so that air flow heat dissipation is formed, and the comfort of a wearer in long-time wearing is improved.
4. A lightweight passive modular assisted exoskeleton as claimed in claim 2 wherein: besides being the same as the back cushion (12), EVA is filled in the back cushion, concave cavities are designed in the back cushion, and breathable materials are adopted, the front end of the back cushion (16) is subjected to concave processing, so that the pressure of the back cushion to the bellies is relieved when a wearer performs special behaviors (such as bending, squatting and sitting behaviors), and the comfort of the wearer is further improved.
5. A lightweight passive modular assisted exoskeleton as claimed in claim 2 wherein: the telescopic buckle (15) of the brace (13) is used for adjusting the brace (13) to adapt to wearers with different heights; the plug buckle (14) designed by the braces (13) and the magic tape and the plug buckle on the waist seal (16) are firmly connected with the wearer, so that the wearer is prevented from being separated from the exoskeleton in the strenuous exercise process.
6. A lightweight passive modular assisted exoskeleton as claimed in claim 2 wherein: the backpack support (11) and the supporting support plate (17) can bear weights, the weights of the loaded weights are dispersed to the back and the waist, and the ache of a single stress point of a body for a long time is relieved to a certain extent.
7. A lightweight passive modular assisted exoskeleton as in claim 1 wherein: the hip connecting rod (22) is installed on the waist inserting plate (21), the joint bearing cover (23) and the hip joint upper rod (24) are installed on the hip connecting rod (22), the rotating sleeve screw (25), the rotating sleeve (26) and the hip joint lower rod (27) are connected to the hip joint upper rod (24), the hip joint lower rod (27) is connected with the leg upper rod (28), the leg binding cover (29), the length adjusting button (211), the flexible binding (212), the adjusting limiting plate (213), the adjusting reset spring (214) and the leg lower rod (215) are installed on the leg telescopic tube (210), the thigh and the shank adopt the same structure, the ankle joint rod (216) is connected with the leg lower rod (215), the ankle joint rotating shaft (217) and the ankle joint bearing (218) are installed on the ankle joint rod (216), the foot support (219) is connected to the ankle joint bearing (218), and the foot connection pads (220) and (221) are installed on the foot support (219).
8. A lightweight passive modular assisted exoskeleton as in claim 1 wherein: the leg support system (2) adopts the modularized design, and waist picture peg (21) link to each other with man-machine backpack system (1) through the mole area, can manual direct separation, and separation with leg extension pipe (210) is realized through the button with shank side lever (28) and shank side lever (215), does not need to carry out the modularization with the help of the instrument with the exoskeleton and dismantles, is convenient for accomodate, carry and maintain.
9. A lightweight passive modular assisted exoskeleton as in claim 8, wherein: the hip, knee and ankle joints of the leg support system (2) are designed with multiple degrees of freedom to achieve various typical motions of the wearer such as flexion-extension, pronation-supination, adduction-abduction, and the like.
10. A lightweight passive modular assisted exoskeleton as in claim 8, wherein: the upper leg side rod (28) and the lower leg side rod (215) are marked with scales, the effective lengths of the upper leg side rod (28) and the lower leg side rod (215) can be adjusted through the length adjusting button (211), the adjusting reset spring (214) and the adjusting limiting plate (213), and the adjustable leg rest can be adjusted for wearers with different height requirements.
11. A lightweight passive modular assisted exoskeleton as in claim 8, wherein: the flexible binding (212) is characterized in that a soft wear-resistant layer is added on the inner side, and the outer side is fixed with the leg by a magic tape and a plug buckle, so that friction between the flexible binding and the leg in the movement process is reduced.
12. A lightweight passive modular assisted exoskeleton as in claim 8, wherein: the leg support system (2) is in intimate contact with the wearer and the exoskeleton extends to the ground, transferring the load weight and part of the exoskeleton weight to the ground, reducing the physical energy consumption of the wearer and increasing the load carrying capacity of the wearer.
13. A lightweight passive modular assisted exoskeleton as in claim 1 wherein: the elastic adjusting end cover (32) and the torsional spring adjusting square shaft (36) are arranged on the elastic adjusting knob (31), the torsional spring shell end cover (33) and the torsional spring adjusting ring (313) are arranged on the torsional spring shell (314), the pawl reset spring (34) and the pawl (35) are connected to the torsional spring shell end cover (33), the torsional spring rotating shaft (39) is connected with the torsional spring adjusting square shaft (36) and the ratchet wheel (38) through the ratchet wheel reset spring (37), one end of the torsional spring (310) is connected with the torsional spring base (311) while the other end is connected with the torsional spring rotating shaft (39), the torsional spring stop ring (312) is arranged on the torsional spring adjusting ring (313), and one end of the joint shaft (315) is connected with the torsional spring base (311) while the other end is connected with the leg supporting system (2).
14. A lightweight passive modular assisted exoskeleton as in claim 1 wherein: the elasticity of the elastic power assisting system (3) has an adjusting function, the pawl (35) and the ratchet wheel (38) have unidirectional rotation performance, the expansion and contraction amount of the torsion spring (310) is changed through rotation of the elastic adjusting knob (31), the elasticity of the elastic power assisting system (3) can be adjusted, the elastic adjusting knob (31) is provided with a mark, and the elasticity of the elastic units of the left leg mechanism and the right leg mechanism can be ensured to be consistent.
15. A lightweight passive modular assisted exoskeleton as in claim 14, wherein: the elastic power assisting system (3) is provided with an elastic release mechanism, the ratchet wheel reset spring (34) is compressed by pressing the elastic adjusting end cover (32) so that the pawl (35) is separated from the ratchet wheel (38), the torsion spring (310) is elastically released, the ratchet wheel reset spring (34) resets the ratchet wheel (38) after elastic release, the elastic power assisting system (3) is provided with a touch preventing mechanism, and the elastic adjusting end cover (32) can be pressed down to release elasticity only when the torsion spring adjusting ring (313) rotates to a position matched with the torsion spring shell (314).
16. A lightweight passive modular assisted exoskeleton as in claim 14, wherein: the hip joint and the knee joint of the exoskeleton adopt elastic power assisting systems (3) with the same structure, when a wearer stands, torsion springs (310) at the hip joint and the knee joint are respectively in a stretching state and a loosening state, when the wearer lifts the legs, the torsion springs (310) at the hip joint restore to a normal state, a tensile force is applied to the thighs, the knee joint bends and stretches the torsion springs (310) at the knee joint, and the knee joint stores energy; when the leg is put, the torsion spring (310) at the hip joint is stretched under the action of gravity, the hip joint stores energy, the torsion spring (310) at the knee joint is restored to a normal state, tension is applied to the lower leg, and the leg is reciprocated in such a way, so that the leg-putting device has the assistance function on the lower limb of a wearer, and the walking durability of the wearer is improved.
17. A lightweight passive modular assisted exoskeleton as in claim 1 wherein: the power-assisted exoskeleton is light in weight, convenient to carry, and has the appearance of durability of walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211417375.9A CN118024213A (en) | 2022-11-14 | 2022-11-14 | Light-duty passive modularization helping hand ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211417375.9A CN118024213A (en) | 2022-11-14 | 2022-11-14 | Light-duty passive modularization helping hand ectoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118024213A true CN118024213A (en) | 2024-05-14 |
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ID=90988333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211417375.9A Pending CN118024213A (en) | 2022-11-14 | 2022-11-14 | Light-duty passive modularization helping hand ectoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118024213A (en) |
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2022
- 2022-11-14 CN CN202211417375.9A patent/CN118024213A/en active Pending
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