CN118061154A - Multi-point bearing load exoskeleton - Google Patents

Abstract

The invention discloses a multi-point bearing load exoskeleton, which comprises a force unloading mechanism movably connected with a backboard, and is characterized in that the crank slide block mechanism comprises a lever type crank, wherein the lever type crank is used for unloading the force of the back on a leg; one end of the waist adjusting module is fixedly connected with a lever crank of the force unloading mechanism, and the other end of the waist adjusting module is movably connected with the upper end of the hip joint module and is used for adjusting according to the body shape of a wearer; the lower end of the hip joint module is movably connected with the thigh rod, is used for simulating the degree of freedom of the hip joint of a human body, and is provided with passive assistance to provide assistance for the degree of freedom of the hip joint in flexion and extension; the thigh rod is fixed with the thigh of the human body through a binding belt, and the back plate is fixed with the back through a waistband. According to the invention, the load of the backpack can be effectively transferred to the legs through the design of the force-unloading mechanism, so that the load of the shoulders and the waist and the back can be effectively reduced; the invention has the beneficial effects that only one joint of the hip joint is arranged on the lower limb, so that the assistance is provided, and the flexibility of walking of a human body is not excessively disturbed.

Description

Multi-point bearing load exoskeleton

Technical Field

The invention belongs to the technical field of exoskeleton, and particularly relates to a multi-point bearing load exoskeleton.

Background

The knapsack load is a common load form in daily life, and various knapsack demands exist from students to tourists to soldiers; long-term knapsack activity can not only lead to fatigue of shoulder and waist and back muscles, but also bring about various musculoskeletal diseases such as scapulohumeral periarthritis, cervical spondylosis, low back pain and the like. To mitigate these effects, a variety of mechanical devices have been developed to assist in carrying, including both the levitated backpack and the exoskeleton device, which have been more or less mitigated. However, both the load transmission modes are changed, the load transmission paths are not changed, most of the load of the backpack is concentrated on the shoulders, and the load of the shoulders cannot be effectively reduced; on the other hand, the load cannot be transferred to the leg muscles effectively.

At present, the exoskeleton robot technology is a popular direction in the current robot technology field, and meanwhile, the load-bearing exoskeleton technology is an important branch in the exoskeleton robot technology, and the key point of the current load-bearing exoskeleton design is to provide assistance for specific actions such as lifting, moving, shifting and the like, namely, the design is carried out in the aspect of reducing the load feeling of the whole muscles. Often, the disadvantage of this design is that the load to which the local muscles are subjected cannot be taken into account, thus often resulting in higher local muscle stress and a series of musculoskeletal diseases. And most of the load-bearing exoskeleton comprises a plurality of joints of lower limbs, so that the normal movement of a human body is often disturbed.

Disclosure of Invention

Based on the above problems, the invention provides a multi-point bearing load exoskeleton, which can relieve shoulder fatigue while unloading a back load part to legs through the design of an unloading structure, and can not cause excessive interference to normal movement of a human body through the design of simplifying the exoskeleton lower limb structure.

The technical scheme is as follows:

a multi-point load bearing exoskeleton, comprising:

A back plate;

A back support plate;

The lower end of the force unloading mechanism is fixedly connected with the waist adjusting module and used for unloading back load to lower limbs, the waist adjusting module is used for adjusting the position of the hip joint, and the lower end of the force unloading mechanism is movably connected with the hip joint module;

the lower end of the hip joint module is movably connected with the thigh rod, at least comprises the arrangement of a power assisting module, and the power assisting mode is passive power assisting;

The connecting bandage at least comprises a waistband and two thigh bandages.

By adopting the scheme, the lower end of the load is placed on the back supporting plate when the weight is carried, the back load is converted from the back coronal plane to the leg sagittal plane through the force unloading mechanism, and the load is driven to periodically float up and down through periodic swing of thighs in the human walking process, so that the shoulder load is effectively reduced; in addition, the design of the hip joint power assisting device can effectively reduce the load of the legs and achieve the minimum load.

As a preference; the backboard is provided with a force unloading chute, an auxiliary chute, a lever fulcrum and a limiting groove, and the force unloading chute, the auxiliary chute, the lever fulcrum and the limiting groove are respectively used for movably connecting all part components of the force unloading mechanism and effectively limiting the movement range of the force unloading mechanism.

By adopting the scheme, the motion range of parts of the force unloading mechanism can be effectively limited, particularly other motions except the vertical direction of the sliding block are limited, and the stability of the load during the knapsack motion is effectively ensured.

The force unloading mechanism comprises a load interface, a force unloading sliding block assembly, a connecting rod and a lever crank, wherein the load interface is provided with a sliding table and a clamping groove, the sliding table can freely slide in the force unloading sliding groove, the upper end of the lever crank is movably connected with the lower end of the connecting rod, and a supporting point is rotatably connected with a lever fulcrum, so that the force direction can be converted;

As a preference; the force unloading sliding block assembly comprises a force unloading sliding block, an auxiliary sliding table and a limit baffle, wherein the force unloading sliding block is provided with a main body sliding table and an auxiliary lug, and the auxiliary sliding table comprises an auxiliary pulley, a double-end stud and a fixing nut;

The upper end of the main body sliding table is propped against the lower end of the sliding table of the load interface, the lower end of the main body sliding table is rotationally connected with the upper end of the connecting rod, the auxiliary pulley is fixed on the auxiliary lug through the double-end stud and the fixing nut, and the auxiliary pulley can slide in the auxiliary sliding groove on the backboard;

As a preference; the limit baffle is fixedly connected to the back plate through a bolt, the auxiliary pulley is clamped in the auxiliary sliding groove of the back plate through the blocking of the limit baffle, the horizontal movement of the auxiliary pulley is effectively limited, and the vertical sliding of the load interface can be effectively ensured through the increase of the sliding virtual constraint of the auxiliary sliding table.

By adopting the scheme, the load transfer can be effectively realized through the force unloading mechanism, the load of shoulders, waists and backs during the weight-bearing walking of a human body is effectively reduced, meanwhile, the force unloading sliding block is propped against the load interface sliding block, and the load interface sliding block are separable, so that the periodic alternate lifting of the legs of the human body is not influenced, and the stability of the motion process of the human body is ensured.

Preferably, the waist adjusting module comprises a waist adjusting rod and an L-shaped hip rod piece, one end of the waist adjusting rod is fixedly connected with the lever crank, a part of force is conveniently transferred from the back to the thigh, the other end of the waist adjusting rod is adjustably connected with the L-shaped hip rod piece and is used for adapting to the body type changes of different wearers, a rectangular through groove is formed in the lower end of one side of the L-shaped hip rod piece, and the L-shaped waist adjusting rod piece is rotatably connected with the hip joint module through a cylindrical pair.

By adopting the scheme, the load can be effectively transferred from the back to the lower limbs through the rigid fixed connection of the waist adjusting rod and the lower end of the lever crank; meanwhile, the adjustable design is suitable for people of different sizes, and the use scene of the exoskeleton is widened.

The hip joint module comprises a hip joint box body, a hip joint connector, a hip joint box cover and a hip joint shafting structure, wherein the hip joint shafting structure comprises a hip joint shaft, a bearing and a coil spring;

Preferably, the upper end of the hip joint box is provided with a cylindrical boss which is rotationally connected with the lower end of the L-shaped hip rod piece through a hip joint connector, and the lower end of the hip joint box body is hinged with the thigh rod through a hip joint shaft, so that three degrees of freedom of simulating the hip joint of a human body are realized;

preferably, the inner side of the coil spring is clamped with the groove of the hip joint shaft, the outer side of the coil spring is clamped with the T-shaped clamping groove in the hip joint box, the hip joint shaft drives the coil spring to twist relative to the hip joint box when the hip joint is bent, energy is stored, the coil spring is loosened when the hip joint stretches, the energy is released, and the walking aid is used for a human body.

By adopting the scheme, the three degrees of freedom are designed for the exoskeleton hip joint, the human hip joint degrees of freedom are simulated, the human-machine coupling can be well realized, the normal motion of a human body cannot be interfered, meanwhile, the assistance can be provided for the human body through the elastic assistance design, and the burden is reduced for the human body as a whole.

The exoskeleton is characterized in that the back plate is bound to the waist of a human body through the waistband when the exoskeleton is worn, the thigh rod is bound to the thigh through the thigh binding bands, preferably, no matter the binding bands or the connecting parts are connected, cotton materials are wrapped outside the parts which are in contact with the human body, and the wearing comfort is effectively ensured.

Compared with the prior art, the invention has the beneficial effects that:

The multi-point bearing load exoskeleton provided by the invention is mainly designed through a force unloading mechanism, and the back load part is transferred to the thigh by combining the reciprocating motion of the crank slider and the reciprocating swing of the leg part in the human gait cycle, so that the bearing of the shoulder part and the waist back part is effectively reduced; meanwhile, the stability of the human body in the motion process is effectively ensured by simplifying the design of the exoskeleton lower limb structure.

Drawings

FIG. 1 is a schematic illustration of the exoskeleton structure being worn;

FIG. 2 is a schematic diagram of the structure of the present invention;

FIG. 3A is a schematic diagram of a force-unloading structure;

FIG. 3B is a schematic diagram of the operation of the unloading mechanism;

FIG. 4 is a schematic view of a force-unloading slider assembly;

FIG. 5A is a schematic diagram of a back plate structure;

FIG. 5B is a back pallet mounting schematic;

FIG. 6 is a schematic view of a lumbar adjustment device;

FIG. 7 is an exploded view of a hip joint structure;

FIG. 8A is an exploded view of a hip joint assist structure;

FIG. 8B is a cross-sectional view of a hip joint assist structure;

Fig. 9 is a force schematic diagram of exoskeleton Shan Cexie. .

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Referring to fig. 1 to 9, a multi-point bearing load exoskeleton mainly includes a back plate 100, a back support plate 200, a force unloading mechanism 300, a waist adjusting module 400, a hip joint module 500 and a thigh rod 600, wherein one side of the force unloading mechanism 300 is movably connected to the back plate 100 and is used as a base, the back support plate 200 is fixed at a slider end of the force unloading mechanism 300, one end of the waist adjusting module 400 is fixedly connected at a crank end of the force unloading mechanism 300, so that force can be conveniently transmitted to a lower limb, and the other end of the waist adjusting module 400 is movably connected with the thigh rod 600 of the lower limb through the hip joint module 500.

Referring to fig. 3A and fig. 3B with emphasis, fig. 3A is a schematic diagram of a force unloading structure, the force unloading mechanism 300 of the present application further includes a load interface 310, a force unloading slider assembly 320, a connecting rod 330 and a lever crank 340, wherein the load interface 310 includes a sliding table 311 and a clamping slot 312, the upper end of the force unloading slider assembly 320 is abutted against the lower end of the sliding table 311 of the load interface 310 to transfer load downwards, the lower end is connected with the connecting rod 330 in a rotating manner to facilitate the transfer of motion, and the lever crank 340 uses the back plate 100 as a fulcrum to perform the force direction conversion; fig. 3B is a schematic diagram of a back slider-crank force-relieving structure, which shows two extreme positions of the slider-crank force-relieving structure 300, and the reference "design and study of exoskeleton hip-back mechanism capable of reducing fluctuation of weight center trajectory" discloses the design of rod sizes of each part in the up-and-down floating range (20 mm) of load when a person carries a heavy object.

Referring to fig. 4, the force-unloading slider assembly 320 includes a force-unloading slider 321, an auxiliary slider 322, and a limit stop 323, the force-unloading slider 321 having a main body slider 3211 and an auxiliary lug 3212, the auxiliary slider 322 including an auxiliary pulley 3221, a stud 3222, and a fixing nut 3223; the upper end of the main body sliding table 3211 abuts against the lower end of the sliding table 311 of the load interface 310, the lower end is rotatably connected with the upper end of the connecting rod 330, the auxiliary pulley 3221 is fixed to the auxiliary lug 3212 through the stud 3222 and the fixing nut 3223, and the auxiliary pulley 3221 can slide in the auxiliary sliding groove 102 on the back plate 100.

In this embodiment, the auxiliary sliding table 322 is clamped on the back plate 100 by the limit baffle 323 through a bolt fastener, so that the movement of the auxiliary sliding table 322 in the horizontal direction is effectively limited, and the accuracy of the sliding of the load interface 310 in the vertical direction can be effectively ensured through the increase of the sliding virtual constraint of the auxiliary sliding table 322.

Referring to fig. 2 to 5A, the back plate 100 has a force-unloading chute 101, an auxiliary chute 102, a lever fulcrum 103 and a limit groove 104, wherein the force-unloading chute 101 is characterized in that a specific width H1 of the force-unloading chute is set according to a width of a sliding table 311 of the load interface 310, and a chute length D1 of the force-unloading chute is set according to a distance between a length of the sliding table 311 and up-and-down reciprocation of a load; the auxiliary chute 102 is arranged at the outer side of the force-unloading chute 101, the radial distance between the auxiliary chute 102 and the force-unloading chute is determined by the installation position of the auxiliary pulley 3221 on the auxiliary lug 3212, the width H2 of the auxiliary chute 102 is determined according to the diameter of the auxiliary pulley 3221, and the length D2 of the auxiliary chute is slightly larger than the length of the force-unloading chute 101 so as to meet the requirement of light-weight design; the limiting groove 104 is characterized in that the limiting groove is arranged on the inward side of the force-unloading chute 101, and is arranged in a step shape according to the thickness of the load interface 310 and the thickness of the two lugs of the force-unloading slide block 320, so that the longitudinal displacement of the limiting groove is limited; wherein the fulcrum 103 is characterized by being coaxially disposed with the force-discharging chute 101. These features of the back plate 100 are symmetrically distributed in two sets with the sagittal plane of the human body as the symmetry plane.

In this embodiment, the sliding grooves of each part of the back plate 100 are respectively used for movably connecting each part of the components of the force unloading mechanism 300 and effectively limiting their movement ranges, and the specific connection modes include: the load interface 310 and the force-unloading slide block 321 can slide in the vertical direction in the force-unloading slide groove 101, and the movement in the horizontal direction is limited by the clamping action of the limiting groove 104; the auxiliary pulley 3221 can slide in the vertical direction in the auxiliary chute 102, and limits the movement of the auxiliary pulley in the horizontal direction by the blocking action of the limit baffle 323; the supporting end of the lever crank 340 is hinged at the lever fulcrum 103, and the force direction conversion is completed through the motion characteristics of the two ends of the lever. The unloading mechanism 300 takes the backboard 100 as a frame to form a complete moving chain closed loop, and the characteristics of reciprocating motion of the link mechanism and the characteristics of converting the motion direction of the lever structure are combined to finish the conversion of the load direction, so that the unloading effect is achieved.

Referring to fig. 2, 3A and 5B, the back support plate 200 has a clamping platform 210, and is clamped to the load interface 310 through a clamping slot 312, in a specific implementation, one side of the load can be carried on the shoulder, the bottom is placed on the back support plate 200, and the force is transmitted in the vertical direction through the load interface 310.

Referring to fig. 6, the waist adjusting module 400 includes a waist adjusting lever 410 and an L-shaped hip bar 420, wherein one end of the waist adjusting lever 410 is fixedly connected with the lever crank 340, so that a part of force is conveniently transferred from the back to the thigh, and the other end is adjustably connected with the L-shaped hip bar 420, so as to adapt to the body shape change of different wearers, the adjusting range is set according to the body size GB10000-88 of a chinese adult, and the user can adjust to adapt to the position according to the body shape characteristics thereof during wearing to fix the waist adjusting lever 410 and the L-shaped hip bar 420 through the bolt fastener.

Referring to fig. 7, the hip joint module 500 includes a hip joint box 510, a hip joint connector 520 and a hip joint box cover 530, wherein a cylindrical boss is provided at an upper end of the hip joint box 510, and is rotatably connected to a lower end of the L-shaped hip rod 420 through the hip joint connector 520, and a lower end of the hip joint box 510 is hinged to the thigh rod 600 through a hip joint shaft 541, thereby realizing three degrees of freedom for simulating a hip joint of a human body.

In the specific implementation process, the thigh rod 600 is tied to the thigh through the thigh strap 720, the exoskeleton hip joint module 500 is attached to the hip joint of the human body, the cylindrical boss at the upper end of the hip joint box body 510 and the hip joint connector 520 are connected to the lower end of the L-shaped hip rod 420 to form a cylindrical pair, so that the degrees of freedom of internal rotation, external rotation and external expansion and internal contraction of the hip joint are simulated, and the degree of freedom of bending and stretching of the hip joint is simulated by hinging the lower end of the hip joint box body 510 with the thigh rod 600, so that the accuracy of motion coupling between the exoskeleton and the human body is ensured.

Referring to fig. 8A and 8B, wherein the hip shafting structure 540 includes a hip shaft 541, a bearing 542, and a coil spring 543; the coil spring 543 is a power assisting element, the hip joint shaft 541 is characterized in that a through groove is formed in the axis direction of the coil spring 543, the inner side of the coil spring 543 is clamped on the hip joint shaft 541 through an inner clamping table, the hip joint box 510 is characterized in that a T-shaped clamping groove is formed in an inner boss of the hip joint box 510, the outer side of the coil spring 543 forms T-shaped fit through a special T-shaped boss, and power assisting is provided through relative rotation of the coil spring 543.

In the embodiment, the specific power-assisting effect of the coil spring 543 is achieved, the coil spring is driven to twist through the bending and stretching movement of the thigh, so that energy is stored and released, when the thigh is bent, the coil spring 543 is driven to twist through the rotation of the thigh rod 600, and the mechanical energy consumed by a human body is stored in the form of elastic potential energy; when the thighs are stretched and walk forward, the coil springs 543 are relaxed, and the stored elastic potential energy is released as the assistance force in the walking process of the human body.

Referring to fig. 9, a force schematic diagram of the exoskeleton Shan Cexie is shown, M represents the swing direction of the thigh, N represents the moving direction of the load, and the periodic swing of the thigh drives the load to periodically float up and down through the transmission of the kinematic chain in one gait cycle, so that the pressure of the shoulder strap to the shoulder can be periodically relieved, and the unloading effect is achieved; from the aspect of inverse kinematics, the load periodically moves up and down to drive the thigh bar 600 to swing reciprocally, and the thigh bar 600 can transfer the load part from the waist back to the thigh well through the fixing function of the thigh strap 720, so that the load of the shoulder and the waist back is effectively reduced.

In this embodiment, two states are described, when a person wears the exoskeleton to bear a weight in a standing and resting state, the load has a tendency to move downwards due to gravity, and at this time, the force unloading mechanism 300 transfers the movement tendency downwards due to the action of the load, and then transfers a part of the load to the sagittal plane of the thigh through the steering action of the lever crank, so that the multi-point bearing state is represented; when the human body is in a motion state, due to the periodic swing of thighs, the swing of the thighs is transmitted into the reciprocating swing of the lever crank through the waist rod piece structure, and then the transmission of the motion chain of the force unloading mechanism is converted into the up-and-down reciprocating movement of the load interface, so that the periodic bearing effect on the back load is achieved, and the effect of reducing the shoulder and waist back loads is achieved.

Another advantage of the present invention is that the lower extremity exoskeleton portion comprises only thigh bars and hip joint portions, does not interfere too much with normal movements of the human body, improves the coupling between man and machine,

It should be noted that some of the azimuth terms used in the above description: 'upper end', 'lower end', 'inner side', 'outer side', etc. are provided only for convenience in understanding the principle of the present invention and are not to be construed as limiting the invention; in addition, the foregoing description is only of the preferred embodiments of the present invention, and many other similar embodiments can be made by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (4)

1.A multi-point load bearing exoskeleton, characterized in that: the waist adjusting device comprises a back plate (100), a back supporting plate (200), a force unloading mechanism (300), a waist adjusting module (400), a hip joint module (500), a thigh rod (600) and a connecting binding band (700) from top to bottom in sequence, wherein one side of the force unloading mechanism (300) is movably connected to the back plate (100), the lower end of the force unloading mechanism (300) is fixedly connected with the upper end of the waist adjusting module (400), the lower end of the waist adjusting module (400) is movably connected with the upper end of the hip joint module (500), and the lower end of the hip joint module (500) is movably connected with the thigh rod (600); the hip joint module (500) at least comprises a power assisting module, and the power assisting mode is passive power assisting; a connecting strap (700) comprising at least one waistband (710) and two thigh straps (720);

the back plate (100) is characterized in that: comprises a force unloading chute (101), an auxiliary chute (102), a lever fulcrum (103) and a limit groove (104);

The force-unloading mechanism (300) is characterized in that: the device comprises a load interface (310), a force unloading sliding block assembly (320), a connecting rod (330) and a lever crank (340), wherein the load interface (310) is provided with a sliding table (311) and a clamping groove (312), the sliding table (311) can freely slide in the force unloading sliding groove (101), the upper end of the lever crank (340) is movably connected with the lower end of the connecting rod (330), and a supporting point of the lever crank (340) is rotatably connected with a lever fulcrum (103);

The force-unloading slider assembly (320) is characterized by: the automatic unloading device comprises a force unloading sliding block (321), an auxiliary sliding table (322) and a limit baffle (323), wherein the force unloading sliding block (321) is provided with a main body sliding table (3211) and an auxiliary lug (3212), and the auxiliary sliding table (322) comprises an auxiliary pulley (3221), a double-end stud (3222) and a fixing nut (3223);

The upper end of the main body sliding table (3211) is propped against the lower end of the sliding table (311) of the load interface (310), the lower end of the main body sliding table is rotationally connected with the upper end of the connecting rod (330), the auxiliary pulley (3221) is fixed on the auxiliary lug (3212) through the stud (3222) and the fixing nut (3223), and the auxiliary pulley (3221) can slide in the auxiliary sliding groove (102) on the backboard (100);

the limiting baffle (323) is fixedly connected to the back plate (100) through bolts, the auxiliary pulley (3221) is clamped in the auxiliary sliding groove (102) of the back plate (100) through the blocking of the limiting baffle (323), the horizontal movement of the auxiliary pulley is effectively limited, and the vertical sliding of the load interface (310) can be effectively ensured through the increase of the sliding virtual constraint of the auxiliary sliding table (322).

2. A multi-point load bearing exoskeleton as claimed in claim 1 wherein: the waist adjusting module (400) comprises a waist adjusting rod (410) and an L-shaped hip rod piece (420), one end of the waist adjusting rod (410) is fixedly connected with a lever crank (340), the other end of the waist adjusting rod is adjustably connected with the L-shaped hip rod piece (420), a rectangular through groove is formed in the lower end of one side of the L-shaped hip rod piece (420), and the waist adjusting rod is rotatably connected with the hip joint module (500) through a cylindrical pair.

3. A multi-point load bearing exoskeleton as claimed in claim 1 wherein: the hip joint module (500) comprises a hip joint box body (510), a hip joint connector (520), a hip joint box cover (530) and a hip joint shafting structure (540), wherein the hip joint shafting structure (540) comprises a hip joint shaft (541), a bearing (542) and a coil spring (543);

The upper end of the hip joint box (510) is provided with a cylindrical boss, the cylindrical boss is rotationally connected with the lower end of the L-shaped hip rod piece (420) through a hip joint connector (520), and the lower end of the hip joint box body (510) is hinged with the thigh rod (600) through a hip joint shaft (541); the inner side of the coil spring (543) is clamped with the hip joint shaft (541), and the outer side of the coil spring is clamped with a T-shaped clamping groove in the hip joint box body (510) through a T-shaped boss.

4. A multi-point load bearing exoskeleton as claimed in claim 1 wherein: the back plate (100) is tied to the waist of a human body through a waistband (710) when worn, and the thigh rod (600) is tied to the thigh through thigh straps (720).