TWI744122B - An exoskeleton for lifting objects - Google Patents

Abstract

An exoskeleton for lifting objects comprising a waist unit, two supporting units respectively positioned on opposite sides of the waist unit, and an auxiliary unit arranged between the waist unit and the supporting units. Each supporting unit includes a leg frame pivotally connected to the waist unit, a moving frame coupled to the leg frame and configured to be movable relative to the leg frame, and a leg component arranged on the movable frame. Since the movable frames are configured to extend and contract relative to the leg frames, this mechanism absorbs the displacement generated by the users lower body movement, which allows the exoskeleton to remain on the desired part of the user's body during lifting action, so as to ensure optimal performance of the exoskeleton.

Description

Auxiliary device for lifting heavy objects

The present invention relates to an auxiliary device to be worn on the human body, in particular to an auxiliary device for lifting heavy objects.

Referring to FIG. 1, there is an existing assistive device 1, which includes a waist fitting unit 11 suitable for surrounding the waist of a user, and two are respectively connected to opposite sides of the waist fitting unit 11 and suitable for being worn on the user. The supporting units 12 of the legs and an auxiliary unit 13 connected to the supporting units 12 and used to provide auxiliary force. Wherein, each support unit 12 includes an upper support 121 pivotally connected to the waist fitting unit 11, a lower support 122 pivotally connected to the upper support 121, and a lower support 122 connected to the upper support 121 and suitable for surrounding the thighs of a user The upper ring frame 123 of, and a lower ring frame 124 connected to the lower frame 122 and suitable for surrounding the user's calf. The auxiliary unit 13 includes two dampers 131 respectively arranged at the pivot joints of the upper brackets 121 and the lower brackets 122. When each upper bracket 121 pivots relative to the respective lower bracket 122, The damper 131 on the same side provides assistance.

When the user wears the assistive device 1, whether it is lifting heavy objects or walking or jumping and needs to bend the knee joint, the dampers 131 will be generated on the upper brackets 121 and the lower brackets 122 corresponding to the knee joints. During the relative rotation, the damping force generated will form a supporting force or a reverse boost, thereby reducing the user's own weight burden, so as to achieve the purpose of assisting the user to perform a specific action.

However, if the assistive device 1 is to function most effectively, it must be ensured that the joints of the upper brackets 121 and the lower brackets 122 are continuously positioned at the joints of the upper brackets 121 and the lower brackets 122 when the user wears the assistive device 1 while moving. The user’s knee joint. However, since the upper brackets 121 and the lower brackets 122 do not have any expansion and contraction margins, if the lengths of the supporting units 12 do not match, or the corresponding positions are affected by the movement of other parts of the user, the corresponding positions cannot be reliably made. Waiting for the assist generated by the damper 131 to act on the correct position will affect the original performance of the assistive device 1.

In addition, because the pivot shafts between the upper brackets 121 and the waist fitting unit 11, and the pivot shafts between the upper brackets 121 and the lower brackets 122 extend along the left and right directions of the user, In other words, the movable joints of the assisting device 1 only have the freedom to rotate in the forward and backward directions. However, when the user wears the assistive device 1, he inevitably hopes to be able to move freely without restriction, and it is impossible to perform only forward and backward rotation activities. At this time, the joints designed for the assistive device 1 cannot In response to the needs of activities, it will cause unnecessary restrictions on the user's own free activities, thus affecting the comfort and flexibility of wearing the assistive device 1.

Therefore, the object of the present invention is to provide an assistive device for lifting heavy objects that can ensure that the auxiliary force generated actually acts on the correct part of the human body and further optimizes the mobility after being worn.

Therefore, the assistive device for lifting heavy objects of the present invention includes a wearing unit, two supporting units respectively installed on opposite sides of the wearing unit, and an auxiliary unit arranged between the wearing unit and the supporting units.

The wearing unit includes a waist accessory suitable for leaning against the waist of a user, and a loop waist belt connected to the waist accessory and suitable for surrounding the waist of the user.

The supporting units are respectively installed on opposite sides of the waist fitting, and define a first axis extending in the left-right direction and a second axis extending in the front-rear direction. Each support unit includes a leg frame pivotally connected to the waist accessory with the first axis as a rotation axis, a telescopic frame connected to the leg frame and capable of being telescopic relative to the leg frame, and a telescopic frame arranged on the telescopic frame And it is suitable for leg accessories that are fixed to the user's legs.

Each leg frame has a pivotal part connected to the waist fitting, and a rotating part pivotally connected to the pivotal part with the second axis as a rotation axis.

The auxiliary unit is arranged between the waist accessory and the supporting units to generate a reverse auxiliary force when the leg supports rotate relative to the waist accessory.

The effect of the present invention is that if there is a vertical relative displacement between the user and the assisting device for lifting heavy objects of the present invention, it can be automatically adjusted by the telescopic mechanism between the leg frames and the telescopic frames, so that the The joint position of the waist fittings and the supporting units can be maintained at a better position relative to the user's body, ensuring that the auxiliary force generated by the auxiliary unit actually acts on the correct part of the user's body, and the rotating parts can be matched. The mechanism that respectively rotates relative to the pivoting parts can provide the user with more freedom to move in the left and right directions, and effectively optimize the mobility in all directions after wearing.

Referring to FIG. 2, an embodiment of the assisting device for lifting heavy objects of the present invention includes a wearable unit 2 suitable for a user to wear, and two supporting units 3 respectively installed on opposite sides of the wearable unit 2, and An auxiliary unit 4 arranged between the wearing unit 2 and the supporting units 3. This embodiment is explained by assisting the user to bend and lift objects with both hands. However, as long as it is necessary to bend or stand in a squatting position, it can also be applied to assist the user to exert force. The function is not necessarily used for lifting heavy objects.

The wearing unit 2 includes a waist accessory 21 suitable for leaning against the waist of a user, an extension frame 22 extending upward from the center of the top edge of the waist accessory 21, and a waist accessory 21 connected to the waist accessory 21 and suitable for surrounding the waist of the user. The waist belt 23 and the two waist belts 23 are connected between the extension frame 22 and the waist belt 23 at a lateral interval, and are suitable for wearing a shoulder strap 23 on the shoulders of a user. Specifically, the wearing unit 2 is a component used to make the embodiment actually worn on the user, and is preferably made of a material with a certain rigidity and light weight, so as to fix the overall shape of the embodiment. And to ensure the correspondence with the user's body parts, it also reduces the unnecessary weight burden of the user when wearing it.

A first axis L1 extending in the left-right direction and a second axis L2 extending in the front-rear direction are defined. The supporting units 3 are respectively installed on the opposite sides of the waist fitting 21 on the first axis L1, and correspond to the legs of the user, respectively. Each support unit 3 includes a leg frame 31 pivotally connected to the waist fitting 21 with the first axis L1 as a rotation axis, a telescopic frame 32 that is connected to the leg frame 31 and can be telescopic relative to the leg frame 31, and A leg fitting 33 arranged on the telescopic frame 32 and suitable for fixing to the user's leg, and a reset damping 34 arranged between the individual leg frame 31 and the individual telescopic frame 32.

2 and 3 at the same time, the leg frame 31 of each support unit 3 has a pivotal portion 311 connected to the waist fitting 21, and a pivotal portion 311 pivotally connected to the pivotal portion 311 about the second axis L2 as a rotation axis The rotating portion 312 and a sliding groove 313 formed on the rotating portion 312 and extending along a telescopic direction D. Each telescopic frame 32 has a positioning bolt 321 extending in the respective sliding groove 313 and capable of relatively moving in the respective sliding groove 313. As shown in FIG. 3, each leg frame 31 and the respective telescopic frame 32 are connected to each other in the form of inner and outer sleeves, and the positioning bolts 321 fixed to the respective telescopic frame 32 are connected to each other. By sliding in the corresponding chute 313, each telescopic frame 32 can expand and contract in the telescopic direction D relative to the corresponding leg frame 31. Among them, since each leg frame 31 and the individual telescopic frame 32 is also provided with the aforementioned reset damping 34, it is particularly preferably arranged in the telescopic frame 32 which is almost an outer sleeve, so each leg frame When 31 is expanded and contracted with respect to the individual telescopic frame 32, the restoring damping 34 can provide a slight restoring force, thereby generating a cushioning effect on the telescopic mechanism, and avoiding the interference between the leg frames 31 and the telescopic frames 32 Shrink quickly and cause a collision.

The auxiliary unit 4 includes two elastic members 41 respectively arranged between the waist fitting 21 and the supporting units 3, and each elastic member 41 is preferably a torsion spring, but as long as the reverse restoring force can be reliably generated The formation of the user's assistance is not limited to the form of torsion springs. Therefore, as long as any leg frame 31 pivots relative to the waist accessory 21, the corresponding elastic member 41 will accumulate the restoring force to restore the leg frame 31 to its original position, as long as the waist accessory 21 and the leg frames 31 The joints do correspond to both sides of the user’s waist, so that the restoring force can actually act on the user’s waist, providing the same direction assisting force that allows the user to stand up again from the bent state, thereby reducing the user The burden of force.

Referring to FIG. 4 and in conjunction with FIG. 2, in this embodiment, the waist belt 23 and the shoulder straps 24 can be selected in a common adjustable length form, thereby matching the waist circumference of the user and the position of the shoulder to the waist. The leg accessories 33 can preferably be worn around the thighs. Of course, each leg accessory 33 can also choose a common adjustable length form, but as long as it can be firmly fixed to the leg, and the supporting units 3 can be worn separately It only needs to be positioned on the outside of the user's legs. For example, devil felt, buckles, straps, etc. can also be used, and it is not limited to this. When the user wears this embodiment, he only needs to make the waist belt 23 wrap around the waist, and then wear the shoulder straps 24 on his shoulders. When the waist accessory 21 is indeed against the waist, the leg accessories 33 It is fixed around the legs, and finally the length of the shoulder straps 24 is properly adjusted so that the opposite ends of the waist accessory 21 correspond to the outer side of the user's waist to complete the fitting of this embodiment.

Referring to FIGS. 4 and 5 at the same time, when the user is carrying heavy objects in a bending manner, in the process of bending from a standing state, as the user's waist gradually swings forward, the leg frames of the supporting units 3 31 will pivot relative to the waist fitting 21 and at the same time cause the elastic members 41 of the auxiliary unit 4 to accumulate elastic restoring force. Then, when the user prepares to re-upright the body and lift the heavy object, the elastic restoring force accumulated by the elastic members 41 will be fed back to the user's waist, so the user's body bears the weight and the force required to stand up again is Part of it will be borne by the elastic restoring force, thereby achieving the basic function of the embodiment of assisting in lifting heavy objects.

Referring to Figures 5 and 6 in conjunction with Figure 3, the elastic restoring force generated by the elastic members 41 preferably corresponds to the user at the junction of the waist fitting 21 and the leg frames 31 as shown in Figure 5 In the case of both sides of the waist, the auxiliary force can be most effectively transmitted to the correct position of the user's body. With the feature that the telescopic frames 32 can respectively expand and contract with respect to the leg frames 31, even if the support units 3 are subjected to the longitudinal external force generated by various movable parts of the body during the waist bending process of the user, the The longitudinal external force will also cause the leg frames 31 and the telescopic frames 32 to expand and contract with each other, so as shown in FIG. Corresponding location. Therefore, in this embodiment, when the user bends forward and then puts the body upright, the waist fitting 21 and the supporting units 3 are always maintained in the correct position, that is, the leg supports 31 and the The engagement position of the waist fitting 21 indeed corresponds to the outer side of the waist of the user, thereby ensuring that the elastic restoring force generated by the elastic members 41 can most effectively act on the correct position of the user’s body to play a relatively better assist. Effect.

Referring to FIG. 7 and in conjunction with FIG. 4, since the user wears this embodiment, in addition to the lifting action that mainly produces auxiliary effects, other activities may still be required. Utilizing the feature that the rotating portion 312 of each leg frame 31 can move relative to the pivoting portion 311, it can provide freedom of movement from side to side. Therefore, when the user wears this embodiment, even if it is not simply squatting straight up and down. When standing down or standing up, the freedom of movement provided by the leg supports 31 also allows the user to tilt the left and right sides of the movement, which can further optimize the mobility of wearing and improve the basic performance of this embodiment.

In summary, this embodiment of the assistive device for lifting heavy objects of the present invention, through the telescopic function of the telescopic frames 32 relative to the leg frames 31, can make the longitudinal movement when the user wears and moves. The external force acts on the part that allows the support units 3 to expand and contract, so as to prevent the waist fitting 21 and the leg frames 31 from shifting relative to the user's body due to the user's activities, so as to ensure the auxiliary unit 4 The auxiliary force generated can most effectively act on the correct part of the user's body, and the mechanism in which the rotating parts 312 can respectively rotate relative to the pivotal parts 311 can provide the user with freedom of movement in the horizontal direction. It can effectively optimize the mobility in all directions after wearing. Therefore, the purpose of the invention can indeed be achieved.

However, the above are only examples of the present invention. When the scope of implementation of the present invention cannot be limited by this, all simple equivalent changes and modifications made in accordance with the scope of the patent application of the present invention and the content of the patent specification still belong to This invention patent covers the scope.

2: Wearing unit 21: Waist accessories 22: Extension frame 23: ring belt 24: Shoulder strap 3: Support unit 31: Leg frame 311: Pivot 312: Rotating part 313: Chute 32: Telescopic frame 321: positioning bolt 33: Leg accessories 34: Reset damping 4: auxiliary unit 41: Elastic L1: first axis L2: second axis D: Telescopic direction

Other features and effects of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: Figure 1 is a perspective view illustrating an existing assistive device; Figure 2 is a perspective view illustrating an embodiment of the assistive device for lifting heavy objects according to the present invention; Figure 3 is a schematic diagram illustrating one of the two supporting units of the embodiment and the telescopic mechanism of the supporting unit; FIG. 4 is a schematic diagram illustrating a wearing unit of this embodiment and a situation in which a user wears this embodiment; Figure 5 is a schematic diagram illustrating a situation where a user wears this embodiment and lifts a heavy object by bending; Figure 6 is a schematic diagram illustrating a leg frame and a telescopic frame of each support unit, and illustrates the adjustment function of the support unit; and Fig. 7 is a schematic diagram illustrating the degree of freedom of lateral movement provided by a leg frame of one of the supporting units.

2: Wearing unit

21: Waist accessories

22: Extension frame

23: ring belt

24: Shoulder strap

3: Support unit

31: Leg frame

311: Pivot

312: Rotating part

313: Chute

32: Telescopic frame

321: positioning bolt

33: Leg accessories

34: Reset damping

4: auxiliary unit

41: Elastic

L1: first axis

L2: second axis

Claims (6)

An auxiliary device for lifting heavy objects, including: A wearing unit, including a waist accessory suitable for leaning against the waist of a user, and a loop waistband connected to the waist accessory and suitable for surrounding the waist of the user; Two supporting units are respectively installed on opposite sides of the waist fitting, defining a first axis extending in the left-right direction and a second axis extending in the front-to-rear direction. Each supporting unit includes a rotation axis about the first axis And a leg frame pivotally connected to the waist accessory, a telescopic frame connected to the leg frame and capable of being telescopic relative to the leg frame, and a leg accessory disposed on the telescopic frame and suitable for being fixed to the user's legs, Each leg frame has a pivot part connected to the waist fitting, and a rotating part pivotally connected to the pivot part with the second axis as a rotation axis; and An auxiliary unit is arranged between the waist accessory and the supporting units to generate a reverse auxiliary force when the leg supports rotate relative to the waist accessory. The auxiliary device for lifting heavy objects according to claim 1, wherein each support unit further includes a support unit arranged between the individual leg frame and the individual telescopic frame, and is used to position the individual telescopic frame toward the individual leg frame A reset damping that accumulates a restoring force when moving. The auxiliary device for lifting heavy objects according to claim 1, wherein the leg frame of each supporting unit further has a sliding groove formed on the rotating part and extending in a telescopic direction, and each supporting unit is telescopic The frame is provided with a positioning bolt which extends in the individual chute and can move relatively in the individual chute. According to claim 1, the auxiliary device for lifting heavy objects, wherein the auxiliary unit includes two elastic members respectively arranged between the waist fitting and the supporting units. According to claim 4, the auxiliary device for lifting heavy objects, wherein each elastic member of the auxiliary unit is a torsion spring. The auxiliary device for lifting heavy objects according to claim 1, wherein the wearing unit further includes an extension frame extending upward from the center of the top edge of the waist accessory, and two laterally spaced apart from each other connected to the extension frame and the Shoulder straps between looped waistbands.

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