DE102016123797A1 - exoskeleton - Google Patents

Abstract

The invention relates to an exoskeleton (2) for an operator (4) for load - bearing support of activities with at least one support structure (6) which can be fixed or fixed to a trunk or back of the operator (4) and with at least one actuation unit (8 ), the at least one holding means (10) which is fixed or fixed directly or indirectly to the support structure (6) and relative to the operator (4), the at least one actuating element (12) with one end rotatable about a Betätigungsanknüpfstelle ( 14) on the holding means (10) and with an opposite end via a coupling point (16) on an activity executing body part (18) of the operator (4) is fixed, and at least one clamping means (20) which between a Spannmittelanknüpfstelle ( 22) of the holding means (10) and the actuating element (12) is arranged at least partially extending and which the actuating element (12) in a working position, in which at least the body part (18) of the operator (4) is at least partially relieved, biased. It is characterized by at least one adjusting device (24), by which a distance between the Betätigungsanknüpfstelle (14) and the Spannmittelanknüpfstelle (22) of the holding means (10) is adjustable and / or by the bias of the clamping means (20) is adjustable.

Description

The invention relates to an exoskeleton for an operator for load-bearing support activities with at least one support structure which is fixed or fixed to a body part of the operator, such as legs, arms, torso or back of the operator, and with at least one operating unit, the at least one holding means which is fixed or fixed fixedly or indirectly to the support structure relative to the operator and which defines at least one actuator rotatably with one end rotatable about a Betätigungsanknüpfstelle on the holding means and with an opposite end via a coupling point on an operating body part of the operator is, and which comprises at least one clamping means, which is arranged between a Spannmittelanknüpfstelle of the holding means and the actuating element at least partially extending and which the actuating element in a working position, in which at least the body part of the operator is at least partially relieved, biased.

Exoskeletons are known, for example, in the field of support of operators in industry or in the medical field to relieve physical work.

Particularly in the field of assembly, in which heavy loads must be picked up and carried, or in which over a long period for the human musculature unfamiliar postures and / or activities must be performed over the shoulder, exoskeletons have proven to be the work of operators to facilitate.

An exoskeleton mentioned at the outset is known, for example WO2014 / 195373 in which the operation is performed by activating an actuator by the operator.

In such a so-called active exoskeleton, the exoskeleton is either connected to an external source of energy, which limits the range of motion of the operator, or on the exoskeleton, an energy reservoir, which is carried by the operator like a backpack, is provided, which increases the weight of the exoskeleton. Both leads to a reduced wearing comfort by the operator.

Next, so-called passive exoskeletons are known in which built-support means, such as springs or dampers, have a bias in the working position. In such passive exoskeletons, it has proven to be disadvantageous that an operator must work against the passive support means if he wants to leave the respective working position.

An object of an embodiment of the invention is to propose an alternative expedient embodiment of the exoskeleton.

This object is achieved by an exoskeleton mentioned above, comprising at least one adjusting means, by which a distance between the Betätigungsanknüpfstelle and the Spannmittelanknüpfstelle the holding means is adjustable and / or by which the bias of the clamping means is adjustable.

The exoskeleton may be a so-called passive exoskeleton. In this case, the load-bearing support provided by the exoskeleton does not take place through a drive to be activated but through the physical properties of the elements installed in the exoskeleton.

Under an activity of the operator, for example, a lifting, holding and / or carrying loads or the like understood.

For example, a body part of the operator may be the back, arms, legs or the like.

The holding means forms between Betätigungsanknüpfstelle on which abuts the actuating element, and the Spannmittelanknüpfstelle a lever arm about which the actuating element is rotatable. By providing an adjustment means by which the distance between the Betätigungsanknüpfstelle and the Spannmittelanknüpfstelle the holding means is adjustable, the lever arm of the system holding means, actuator and clamping means is adjustable. As a result, the transferable by the actuator to the operator support force can be adjusted in a simple manner.

The fact that the bias of the clamping means is adjustable, can also be easily adjusted by the exoskeleton available support force.

By either or both of the measures, individually or in combination with one another, it is possible for the operator to eliminate or at least reduce the supportive force experienced by the exoskeleton, freeing the operator to move again.

The setting of the distance between the Betätigungsanknüpfstelle and the Spannmittelanknüpfstelle can basically be done arbitrarily. The distance can be easily adjusted when the holding means between the Betätigungsanknüpfstelle and the Spannmittelanknüpfstelle comprises a joint through which a Betätigungsanknüpfstelle comprehensive first section with respect to a Spannmittelanknüpfstelle comprehensive second portion is rotatable or pivotable and / or if the Betätigungsanknüpfstelle comprehensive first section with respect to the Spannmittelanknüpfstelle comprehensive second section is telescopic.

The setting of the distance can be realized in a simple manner if the adjusting device comprises at least one mechanically, electrically and / or pneumatically operable positioning means, by which the first holding portion with respect to the second holding portion is rotatable or pivotable, or telescopic.

If the positioning means is mechanically operable, it may for example comprise a spring element. If the positioning means is electrically operable, it may for example comprise a shape memory element. When the positioning means is pneumatically operable, the first portion and the second portion of the retaining means may comprise a common cavity. Depending on the adjustable pressure by the positioning means, the two sections are thereby movable relative to each other.

Moreover, it proves to be advantageous if the adjusting device comprises at least one setting unit by which an acting between the holding means and actuator support force or characteristic is adjustable.

In a development of the last-mentioned embodiment, the tensioning means may comprise a gas pressure spring or a pneumatic cylinder. The adjustment unit expediently comprises a pressure regulator.

Alternatively or in addition to the last-mentioned embodiment, it proves to be advantageous if the clamping means comprises a tension or compression spring or a damper and if the setting unit comprises a wire or strip-like actuator which is between the clamping means and the Spannmittelanknüpfstelle the holding means extends and its Extension by an adjusting means expandable or reducible.

In this case, the tension or compression spring may comprise a simple mechanical element. The adjusting element which can be extended or reduced by the adjusting means with regard to its extension can comprise, for example, a wire or a shape-memory element. If the control element comprises a shape memory element, then it can be expanded or reduced in a simple manner by energizing.

The actuator and the clamping means are arranged in series with each other. In this case, a shortening of the actuating element, which is connected on the one hand via the Spannmittelanknüpfstelle with the holding means and on the other hand is directly or indirectly connected to the clamping means, leads to an increase in the tension of the clamping means. The tensioning means may comprise, for example, a spring or a damper. If the tensioning means comprises a spring, a shortening of the actuating element leads to an increase in the pretensioning by the tensioning means.

Conversely, extending the extension of the actuator leads to a reduction of the supporting force by the clamping means.

This proves to be advantageous insofar as the operator is done with their work in the working position and would like to return the body part in the rest position. By widening the extension of the control element, the preload of the clamping device can be reduced in a simple manner.

In one embodiment of the exoskeleton, it proves to be advantageous if the adjusting means comprises a mechanically, electrically or pneumatically driven rotatable drum body with round, elliptical or cam-like cross section, on which the actuator is at least partially wound, wherein the actuator with one end to the Spannmittelanknüpfstelle and fixed at the other end to the clamping means.

By choosing a different cross-section, a so-called support characteristic of the bias voltage can be set by the tensioning means. If the drum body on which the actuating element can be wound up comprises a round cross-section, rotating the drum body leads to a proportional decrease or increase in the support force by the tensioning means.

If the drum body comprises an elliptical or cam-like cross-section, then the increase in the assisting force during rotation of the drum body is no longer proportional.

In addition, the support force can be further increased if the support structure and / or the clamping means of the actuating unit has at least one spring element, such as tension or compression spring, or at least one rotation spring and if the adjusting device comprises at least one cylindrical first locking means within the spring element or arranged the rotation spring and pneumatically or hydraulically variable with respect to its extension, which in a first functional points releases a movement of the spring element and / or the rotational spring and in a second functional position, in which the extension of the first locking means is reduced with respect to the first functional position, the spring element and / or the rotational spring against movement determines.

In this case, the clamping means can be clamped by the first blocking means in the second functional position against movement.

Furthermore, the support force can be further increased if the support structure and / or the clamping means of the actuating unit has at least one spring element, such as tension or compression spring, or at least one rotation spring and in that the adjusting device comprises at least one tubular second blocking means in an unpressurized first functional position releases a movement of the spring element and / or the rotational spring and determines the spring element and / or the rotational spring against movement in a pressurized second functional position.

By providing a second tubular blocking means, the clamping means can be blocked from expanding or contracting.

If the tubular blocking means, for example in sections, in the interstices of the spring element or the rotational spring is arranged, it can block a compression of this section when it is pressurized.

For example, when the tubular blocking means extends along the axis of the spring element or the rotational spring, it may block a contraction or rotation of the spring element when it is pressurized.

This makes it easy to adjust the spring constant of the clamping element designed as a spring element or as a rotation spring.

Both the cooperation between the spring element and the second blocking means and the interaction of the rotational spring with the second blocking means form a kind of artificial muscle or an artificial disc.

By providing a second locking means, which cooperates with a rotational spring of the support structure, an artificial disc can be produced. This makes it easy to adjust the stiffness of the support structure. If the second locking means in the second functional position, the support structure is set against rotation. The support structure is then stiff.

If the second blocking means is in the first functional position, the supporting structure is released for rotation.

It proves to be expedient if the exoskeleton comprises at least one net-like limiting means which surrounds the clamping means and the second blocking means at least almost completely and which limits an expansion of the blocking means.

It proves to be advantageous if the exoskeleton comprises at least one automatically or manually operable switching means for actuating the adjusting device and / or at least one sensor means for automatically actuating the switching means.

In principle, it is conceivable that the adjusting device can be actuated by a manually operable switching means. This proves to be particularly useful when the operator has an arm, or a hand freely available.

It proves to be advantageous that the setting device is automatically actuated and that the exoskeleton comprises a sensor means for automatically actuating the switching means when the operator, for example, has no hand at leisure. In such case, the sensor means may comprise acoustic or optical sensor means for detecting speech or gestures.

Further features, details and advantages of the invention will become apparent from the appended claims, the drawings and the following description of preferred embodiments of the exoskeleton.

• 1 Eine Seitenansicht auf ein an einer Bedienperson festgelegtes Exoskelett;
• 2 Eine schematische Seitenansicht auf ein erstes Ausführungsbeispiel eines Stellmittels einer Betätigungseinheit des Exoskeletts;
• 3 Eine schematische seitliche Detailansicht auf das erste Ausführungsbeispiel gemäß 2;
• 4 Eine schematische Seitenansicht auf ein zweites Ausführungsbeispiel des Stellmittels der Betätigungseinheit des Exoskeletts;
• 5 Eine schematische Seitenansicht auf ein drittes Ausführungsbeispiel des Stellmittels der Betätigungseinheit des Exoskeletts;
• 6 Eine perspektivische Ansicht auf ein erstes Ausführungsbeispiels einer Stützstruktur des Exoskeletts;
• 7 Eine perspektivische Ansicht auf ein zweites Ausführungsbeispiels einer Stützstruktur des Exoskeletts.

In the drawing shows:

• 1 A side view of a fixed to an operator exoskeleton;
• 2 A schematic side view of a first embodiment of an actuating means of an actuating unit of the exoskeleton;
• 3 A schematic side detail view of the first embodiment according to 2 ;
• 4 A schematic side view of a second embodiment of the actuating means of the actuating unit of the exoskeleton;
• 5 A schematic side view of a third embodiment of the actuating means of the operating unit of the exoskeleton;
• 6 A perspective view of a first embodiment of a support structure of the exoskeleton;
• 7 A perspective view of a second embodiment of a support structure of the exoskeleton.

1 shows a total with the reference numeral 2 provided exoskeleton for an operator 4 , The exoskeleton 2 supports the operator 4 during load-bearing activities, such as carrying, holding or lifting objects.

The exoskeleton 2 includes a support structure for this purpose 6 attached to a fuselage or back of the operator 4 is fixed. In addition, the exoskeleton includes 2 an actuating unit 8th , The operating unit 8th includes a retaining means 10 attached to the support structure 6 and relative to the operator 4 fixed in place. In addition, the actuator unit includes 8th an actuator 12 with one end rotatable about a Betätigungsanknüpfstelle 14 at the holding means 10 is fixed. With a holding means 10 opposite end is the actuator 12 via a coupling point 16 on a body part performing an activity 18 the operator 4 established.

In addition, the actuator unit includes 8th a clamping device 20 that between a Spannmittelanknüpfstelle 22 of the holding agent 10 and the actuator 12 partially arranged extends (in 1 not apparent). The clamping device 20 clamps the actuator 12 in a working position, in which at least the body part 18 the operator 4 at least partially relieved.

In addition, the exoskeleton includes 2 at least one adjustment device 24 , by which a distance between the Betätigungsanknüpfstelle 14 and the Spannmittelanknüpfstelle 22 the holding means 10 is adjustable. By the adjustment 24 is the preload of the clamping device 20 adjustable.

2 shows the actuator unit 8th in a basic position (arm at the image level below) and the working position (arm at the image level above).

3 shows a detailed view of the actuator unit 8th according to 2 , At the in 3 shown embodiment of the exoskeleton 2 includes the adjuster 24 , a wire-like actuator 26 , on the one hand, on the clamping device 20 and on the other hand at the Spannmittelanknüpfungsstelle 22 of the holding agent 10 is fixed.

In addition, the actuator is 26 on a drum body 28 trained adjusting means 30 at least partially wound up. That as a drum body 28 trained adjusting means 30 includes at the in 3 embodiment shown a round cross-section. The adjusting agent 30 is about an axis 32 rotatable, wherein by turning the actuating means 30 the actuator 26 rolled up or unrolled.

The following briefly describes the mode of action of the 3 apparent adjustment 24 explains:

When actuating the actuating means 30 , this turns around the axis of rotation 32 , This is the actuator 26 wound up and the total extension of the actuating element 26 is reduced. The clamping device 20 is thereby stretched, causing the bias of the actuator 8th increased in the direction of working position.

An operator 4 can in that case by supporting the exoskeleton 2 working in the working position such that the body parts needed for working 18 through the exoskeleton 2 are relieved.

Is the operator 4 finished with the work to be done, the adjusting means 30 be rotated so that the actuator 26 with regard to its extension. By extending the extension of the actuator 26 is the support force through the clamping device 20 reduced. As a result, it is the operator 4 allows the body part 18 due to a rest position, without against the supporting force of the clamping device 20 to have to work.

4 shows a second embodiment of the drum body 28 trained control element 30 , Here, the cross section of the actuating means comprises 30 an elliptical shape.

5 shows a third embodiment of the actuating means 30 in which the cross section of the drum body 28 cam-shaped.

6 shows a first embodiment of the support structure 6 of the exoskeleton 2 , The support structure 6 For example, on a back of the operator 4 be arranged. The support structure 6 includes a rotation spring 34 in which a cylindrical first blocking means 38 the adjusting device 24 is arranged. The first blocking agent 38 is pneumatically or hydraulically variable with respect to its extent. Will the extension of the first blocking means 38 reduces, clamps the first locking means 38 the rotation spring 34 and thereby increases the rigidity of the support structure 6 ,

7 shows a second embodiment of the support structure 6 of the exoskeleton 2 , The support structure 6 comprises a tubular second blocking means 36 the adjusting device 24 that between the turns of a rotary spring 34 can be arranged and pressurized. In a pressureless state, this is the rotational spring 34 the support structure 6 for a movement, for example a rotation, released. Is the second blocking means 36 pressurized, is the rotation spring 34 set against moving.

To an extent of the second blocking means 36 to limit, includes the adjustment 24 a net-like limiting means 40 that the rotation spring 34 and the second locking means 36 surrounds.

The features of the invention disclosed in the foregoing description, in the claims and in the drawing, may be essential both individually and in any combination in the realization of the invention in its various embodiments.

LIST OF REFERENCE NUMBERS

2

exoskeleton

4

operator

6

support structure

8th

operating unit

10

holding means

12

jig

14

Betätigungsanknüpfstelle

16

coupling point

18

body part

20

clamping means

22

Spannmittelanknüpfstelle

24

adjustment

26

actuator

28

drum body

30

actuating means

32

axis of rotation

34

rotational spring

36

Second blocking agent

38

First blocking agent

40

limiting means

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• WO 2014/195373 [0004]

Claims (11)

Exoskeleton (2) for an operator (4) for load-bearing support of activities with at least one support structure (6) which is fixed or fixed to a body part of the operator, such as legs, arms, torso or back of the operator (4), and with at least one actuating unit (8), the at least one holding means (10) which is fixed or fixed directly or indirectly to the support structure (6) and relative to the operator (4) fixed, the at least one actuating element (12) having one end rotatably via an actuation tapping point (14) on the holding means (10) and with an opposite end via a coupling point (16) on an activity executing body part (18) of the operator (4) is fixed, and which comprises at least one clamping means (20), disposed between a Spannmittelanknüpfstelle (22) of the holding means (10) and the actuating element (12) extends at least partially and that the actu ungselement (12) in a working position in which at least the body part (18) of the operator (4) is at least partially relieved, biased, characterized by at least one adjustment (24), by a distance between the Betätigungsanknüpfstelle (14) and the Spannmittelanknüpfstelle (22) of the holding means (10) is adjustable and / or by which the bias of the clamping means (20) is adjustable. Exoskeleton (2) after Claim 1 characterized in that the holding means (10) between the Betätigungsanknüpfstelle (14) and the Spannmittelanknüpfstelle (22) comprises a hinge through which the Betätigungsanknüpfstelle (14) comprehensive first portion with respect to a Spannmittelanknüpfstelle (22) comprising second portion rotatable or pivotable is and / or that of the Betätigungsanknüpfstelle (14) comprising the first portion with respect to the Spannmittelanknüpfstelle (22) comprehensive second section is telescopic. Exoskeleton (2) after Claim 1 or 2 , characterized in that the adjusting device (24) comprises at least one mechanically, electrically and / or pneumatically operable positioning means by which the first holding portion with respect to the second holding portion is rotatable or pivotable or telescopic. Exoskeleton (2) according to at least one of the preceding claims, characterized in that the adjusting device (24) comprises at least one setting unit by which a between holding means (10) and actuating element (12) acting support force or characteristic is adjustable. Exoskeleton (2) after Claim 4 , characterized in that the tensioning means (20) comprises a gas spring or a pneumatic cylinder and that the adjusting unit comprises a pressure regulator. Exoskeleton (2) after Claim 4 or 5 , characterized in that the tensioning means (20) comprises a tension or compression spring or a damper and that the adjusting unit comprises a wire-like or strip-like adjusting element (26) which is arranged between the tensioning means (20) and the tensioning means tying point (22) of the retaining means (20). 10) is extended and its extension by an adjusting means (30) is expandable or reducible. Exoskeleton (2) after Claim 6 , characterized in that the adjusting means (30) comprises a mechanically, electrically or pneumatically driven rotatable drum body (28) with round, elliptical or cam-like cross-section, on which the adjusting element (26) is at least partially wound, wherein the actuating element (26) one end is fixed to the Spannmittelankünpfstelle (22) and with the other end to the clamping means (20). Exoskeleton (2) according to at least one of the preceding claims, characterized in that the support structure (6) and / or the clamping means (20) of the actuating unit (8) at least one spring element, such as tension or compression spring, or at least one rotation spring (34) and in that the adjusting device (24) comprises at least one cylindrical first locking means (38) disposed within the spring element or the rotation spring (34) arranged and pneumatically or hydraulically variable with respect to its extension, which in a first functional points, a movement of the spring element and / or the rotational spring (34) releases and which defines the spring element and / or the rotational spring (34) against movement in a second functional position in which the extension of the first locking means is reduced with respect to the first functional position. Exoskeleton (2) according to at least one of the preceding claims, characterized in that the support structure (6) and / or the clamping means (20) of the actuating unit (8) at least one spring element, such as tension or compression spring, or at least one rotation spring (34) and in that the adjusting device (24) comprises at least one tubular second blocking means (36) which releases a movement of the spring element and / or the rotational spring (34) in a pressureless first functional position and which in a pressurized second functional position releases the spring element and / or the Determines rotation spring (34) against movement. Exoskeleton (2) after Claim 9 characterized by at least one reticulating means (40) surrounding at least substantially all of the tensioning means (20) and the second locking means (34) and limiting expansion of the locking means. Exoskeleton (2) according to at least one of the preceding claims, characterized by at least one automatically or manually operable switching means for actuating the adjusting device (24) and / or by at least one sensor means for automatically actuating the switching means.

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