Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/0006—Exoskeletons, i.e. resembling a human figure
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/02—Hand grip control means
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J1/00—Manipulators positioned in space by hand
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J13/00—Controls for manipulators
  • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
  • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors

Definitions

• the present invention relates to the field of robotics and more particularly to robots capable of collaborating with an operator, commonly referred to as "cobot” or exoskeleton.
• the invention relates to an exoskeleton type device for assisting the horizontal forces of a valid operator.
• It also relates to a method of using such a device.
• This device of the exoskeleton type comprises at least one leg arranged to be coupled to a foot of a user, a connecting member between the upper end of the leg to which it is articulated, and a support arm connected to a side to the connecting member and the other side to a tool holder member.
• This device can in particular be used with tools which generate a great deal of makes significant horizontal efforts to provide at the tool level itself.
• the invention can thus be advantageously used in the building and public works sectors and any other type of industry requiring the use of tools and therefore assistance with the work of these tools, such as rakes or any tool whose handling generates significant horizontal forces, such as perforators for vertical walls.
• This device can nevertheless be further improved and simplified.
• the object of the present invention is therefore to provide an apparatus of the exoskeleton type and a method of using such a device that better responds than those previously known to the requirements of the practice, in particular by making it possible to efficiently provide assistance to the horizontal forces of an operator, while being robust, simple, easy to put in place, a reasonable cost and less a generator of musculoskeletal disorders.
• the invention proposes in particular an exoskeleton-type device comprising at least one leg arranged to be coupled to a user's foot, a connecting member between the upper end of the leg to which it is articulated and a support arm connected on one side to the connecting member or to the leg and on the other side to a door element tool, comprising a bar fixed to the support arm in parallel or substantially parallel manner,
• said bar is a gripping bar arranged to be operated with both hands by the user and in that the bar and the support arm are rotatably connected to each other in proximity to or on the door element tool.
• fixing in a parallel or substantially parallel manner means a parallel or slightly inclined arrangement (angle of a few degrees for example 5 to 15 °) of the gripping bar relative to the support arm, particularly at least partly at a distance on a part of the length of the support arm, for example a few centimeters, for example 10 cm.
• the support arm is not necessarily end-connected to the connecting member or the leg but may very well be connected thereto intermediately along the length of said arm, for example 2/3 or 3/4 the length of the arm relative to the tool holder.
• the gripping bar is integral with the tool holder, which itself is fixed rigidly axially and / or in the extension of the bar, that is to say without degree of freedom (but for example with an angle, for example a few degrees , for example between 5 and 15 °), which allows an excellent return of the forces of thrust and / or traction in the axis of the action of the user on the tool holder and / or the tool via the bar grasping.
• connection of the bar with the support arm can be performed in one, two or more points of fixing rigid and / or movable in rotation, for example according to one and / or two perpendicular axes, between them to allow one or two degrees of freedom, but in a fixed manner or secured in the longitudinal direction of the bar.
• the support arm which is in fact fixed to the bar at the end thereof near the tool holder, that is to say less than 50 cm, for example 10 cm.
• the longitudinal forces on the gripping bar by the operator will thus be able to be carried on the support arm which acts in a multiplied manner on one tool.
• the support arm makes it possible to take up the forces exerted between a fixed point located near the user's hip at the upper end of the leg and the tool in contact with the ground, the link of the leg with the foot of the user also to limit the efforts on the leg or legs of the latter.
• the support arm allows to resume the efforts between a fixed point, which can be adjustable, located on the leg itself at a lower height than that of the hip relative to the ground.
• the bar allows to significantly reduce the risk of pain in the shoulder of the user, because it will be able to shift the position of his hands along the bar thus avoiding an awkward position of the shoulder.
• the device thus allows the forces to be transferred directly to the ground, without passing through the body of the operator whose weight is simply used to maintain the balance.
• the body (back, arm) of the user provides less effort since the device allows the actuation of the tool arm and thus provides mechanical assistance to the user, and facilitates 1 equilibrium.
• the gripping bar and the support arm are fixed together near for example a few centimeters, the tool holder.
• the support arm is rotatably mounted on the tool element located in the extension and secured to the gripping bar.
• Plating is thus made possible by this ball joint and the user will be able to vary the angle of the tool (for example a rake) relative to the ground during finishing.
• the angle of the tool for example a rake
• the gripping bar can then be used as a classic rake handle.
• the device comprises only one leg arranged to be coupled to one of the feet of the user, for example that of his leg of call, the other foot and leg remaining free, which confers a very great flexibility of movement and freedom of use for the operator.
• it is the other leg that the user's leg of appeal that is to say the one that remains the back leg during the effort that is the leg intended to be the one of which the foot is coupled to the lower leg of the exoskeleton.
• the device may also include two legs connectable to both feet of the user.
• one or more of the following provisions are also and / or in addition:
• At least a portion of the support arm is slidably mounted relative to said connecting member or the leg and the device comprises longitudinal actuating means of said arm, depending on the movements of the user, to ensure its displacement in rectilinear translation.
• the support arm is connected to the leg by means of a fastening piece on an upper portion of said leg connected to the connecting member;
• the attachment part is a movable carriage and lockable in translation relative to the leg;
• the gripping bar comprises means for detecting the intention of the user, connected to said actuating means for controlling them, this control being performed according to the level of the force detected and its direction. We thus realizes an amplification of the effort of the operator;
• the device comprises means for blocking the movement of the leg (in the working position) when a force is detected by said detection means.
• these means only trigger when a threshold value is reached and / or detected, for example greater than 0.5 kg, for example at least 1 kg.
• These means can advantageously be disengaged by the user;
• the support arm is mounted on the connecting member or on the leg, by a ball joint allowing rotation about an axis Z passing between the two legs and substantially vertical when the device is in use, to allow a angular sweeping motion of the arm;
• the device has only one leg, for example arranged to be fixed at the bottom to the rear foot of the user in the use position or work. In other words, it is for example attached to an element arranged to be itself attached to the outer edge of the sole of a shoe of the user;
• the device comprises two legs, the connecting member being articulated on each of the legs about an axis X substantially perpendicular to the Z axis (vertical) and to the longitudinal axis Y (of the support arm) when the device is at rest, to ensure independence between the portion of the tool arm and the position of the legs of the user; -
• the leg or each of the legs has two rods mounted sliding relative to each other, to allow adjustment of the height of each leg, so as to facilitate the movement or crossing obstacle (rise of a eg walking) blocking means then being provided;
• the longitudinal actuating means of the support arm are placed and / or fixed, for example removably, on the support arm of the opposite side of the tool relative to the leg or the connecting member.
• they are thus placed at a determined distance allowing the balancing of the arm relative to the weight of the tool, the tool holder and the portion of the adjoining support arm.
• the mass of the engine block balances the front mass of the tool assembly (rake for example), slide rail and end of the gripper bar and the tool holder element, which further significantly reduces the forces to be exerted by the operator. user;
• the means of detecting the intention of the user, as well as any means for actuating the rotation of the rod are provided (at least in part) in the connecting member.
• the detection means are for example formed by a strain gauge sensor of known type, suitably installed and / or programmed in a manner known per se.
• threshold values can be provided to avoid false orders and / or handling errors due to abrupt movements of the user.
• the invention also proposes a method for implementing the device, as described above.
• an exoskeleton type device comprising at least one leg, a connecting member between the upper end of the leg to which it is articulated and a support arm connected on one side to the leg or the connecting member and the other side to a tool element, characterized in that the device comprising a gripping bar for the user attached to the support arm in parallel or substantially parallel manner near the tool holder or on the tool holder, and comprising actuating means controlled by means of detecting the user's intention, such as a force sensor, it is detected whether the user intends to exert an effort on the gripping bar by said means of detecting the intention exerted by the user on the bar and, when the detection is positive, controlling said means for actuating the support arm to ensure its displacement in rectilinear translation, the direction of displacement being identical to that detected by the detection means.
• the fact that the end of the gripping bar located opposite the user is fixed near the tool or the tool holder on the support arm allows the user to easily place the tool in position.
• the leader in the right place on the material to be spread or the part of soil to be smoothed.
• the support arm being fixed on the leg by means of a height-adjustable carriage, the position of the carriage is manually adjusted vertically to minimize the forces exerted on the hips of the user.
• Figure 1 is a schematic side view of a user handling a device according to a first embodiment of the invention.
• Figure 2 is a schematic side view of a user handling a device according to a second embodiment of the invention.
• Fig. 3 is a schematic side view illustrating the possible movements with a device according to a third embodiment of the invention.
• FIG. 4 is a more precise perspective view of the device of FIG. 3.
• Figure 5 shows a perspective view of an example of articulation between arms and legs belonging to a connecting member according to one embodiment of the invention, (for two legs), illustrating the possibilities of rotation in XYZ.
• Figure 6 shows in perspective an embodiment of fastening means of the lower leg for coupling with a foot of the user.
• FIGS. 7 and 8 respectively show in perspective and in half-section perspective, an exemplary embodiment of a gripping bar attachment on the end of the support arm, upstream of the tool holder according to one embodiment of the invention .
• Figure 10 is a perspective view of a user handling a device according to another embodiment of the invention, a single leg, with attachment of the support arm on said leg.
• Figure 11 is a perspective view of an embodiment of a trolley on the leg, said trolley actuator door.
• Figure 12 is a sectional view along XII-XII of the carriage of Figure 11.
• FIG. 1 shows a device 1 of the exoskeleton type, comprising a telescopic leg 2 coupled in 3 for example by ball (allowing movement in the three axes in rotation) with a rigid sole 4 in the form of a small plate on which the heel of the foot 5 of the user 6 rests in support, and to which it is fixed for example by thong (not shown).
• the connecting member 7 is itself also connected, for example by a ball joint (which may be the same as above), to a support arm 9 in the form of rigid bar telescopic rigid for example between 1 m 50 and 2 m long, the latter being connected on the other side to a tool holder 10, for example formed by a tubular bayonet portion.
• a ball joint which may be the same as above
• a support arm 9 in the form of rigid bar telescopic rigid for example between 1 m 50 and 2 m long, the latter being connected on the other side to a tool holder 10, for example formed by a tubular bayonet portion.
• the device comprises a gripping bar 11 for the hands apart 12 of the user, said hands being located in the extension of one another and at a distance to limit the efforts (arrows 13 and 14) exerted on the shoulders 15 and 16 of the user.
• the bar is fixed in two places 17 and 18 on the support arm, for example on one side, in a fixed and known manner, to the end portion 19 of the opposite arm farthest from the tool. , and on the other side on the part 20 end of the support arm which is rigidly attached to the tool holder 10.
• the fastening means used are for example adjustable links, allowing longitudinal sliding between the bar and arms and / or pivoting about an axis perpendicular to the arm. They are intended to be locked in rotation and / or translation and are for example of the type which will be described below.
• the tool holder is itself attached to a tool 21, scraping the material to be spread 22 in known manner, a force 23 perpendicular to the tool must then be applied to the material to spread it.
• the connecting member 7 comprises control means 24 of an electric motor 25 for longitudinal displacement in the direction or in the opposite direction of the tool (arrow 26) and a housing 27 in which the driving part of the support arm.
• Such a device limits the longitudinal tensile forces and support by the user (arrow 13, 14 to a few kilograms, while the pressure 23 exerted on the material to be spread (eg tar) can reach 70 kg.
• the housing 27 also comprises the means 24 for controlling the electric motor for moving the support arm.
• This comprises a sleeve portion 29 integral with the housing, inside which telescopically moves a rod 30 secured to its end of the tool holder 10 between a remote position of embossing the material and a close position of spreading / scraping of the pasty material.
• the control means 24 comprise, in a known manner, a programmable microprocessor for controlling the operation of the arm, an input coming from a strain gauge sensor 31 located on the gripping bar, sensitive to the manual force exerted by the operator and detected in intensity and direction.
• the support arm will exert a downward pressure while pulling the rod towards the outside of the material multiplied by the motor means.
• the support arm 9 is mounted on the connecting member 7 movable in rotation about a vertical axis Z 29 passing between the two legs 28 of the user, which can allow a scanning movement ( arrow 31) by the user.
• FIG. 2 schematically shows another embodiment of a device 32 comprising in the same way a leg 2 hinged to the user's foot 5 and a second leg 33 (in mixed lines in the figure), identical to the leg 2, also articulated to a corresponding foot.
• the gripping bar 34 is fixed, for example pivotally, only on one side in the lower part and at the lower end of the arm located in the extension of the arm, the tool holder 10, by example by a multiaxis ball joint 35.
• the control means 24 located in the housing are also arranged here, by being programmed in a manner known per se, to exert the tractions, pressures, supports necessary for a good patching of the pasty material 36.
• Figure 3 shows the device of Figure 2 with different inclinations 34 ', 34' 'of the gripping base 34, hinged at the bottom at the tool holder 10 which can vary from +/- up to 20 ° relative to a nominal operating position 34, for example +/- 10 °.
• the angle between the arm and / or the bar and the ground and the force exerted longitudinally allows it to also have a greater or lesser vertical component, limiting the effort in this direction.
• FIG. 5 Reference will now be made in a non-limiting manner to FIG. 5 to give an example of embodiment of the junctions of the connecting member 7, with the legs and the support bar, in the case of a device with two legs.
• the arm 9 and the upper ends of the legs 2 are interconnected not on the connecting member as such, but at the latter.
• the junctions on the one hand of the legs with the connecting member and on the other hand of the bar with the connecting member are thus formed concomitantly by a double cardan system.
• This system comprises a first part 40, shown in FIG. 5 in the form of two elbow members 400 and 401. These two elements are, in practice, a single piece.
• This gimbal comprises a second part 41 formed of two elbow members 410 and 411. They are shown in the form of two independent elements in FIG. 5 but constitute, in practice, a single piece. A first end of these elements 400 and 401 is connected to the part or sleeve 42 in which the arm 9 is slidably mounted.
• Each of the elbows 400 and 401 of the first piece 40 are connected at their other end to a first end of the elbows 410 and 411.
• the second end of these elements 410 and 411 is, for its part, connected to one end of other elbowed elements 43 and whose other end is fixed on one of the legs 2.
• connection between the elements 400, 401 of the first part 40 and the elements 410 and 411 of the second part 41 is achieved by means of a hinge 44 allowing rotation about an axis Z.
• This Z axis passes between the two legs 2 and is substantially vertical when the device is in use.
• these articulations 44 allow the rotation of the arm 9 around the Z axis to achieve an angular sweep of the arm 9 and therefore the tool 21.
• connection between the bent elements 400 and 401 of the first piece 40 and the piece 42 is achieved by means of two joints 45.
• joints 45 allow rotation between the elements 400 and 401 and the part 42 about an axis X which is perpendicular to both the Z axis and the longitudinal axis Y of the arm. This rotational movement makes it possible to tilt the arm 9 during the use of the device to adapt this inclination to the work to be done.
• this rotation is obtained manually by the operator by pivoting the gripping bar 34 which then naturally drives the support arm, and then allows work with a minimum of effort, because of the gearing down.
• Means may be provided to motorize this rotational movement, especially in the work environment with the shovel (torque to lift the shovel).
• connection between the bent elements 410 and 411 of the second part 41 and the bent parts 43 and connected to the legs 2 is achieved by means of articulations 46.
• joints 46 allow a rotation along the X axis between the second part 41 and each leg 2, when the joints are in the rest position. When the device is in use, this rotation is performed around an axis X '(not shown) located in a plane containing the X axis and perpendicular to the Z axis. The angle between the X and X 'axes is between -40 ° and + 40 °.
• first and second parts 40 and 41 have no imposed position, in case of alignment of rotation of the arm 9 with that of the legs. This remains of no consequence, insofar as the pieces 40 and 41 are light and can be put back in place without significant effort.
• the device according to the invention therefore has many degrees of freedom both in rotation and in translation. They allow the user to reproduce, with the device, the movements it normally performs with a conventional tool such as a rake.
• Figure 6 shows a simple hinge 50 by ball 51 of the support plate 52 of the heel 53 of the foot 54 of the user to the lower part 55 of the jube.
• FIGS. 7 and 8 show an embodiment 60 of connection between the support arm 9 and the gripping bar 34 (including the intention) at the level of the junction 61 with the tool holder 62, for example formed by a bayonet tubing.
• a single possibility in rotation with respect to an axis 63 perpendicular to the support arm 9 is possible, through a U-shaped piece 64 of the hook bar 34.
• the U-shaped or arch-shaped part comprises two cheeks or branches 65 fixed on either side of the support arm 9 in rotation around a tubular axis 66 perpendicular to the arm, said axis passing through a recessed end piece and / or fixed rigidly and / or irremovable to the end portion 67 of the support arm 9.
• the end portion of the gripping bar 34 is, for example, slidably mounted (see FIG. 8) inside a sleeve 68 forming the base of the U in the form of a cheek bar 65.
• FIG. 9 shows, for its part, an embodiment of the actuating means 69 of the support arm 9 comprising an electric motor 70 with a gear system 71 known per se for moving the support arm forward and backward in a corresponding sleeve 72. and thus allow the action of 1 (reciprocating tool, the displacement being done for example by means of a synchronous belt system 73 diagrammatically shown in the figure and actuated by the gear, in a manner known in itself. even.
• FIG. 10 shows a user 80 equipped with a structure 81 with straps 82 for supporting the connecting member 83, for example formed, as for the others devices, by a belt 84, in a manner known in itself.
• the belt is connected and supported by the shoulder straps 82. It is fixed for example by a three-axis ball 85 to the upper portion 86 of the leg 87, for example formed by a telescopic tube forming a sleeve inside which moves, of height adjustable manner to accommodate the flexion of the user's leg 88, the lower portion 89 of the leg also formed by a rigid straight tube.
• the end or the end portion 90 of the lower portion 89 is fixed by means of a ball-and-socket ball 91 of the type known as that described with reference to FIG.
• the ball-and-socket ball 91 is magnetically connected to an external lateral side 92 of the shoe 93 of the rear foot 94 (reverse of the call-off foot 95) of the user 80.
• the support arm 96 is fixed on an intermediate piece or carriage 97 secured to the upper part 86 of the blade.
• the support arm 96 comprises a proximal portion 98 formed by a sleeve in which a distal shaft 99 moves to allow the longitudinal movement of thrust or traction (arrow 100) of the ball 101 for fixing the end 102 of the arm support on the gripping bar 103.
• the ball is formed by an axial connection allowing movement of the end 102 in the horizontal plane and in the vertical plane.
• the gripping bar is itself formed of a rectilinear rod for example 2 m to 2.50 m long and is extended rigidly and rigidly at its end 104 by the tool holder 105, for example formed by a bayonet arranged to engage and lock with the tool 106 (eg a rake), in a manner known per se.
• a device 107 for blocking at the end of the gripping end 108 of the bar by the user (by wedging / clipping) is provided attached to the belt 83.
• the support arm comprises the actuating means 37, for example formed by an electric or hydraulic motor for longitudinal actuation of a piston allowing the longitudinal movement of the end of the distal rod 99 between a remote push position and a retracted position of flap.
• actuating means 37 for example formed by an electric or hydraulic motor for longitudinal actuation of a piston allowing the longitudinal movement of the end of the distal rod 99 between a remote push position and a retracted position of flap.
• the means can act as a counterweight.
• the carriage comprises a channel 109 for example formed by two rings 110 spaced in height, for example 20 cm, passage of the upper portion 86, for example cylindrical tubular leg.
• these two rings 110 are integral with a stirrup-shaped part 111 provided with two lateral walls 112 delimiting a recess 113 and two end walls, namely a bottom wall 114 and an upper wall 115 defining the rings 110. at their respective end portions.
• the stirrup member further comprises a wall 116 provided in the upper portion 117 with a notch 118 for fixing the support arm 96 in a manner known per se.
• the recess further comprises a locking element 119 having two jaws 120 for compressing the upper portion 86 to lock the carriage in position on the upper part.
• the locking element is for example manually operable between a locking position and an unlocking position, by manual pinching two lugs 121 and 121 '.
• the locking element comprises a rod 122 provided with a spring actuating head 123 arranged to cooperate frictionally within a bore 125, to be moved between a position of unfolded spring lock and a release position by raising the spring via the approximation of the lugs 121 and 121 '.
• the operator or user 6 places his heel on the plate 4 secured to the leg 2 which he fixes with a strap, then he puts on the straps 80 holding support of the device (known in themselves).
• the connecting member then comes to be positioned substantially at the hip of the user.
• the user will have adjusted the size of the telescopic leg 2 to the height of his own leg, for example slightly bent, by means known in themselves, the leg having two rods mounted sliding.
• the intention detector 31 detects its movements and actuates the telescopic arm which on the one hand scrapes on entering the user when the user pulls and conversely pushes out when the user shows the intention to push.
• Means 81 for adjusting the speed, the tractive force and the thrust, the reaction time of the actuating motor, etc. are also advantageously provided, for example located on the top of the housing of the connecting member easily. accessible by the user.
• the device comprising locking means 82 (including an all-or-nothing control known in itself) of the movement of the leg when a force is detected by the detection means, said leg 2 is locked in a fixed position during the work and thus allows a good transfer of forces effortlessly for the leg of the user himself, when traction / spreading is achieved.
• locking means 82 including an all-or-nothing control known in itself
• only one attachment ball 35 of the support arm 9 on the gripping bar 34 is provided and is for example adjustable in angle, then biocable in position and / or is motorized in remote-controlled rotation. from the liaison body.
• the present invention is not limited to the embodiments more particularly described. On the contrary, it encompasses all the variants and in particular those in which the motorization means are different, those in which there are additional means for pressurizing the tool on the ground perpendicular to the tool holder, for example by remote-controlled pushing jack (direction arrow 23).

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• Engineering & Computer Science (AREA)
• Robotics (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Prostheses (AREA)
• Rehabilitation Tools (AREA)

Applications Claiming Priority (2)

Publications (1)

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• 2017
  • 2017-02-23 FR FR1751422A patent/FR3063035B1/fr not_active Expired - Fee Related
• 2018
  • 2018-02-23 EP EP18709697.9A patent/EP3585567A1/de not_active Withdrawn
  • 2018-02-23 WO PCT/FR2018/050439 patent/WO2018154253A1/fr unknown
  • 2018-02-23 US US16/488,401 patent/US20190375095A1/en not_active Abandoned
  • 2018-02-23 CA CA3054646A patent/CA3054646A1/fr active Pending
  • 2018-02-23 JP JP2019546036A patent/JP2020508228A/ja active Pending

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