CN213859257U

CN213859257U - Waist helping hand ectoskeleton with adjustable support arm

Info

Publication number: CN213859257U
Application number: CN202022776177.4U
Authority: CN
Inventors: 朱岩
Original assignee: Hangzhou Tianyi Robot Co ltd
Current assignee: Hangzhou Tianyi Robot Co ltd
Priority date: 2020-11-26
Filing date: 2020-11-26
Publication date: 2021-08-03
Anticipated expiration: 2030-11-26

Abstract

The utility model discloses a waist assistance exoskeleton with adjustable supporting arms, which comprises a waist fixing piece, a set of supporting arms, a leg connecting rod and a power unit, wherein the supporting arms are respectively arranged on the waist fixing piece; the power unit is fixed on the waist fixing piece, the leg connecting rod is fixedly connected with the power unit and is positioned on the front side of thighs of a human body, the supporting arm is positioned on the front shoulder or chest of the human body, the lower end of the supporting arm is connected with the power unit and can rotate by taking the power unit as a rotation center, and the power unit is used for storing energy when the human body bends and releasing energy to assist the waist when the human body gets up; the supporting arm comprises an upper supporting rod and a lower supporting rod which are nested into a whole and can be relatively freely stretched or fixed. The utility model discloses an ectoskeleton has the preceding supporting arm with adjustable length to the length of preceding supporting arm also can freely stretch out and draw back in the use, not only has splendid universality, has effectively solved the problem that the people stooped the in-process supporting arm and the necessary relative slip of health moreover, has guaranteed to use the travelling comfort.

Description

Waist helping hand ectoskeleton with adjustable support arm

Technical Field

The utility model belongs to the technical field of the waist helping hand, a waist helping hand ectoskeleton is related to, especially, relate to a waist helping hand ectoskeleton with adjustable support arm.

Background

In life, people always need to bend down to carry objects, and if the objects are frequently bent down to carry or carried too heavy, waist pain or injury is always caused. Especially for construction workers, logistics personnel and the like who need to carry things frequently, waist pain seems to be inevitable, and waist diseases such as waist strain and the like which are difficult to cure are extremely easy to suffer, and even the people can get bedridden seriously.

Therefore, there is a strong need for an exoskeleton assisting device capable of preventing waist injury. Waist-assisted exoskeletons are available to reduce the possibility of waist injury by reducing the waist stress, usually by applying interaction forces to the front sides of the upper limbs (chest or shoulders) and the front sides of the thighs. Because the backbone has a plurality of joints, the backbone can take place to bend when the people stands when bending over to lead to the people to stand and when the people bends over shoulder or chest can change to the straight-line distance of waist, but support in the waist helping hand ectoskeleton at present and mostly be the rigid body and length can not be adjusted at the support arm of upper limbs front side, consequently, the people is at the in-process of bending over, and the relative slip can certainly take place for the front side support arm of waist helping hand ectoskeleton and health, leads to the comfort level to descend. In addition, because the heights of people are different, supporting arms with different lengths are often needed to meet the requirements of different people, so that the same exoskeleton can only be used by people with specific heights, and the universality is poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to prior art not enough, provide a waist helping hand ectoskeleton with adjustable support arm, this ectoskeleton has the preceding support arm with adjustable length to the length of preceding support arm also can freely stretch out and draw back in the use, not only has splendid universality, has effectively solved the problem that the people stooped the in-process support arm and the necessary relative slip of health moreover, has guaranteed to use the travelling comfort.

The utility model adopts the technical scheme as follows:

a waist assisting exoskeleton with adjustable supporting arms comprises a waist fixing piece, a left supporting arm, a right supporting arm, a leg connecting rod and a power unit, wherein the left supporting arm and the right supporting arm are respectively arranged on the waist fixing piece; the waist fixing part is used for fixing the whole device on the waist, the power unit is fixed on the waist fixing part, the leg connecting rod is fixedly connected with the power unit and is positioned on the front side of thighs of a human body, the supporting arm is positioned on the front shoulder or chest of the human body, the lower end of the supporting arm is connected with the power unit and can rotate by taking the power unit as a rotation center, and the power unit is used for storing energy when the human body bends down and releasing energy to assist the waist when the human body rises; the support arm include support rod and lower support rod, go up support rod and lower support rod nestification as an organic whole and can freely stretch out and draw back relatively or fixed.

Among the above-mentioned technical scheme, it is further, last bracing piece lower extreme be fixed with the slider, be provided with the slide along the axis direction on the lower support bar to top-down opens on the slide has a plurality of spacing side channels, is fixed with the dog in the upper end of lower support bar, the inside dog that is equipped with of lower support bar, be equipped with bellied dog post on the dog down be used for with spacing side channel cooperation in order to restrict dog up-and-down motion down, the slider inlay in the slide, by last dog, lower dog spacing, be provided with the spring between slider and lower dog.

Furthermore, the upper supporting rod is sleeved with an upper side spring, and the upper side spring is positioned between the upper stop block and the sliding block to play a role in buffering.

Further, the power unit may be a passive energy storage element, and may also be an active power element.

Furthermore, the supporting arm is provided with a shoulder/chest sheath, and the leg connecting rod is provided with a leg sheath to increase the contact area.

The utility model has the advantages that:

the backbone is crooked naturally when the people bends over, and waist and shoulder/chest's linear distance reduce, and the upside bracing piece among the current waist helping hand ectoskeleton device is mostly single rigid body support at chest or shoulder and can not stretch out and draw back, and it must lead to producing between human body and the support arm and slide, the utility model discloses an adopt can freely stretch out and draw back or fixed support arm can effectively solve this problem, the travelling comfort when improvement people use waist helping hand ectoskeleton that can be very big, the support arm can bend over or get up the in-process at the people and stretch out and draw back automatically, and then, does not have relative slip between people and the support arm, dresses more comfortablely. Furthermore, the utility model discloses the initial length of well support arm can be adjusted fixedly as required, can adapt to the people of different heights and dress the use.

Drawings

Fig. 1 is a schematic diagram of a specific structure of the exoskeleton of the present invention;

FIG. 2 is a schematic view of a specific construction of the support arm;

FIG. 3 is an enlarged partial schematic view of the structure of FIG. 2 at the circle;

fig. 4 is a schematic diagram of a specific structure of the power unit of the present invention.

In the figure: 1 upper supporting rod, 2 upper stop blocks, 3 lower supporting rods, 4 power units, 5 leg connecting rods, 6 leg sheaths, 7 shoulder/chest sheaths, 8 rear side binding bands (rear side connecting rods), 9 front side binding bands, 10 upper side springs, 11 sliding blocks, 12 lower side springs, 13 lower stop blocks, 4-1 rotating parts, 4-2 main shafts, 4-3 shaft sleeves, 4-4 supporting columns, 4-5 limiting pins, 4-6 tensioning discs, 4-7 tensioning columns, 4-8 supporting plates, 3-1 slide ways, 3-2 limiting side grooves and 13-1 stop block columns;

the foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.

Detailed Description

To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined purpose, the following detailed description is given to the specific embodiments, structures, features and effects of the display control method and system according to the present invention in conjunction with the preferred embodiments.

The foregoing and other features, aspects and utilities of the present invention will be apparent from the following more particular description of preferred embodiments of the invention as illustrated in the accompanying drawings. While the present invention has been described with reference to the embodiments, the drawings are for illustrative purposes only and are not intended to limit the present invention.

The whole structure of the waist assisting exoskeleton with the adjustable support arms is shown in figure 1, and comprises a waist fixing part, a set of support arms on the waist fixing part, a leg connecting rod 5 and a power unit 4; the waist fixing part is used for fixing the whole device on the waist, as shown in fig. 1, the whole device can be fixed on the waist through a rear side bandage (rear side connecting rod) 8 and a front side bandage 9, the power unit 4 is fixed on the waist fixing part, the leg connecting rods 5 are fixedly connected with the power unit 4 and positioned at the front side of thighs of a human body, the supporting arms are positioned at the front shoulders or the breasts of the human body, the lower ends of the supporting arms are connected with the power unit and can rotate by taking the power unit as a rotation center, shoulder/breast sheaths 7 can be arranged on the left supporting arm and the right supporting arm, and leg sheaths 6 can be arranged on the left leg connecting rod 5 and the right leg connecting rod 5; when the person bends down, the supporting arm rotates, the power unit 4 limits the leg connecting rod 5 from rotating, so that energy is stored through the power unit 4, and when the person rises, the energy is released to contact with the human body through the leg protective sleeve 6 and the shoulder/chest protective sleeve 7 and provide acting force, and the waist stress is relieved.

The utility model provides a support arm includes bracing piece and bottom suspension fagging pole, goes up the nested as an organic whole of bracing piece and bottom suspension fagging pole and can freely stretch out and draw back relatively or fix. This can be done in a number of ways, and this example provides a preferred way, as shown in fig. 2 and 3, since the exoskeleton is left-right symmetric, and is illustrated with a single side as an example. When a person bends over, the back bends, resulting in a decrease in the linear distance from the waist to the shoulder/chest, and the support bar of the present invention can flex to accommodate this change. In the illustrated example, the shoulder/chest sheath 7 is fixed with the upper support rod 1, the lower end of the upper support rod 1 is fixedly connected with the slide block 11, the lower support rod 3 is provided with a slide way 3-1 and a plurality of limit grooves 3-2 along the axial direction, the slide block 11 is arranged in the slide way 3-1 of the lower support rod 3 of the hollow pipe fitting and can slide freely, and the upper stop block 2 is fixed at the end part of the lower support rod 3 so as to prevent the slide block 11 from sliding out of the inner cavity of the lower support rod 3. The lower stop block 13 is arranged in the inner cavity of the lower support rod 3, a raised stop block column 13-1 is fixed on the lower stop block 13 and is used for being matched with any limit side groove 3-2 to limit the up-and-down movement of the lower stop block 13, but the lower stop block can still rotate, and after the manually rotated stop block column leaves the limit groove, the stop block column can slide along a 3-1 slide way in the lower support rod 3, so that the lower stop block is adjusted to be matched with the required limit side groove. According to the height requirements of users, the stop block columns 13-1 can be fixed in different limiting side grooves 3-2 so as to change the original length of the supporting arm and further adapt to users with different heights.

Between the lower stop 13 and the slide 11 is mounted a lower spring 12, which, when bending over, exerts a force along the axis of the slide 11 through the shoulder/chest sheath 7, causing the slides 11 and 1 with the support rods to slide inside the 3 lower support rods and compress the spring, which, when rising, returns to its original length. The length of the support arms can then be extended and retracted freely while bending over and rising up to accommodate variations in waist and shoulder/chest distances. In addition, still overlap on last bracing piece 1 and have upside spring 10, upside spring 10 is located between last dog 2 and slider 11, and when rising up, downside spring 12 releases because the energy of bowing compression storage, and the existence of upside spring 10 plays the cushioning effect for go up bracing piece 1 can not bounce at a stroke.

The power unit 4 may be a passive energy storage element, such as a spring, a flexible rope or pneumatic/hydraulic damping, or an active power element, such as an electric motor, a hydraulic motor or a pneumatic motor. Passive energy storage is exemplified in this example.

As shown in figure 4, a main shaft 4-2 is fixed on a support plate 4-8, the main shaft 4-2 is provided with a 4-3 shaft sleeve, a rotating component 4-1 is hinged with the main shaft 4-2 (the middle is provided with the shaft sleeve 4-3 to reduce friction) and is fixedly connected with a tension disc 4-6 and a lower support rod 3, 4-7 tension columns are uniformly distributed on the outer edge of the tension disc 4-6, a plurality of support columns 4-4 are fixed on the support plate 4-8, a flexible rope (not shown in the figure) is connected between the support columns 4-4 and the tension columns 4-7, when a person bends, the lower support rod 3 is driven to rotate by a shoulder/chest sheath 7, then the rotating component 4-1 drives the tension disc 4-6 to rotate around the main shaft 4-2, and the flexible rope connected between the support columns 4-4 and the tension columns 4-7 is stretched to store energy along with the rotation of, the 4-8 supporting plates are in contact with the front sides of thighs of a human body through the leg connecting rods 5 and the leg sheaths 6 and cannot rotate along with traction of the flexible ropes, so that the trunk of the human body can be subjected to restoring acting force stored in the flexible ropes by the exoskeleton after being bent, and the stress of the waist is relieved.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments, and although the present invention has been disclosed with the preferred embodiments, it is not limited to the present invention, and any skilled person in the art can make some modifications or equivalent changes without departing from the technical scope of the present invention.

Claims

1. A waist assisting exoskeleton with adjustable supporting arms is characterized by comprising a waist fixing piece, a left supporting arm, a right supporting arm, a leg connecting rod and a power unit, wherein the left supporting arm and the right supporting arm are respectively sleeved on the waist fixing piece; the waist fixing part is used for fixing the whole device on the waist, the power unit is fixed on the waist fixing part, the leg connecting rod is fixedly connected with the power unit and is positioned on the front side of thighs of a human body, the supporting arm is positioned on the front shoulder or chest of the human body, the lower end of the supporting arm is connected with the power unit and can rotate by taking the power unit as a rotation center, and the power unit is used for storing energy when the human body bends down and releasing energy to assist the waist when the human body rises; the support arm include support rod and lower support rod, go up support rod and lower support rod nestification as an organic whole and can freely stretch out and draw back relatively or fixed.

2. The waist assistance exoskeleton as claimed in claim 1, wherein a sliding block is fixed to the lower end of the upper support rod, a slide way is arranged on the lower support rod along the axial direction, a plurality of limiting side grooves are formed in the slide way from top to bottom, an upper stop block is fixed to the upper end of the lower support rod, a lower stop block is arranged inside the lower support rod, a raised stop block column is arranged on the lower stop block and used for being matched with the limiting side grooves to limit the up-and-down movement of the lower stop block, the sliding block is embedded in the slide way and limited by the upper stop block and the lower stop block, and a spring is arranged between the sliding block and the lower stop block.

3. The waist assistance exoskeleton of claim 2, wherein said upper support bar further comprises an upper spring, said upper spring is disposed between said upper stop and said slider.

4. The support arm adjustable lumbar assist exoskeleton of claim 1 wherein said power unit is a passive energy storage element or an active power element or both.

5. The waist assist exoskeleton of claim 1 where said support arm is provided with shoulder/chest sheaths and said leg link is provided with leg sheaths.