WO2018157304A1 - 前支撑穿戴式辅助搬运装置 - Google Patents

前支撑穿戴式辅助搬运装置 Download PDF

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Publication number
WO2018157304A1
WO2018157304A1 PCT/CN2017/075257 CN2017075257W WO2018157304A1 WO 2018157304 A1 WO2018157304 A1 WO 2018157304A1 CN 2017075257 W CN2017075257 W CN 2017075257W WO 2018157304 A1 WO2018157304 A1 WO 2018157304A1
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WO
WIPO (PCT)
Prior art keywords
shoulder
bracket
transport device
front support
support
Prior art date
Application number
PCT/CN2017/075257
Other languages
English (en)
French (fr)
Inventor
邓静
李生广
袁金生
李满天
王帅
蔡昌荣
丘世因
盛文涛
王鑫
蒋振宇
刘国才
李爱镇
Original Assignee
深圳龙海特机器人科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳龙海特机器人科技有限公司 filed Critical 深圳龙海特机器人科技有限公司
Priority to PCT/CN2017/075257 priority Critical patent/WO2018157304A1/zh
Publication of WO2018157304A1 publication Critical patent/WO2018157304A1/zh

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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

Definitions

  • the present invention belongs to the field of handling equipment, and more particularly to a front support wearable auxiliary handling device.
  • An object of the present invention is to provide a front support wearable auxiliary transport device, which aims to solve the problems of spinal injury, muscle strain and human fatigue caused by current manual transport.
  • a front support wearable auxiliary transport device including two grippers for being worn on a hand to grip and support an object to be transported, for pulling up corresponding places
  • the back frame comprises a bearing belt for supporting the hip of the human body, a bracket for being placed at the back of the human body, two shoulder bars for placing the shoulders of the human body, and two support bars, the front end of each of the shoulder bars Extending to a front end of the shoulder of the human body, a rear end of each of the shoulder bars is connected to an upper end of the bracket, a lower end of the bracket is connected to the bearing belt, and the two tensioning mechanisms are respectively associated with the shoulder rod
  • the front ends are connected, and the upper ends of the two support bars are respectively hinged with the front ends of the two shoulder bars, and the lower ends of the two support bars are respectively connected to the
  • Embodiments of the present invention provide two grippers, two tensioning mechanisms, a strap and a back frame; using a cymbal, the back frame is mounted on the human body by a strap, and the bearing strap of the back frame is supported on the human hip.
  • the two shoulder bars of the back frame respectively extend to the front ends of the two shoulders, and the two tensioning mechanisms respectively connect the two shoulder bars and the two grippers, so that when carrying the weight, the gripper can be used to clamp the weight.
  • the force belt transmits the load pulling force to the hip body of the human body, reduces the force on the back part of the human body, thereby protecting the waist and the spine of the person, reducing the muscle strain and the human body fatigue; the same force can pass through the two support rods To withstand and transmit the load force of each shoulder rod, the force on the back of the person can be reduced, and the load force on the bracket can be reduced, making the handling easier.
  • FIG. 1 is a schematic structural view of a front support wearable auxiliary transport device using a crucible according to a first embodiment of the present invention.
  • FIG. 2 is a side elevational view showing the back frame of the front support wearable auxiliary transport device of FIG. 1;
  • Figure 3 is a front elevational view showing the back frame of Figure 2;
  • Figure 4 is a cross-sectional structural view of the winding lock of the cord of Figure 1;
  • FIG. 5 is a schematic structural view of the holder and the locker of FIG. 1;
  • FIG. 6 is a side view showing the structure of the holder and the thread locker of FIG. 1;
  • FIG. 7 is a schematic structural view of the locker of the locker of FIG. 6.
  • FIG. 8 is a front elevational view showing a back frame of a front support wearable auxiliary transport device according to a second embodiment of the present invention.
  • FIG. 9 is a side view showing the structure of the back frame of FIG. 8.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1
  • a front support wearable auxiliary transport device 100 comprising two grippers 50 , two tension mechanisms 30 , a back frame 10 and a strap 70 ;
  • the strap 70 is connected to the back frame 10 for fixing the back frame 10 to the human body;
  • the holder 50 is used for clamping and supporting the object to be transported, and is generally worn on a person's hand during use, so as to facilitate handling. Avoid heavy objects on your hands and prevent hand injuries.
  • the back frame includes a bearing belt 13, two shoulder bars 11, a bracket 20 and two support rods 15, and the bearing belt 13 is used for supporting and supporting the human hip.
  • the lower end of the bracket 20 is connected to the bearing belt 13.
  • the bracket 20 is disposed at the back position of the human body, and the two shoulder bars 11 are respectively placed above the shoulders of the human body; the two shoulder bars 11 are respectively passed by the back of the human body through the shoulders
  • the upper portion extends to the front end of the shoulders, and the rear ends of the two shoulder bars 11 are connected to the upper end of the bracket 20.
  • the bracket 20 disposed at the back position of the human body can overcome the contact force of the back of the human body by a part of the tilting moment of the weight on the human body during the transmission load force, further reducing the waist force, and the same through the bracket 20
  • the corrective action can prevent the curvature of the spine during the handling process, so that the worker can maintain the correct posture of the spine during the manual handling process, thereby ensuring the health and safety of the worker's back and reducing the occurrence of occupational injuries.
  • the upper ends of the two support rods 15 are respectively hinged to the front ends of the two shoulder rods 11, and the lower ends of the two support rods 15 are respectively connected to the bearing belts 13.
  • the back frame 10 is mounted on the human body by the strap 70, and the bearing belt 13 of the back frame 10 Supported in the human hip, the two shoulder bars 11 of the back frame 10 respectively extend to the front ends of the two shoulders, and the two tension mechanisms 30 respectively connect the two shoulder bars 11 and two a gripper 50, so that when the weight is carried, the gripper 50 can be used to grip the weight, and the weight is pulled to the tension mechanism 30 to reduce the load on the arm and reduce the arm fatigue caused by repeated handling;
  • the tension mechanism 30 transmits the pulling force of the holder 50 to the shoulder rod 11 of the back frame 10, and then transmits the load pulling force to the hip body of the human body through the bracket 20 and the bearing belt 13 to reduce the stress on the back portion of the human body.
  • the waist and the spine of the person are protected, and the muscle strain and the human body fatigue are alleviated; while the force is supported, the load force of the shoulder rods 11 can be withstood and transmitted by the two support rods 15 to reduce the back of the person.
  • the force is applied, and the load force on the bracket 20 can be reduced, making the handling easier.
  • a hinge 151 is attached to the upper end of each of the support rods 15, and the hinge 151 is connected to the front end of the corresponding shoulder rod 11.
  • the hinge 151 is provided so that the support rod 15 can be moved relative to the shoulder rod 11, thereby facilitating the user to move the upper body.
  • the bearing belt 13 is mounted with two buckles 136 respectively fixing the lower ends of the two support rods 15.
  • the buckles 136 are provided to facilitate the articulation of the lower end of the support rods 15 with the bearing belts 13.
  • the two buckles 136 are respectively located at the two ends of the bearing belt 13, so that the lower ends of the two support rods 15 are connected to the two ends of the bearing belt 13, and then the two are worn,
  • the lower end of the support rod 15 is located at the front of the person.
  • the structure uses two support rods 15 to transmit the load to the front side of the bearing belt 13, so that the bearing belt 13 is in close contact with the front side of the waist, so that the bearing belt 13 and the hip portion have a self-locking force state. , has a large carrying capacity.
  • the force on the human body is mainly concentrated on the back side of the hip, where the muscles are more developed and the comfort of the human body is better.
  • the back frame 10 can connect the front end of the shoulder bar 11 with the load weight through a string or the like, so that the person carries the heavy object and lifts the body, and the back frame 10 is moved upward, so that the two back frame 10 are
  • the shoulder bar 11 pulls the weight upwards, thereby reducing the load on the arm.
  • Most of the load of the weight is transmitted to the shoulder bar 11.
  • a force transmission "bypass" is established through the back frame 10, and is transmitted to the hip of the human body via the shoulder rail 11, the bracket 20, and the bearing belt 13. , to reduce the force on the back of the human body, thereby protecting the waist of the person.
  • the bearing belt 13 is used for engaging a waist belt bound to a human hip.
  • the bearing belt 13 is set as a belt structure, which can be easily installed and fixed on the human hip, and the same can support the bearing.
  • the bearing belt 13 can also be two fork structures that are fitted to the hips on both sides of the human body, so that the back frame 10 is mounted on the human body, and the two forks are forked in the human hip. unit.
  • the load-bearing belt 13 can also be a U-frame structure that, in use, is placed directly on the hip of the human body.
  • the bearing belt 13 is a steel belt structure, and the buckle structure 137 is installed at both ends of the bearing belt 13 so that the two ends of the bearing belt 13 can be snap-fitted to each other after installation.
  • the bearing belt 13 has an inverted tapered structure to withstand the load in the vertical direction and improve the wearing comfort.
  • the bracket 20 has a Y-shaped structure, and the two free ends of the upper end of the bracket 20 are respectively connected to the rear ends of the two shoulder bars 11.
  • the bracket 20 is arranged in a Y-shaped structure, so that the area of the bracket 20 covering the back of the person can be reduced, so that the wearing arm can be more ventilated to improve the comfort of use, and the weight of the bracket 20 can be reduced, thereby reducing the pair. The burden of people.
  • the bracket 20 is provided in a Y-shaped structure, and since the bracket 20 has a Y shape, the upper end has two left and right free ends, so that it can be easily connected to the two shoulder bars 11. The same is convenient for connecting with the two shoulder bars 11.
  • the bracket 20 can also be in other configurations, such as a plate-like structure or the like.
  • the waistband material may be a flexible structure such as cloth, rubber, or steel strip.
  • the rear ends of the shoulder bars 11 are hinged to the respective free ends of the bracket 20.
  • the rear end of the shoulder rod 11 is hinged to the corresponding free end of the branch, so that the shoulder rod 11 can swing upwards to a certain extent, thereby facilitating wearing.
  • each shoulder bar 11 is provided with a lifting point 112 to facilitate connection with a structure such as a rope or a support rod.
  • bracket 20 is a telescopic frame to facilitate the wearing of people of different heights.
  • the bracket 20 includes a receiving box 21 and a spine plate 22, and the upper end of the spine plate 22 is inserted into the receiving box 21, and the two shoulder rods 11 are respectively connected to the two sides of the receiving box 21, the spine board The lower end of 22 is connected to the bearing belt 13.
  • the accommodating case 21 and the spine plate 22 are disposed, and the spine plate 22 is inserted into the accommodating case 21, and the length of the holder 20 is adjusted by adjusting the depth in which the spine plate 22 is inserted into the accommodating case 21.
  • two sides of the accommodating case 21 of the bracket 20 are respectively mounted with a back plate 211, two The shoulder bars 11 are respectively connected to the two back plates 211.
  • the back plate 211 is provided to facilitate connection with the shoulder bars 11 and to support the shoulder bars 11.
  • the same back plate 211 can function to protect the two shoulder portions of the person.
  • the spine plate 22 is provided with a plurality of latching teeth 221, and the lifting box 212 is mounted with a lifting button 212.
  • the lifting button 212 extends into the latching teeth 221 on the spine plate 22, the spine can be placed.
  • the plate 22 is locked; and when the lift button 212 is disengaged from the latch 221, the spine plate 22 can slide in the accommodating case 21, thereby adjusting the length of the bracket 20.
  • the back frame 10 further includes a resisting mechanism 25 for engaging against the spine of the human body.
  • a resisting mechanism 25 for engaging against the spine of the human body.
  • the resisting mechanism 25 includes an elastic plate 255 for engaging against the spine of the human body, and the elastic plate 255 is hinged to the lower end of the bracket 20. Using the elastic plate 255 to resist the human spine, it can avoid hurting the human spine and improve the comfort of use. Further, the elastic plate 255 can use a flexible material that conforms to the contour of the human waist.
  • each tensioning mechanism 30 includes a cord 31 that connects the shoulder rod 11 and the corresponding holder 50 at both ends.
  • the use of the cord 31 as the tension mechanism 30 facilitates the bending movement, thereby facilitating the movement of the gripper 50 by the arm.
  • the tension mechanism 30 can also use a tie rod structure, such as connecting the upper end of the tie rod to the shoulder rod 11 by a hinge, and the lower end of the pull rod is connected to the holder 50, thereby also functioning as a force transmission.
  • each tensioning mechanism 30 further includes a winding locker 32, and the winder locker 32 is mounted on the corresponding shoulder bar 11.
  • the winding locker 32 is used to wind the cord 31 and is locked by the cord 31 to lock the strap 31.
  • the winding locker 32 is arranged, and the cord 31 is unstressed, so that the cord 31 can be freely extended and contracted to facilitate the movement of the arm; and the weight is fixed in the gripper 50, and the weight is lifted upwards.
  • the spool locker 32 can lock the strap 31 so that the strap 31 can be subjected to the weight of the load.
  • the winding locker 32 includes a support box 321, a reel 321 pivotally connected to the support box 321, a coil spring 323 that drives the reel 321 to wind the cord 31, and a ratchet 324 connected to the reel 321 a pawl 325 for locking the ratchet 324 and a torsion spring 326 for driving the pawl 325 to unlock the ratchet 324.
  • the pawl 325 is pivotally connected to the support box 321, and one end of the cord 31 is connected to the reel 321 and the other of the cord 31 One end is passed around the holder 50 and connected to the pawl 325.
  • the torsion spring 326 pushes the pawl 325 away from the ratchet wheel 324, thereby causing the ratchet 324 and the reel 3 21 can be rotated, and then the arm is pulled, the cord 31 can be pulled out from the reel 321 to extend the cord 31; and the arm is moved toward the shoulder rod 11, and the coil spring 323 drives the reel 321 to rotate.
  • Tape rope 31 When the strap 31 pulls the weight ⁇ , the other end of the strap 31 is pulled, and the pawl 325 is driven to lock the ratchet 324, thereby preventing the spool 321 from rotating, so that the strap 31 can bear the load.
  • the support box 321 is mounted with a wear-reducing block 327, and the other end of the cord 31 is connected to the pawl 325 through the wear-reducing block 327.
  • the wear reducing block 327 By setting the wear reducing block 327, the wear on the strap 31 can be reduced.
  • each tension mechanism 30 further includes a lock 33 for locking the strap 31 to prevent the strap 31 from being caught on the spool 321, the locker 33 is mounted on the respective holder 50. Set the thread locker 33.
  • the cord 31 can be locked by the thread locker 33 to better prevent the strap 31 from expanding and contracting.
  • the other end of the strap 31 when carrying a weight, can be pressed or hooked to pull the other end of the strap 31, thereby pulling the pawl 325.
  • the wire locker 33 includes a support block 331, a rotating shaft 332 and a stopper 333.
  • the rotating shaft 332 is mounted on the supporting block 331, the stopper 333 is fixed on the supporting block 331, and the stopper 333 is disposed on the supporting block 331.
  • the strap 31 bypasses the rotating shaft 332, and one end of the strap 31 is located between the stopper 333 and the rotating shaft 332.
  • the stopper 333 can be pressed against the other end of the string 31 to lock the string 31.
  • the cord 31 is separated from the stopper 333, it can be freely moved on the rotating shaft 332, so that the cord 31 on the reel 321 can be freely expanded and contracted.
  • the support block 331 is connected to the holder 50.
  • the thread locker 33 can also be a clip structure in which the strap 31 can be clamped to lock the strap 31.
  • a support block 334 is further mounted on the support block 331, and the connection block 334 is connected to the holder 50.
  • each of the holders 50 includes a glove 50 for covering the hand, and the ligament 52 is connected to the position of each finger on the glove 50, and the ligament 52 and the tension mechanism 30 are attached.
  • a hardened block 53 is provided on the glove 50 corresponding to each of the finger pad and palm position.
  • a ligament 52 is disposed on each finger of the glove 50. After the force is applied, the ligament 52 can pull the glove 50 to bend the fingers of the glove, and the hardening block 53 is provided on the finger pad and the palm of the hand, which can be easily grasped by fingers.
  • the holder 50 can also be of a flat construction to support the weight.
  • a mounting belt 54 is provided on the glove 50 corresponding to the palm position.
  • a mounting belt 54 is provided on the glove 50 to mount the structure of the locker 33, the clip, and the like. Further, the mounting strap 54 can be a tightening strap for mounting the thread locker 33.
  • the ligament 52 is connected to the connecting block 334 of the thread locker 33, so that the cord 31 bypasses the rotating shaft 332 of the thread locker 33, and the end of the cord 31 away from the stopper 333 is provided.
  • the 311 is coupled to the spool 322 in the winder locker 32; the one end 312 of the strap 31 adjacent the stop 333 is coupled to the pawl 325 in the winder locker 32.
  • the gripper 50 carries the load ⁇ , adjusts the position of the locker 33, causes the stopper 333 to abut against the other end 312 of the cord 31, and the one end 311 of the cord 31 moves toward the stopper 333, and the strap 31 is moved.
  • the other end 31 2 is pressed against the stopper 333 to lock the other end 312 of the cord 31; then the other end 312 of the cord 31 pulls the pawl 325 in the winding lock 32 to lock the pawl 325
  • the ratchet 324 prevents the reel 322 from rotating; the tether 31 is tensioned to withstand the load.
  • the torsion spring 326 pushes the pawl 325 away from the ratchet wheel 324, so that the ratchet 324 and the reel 322 can be rotated; adjusting the position of the lock 33 to make the cord 31
  • the two ends move away from the stopper 333, thereby unlocking the other end 312 of the cord 31, and the arm pulls the cymbal, the cord 31 can be pulled out from the reel 322, and the cord 31 is extended; and the arm is extended to the shoulder In the 11 direction movement, the coil spring 323 drives the reel 322 to rotate to wind the cord 31.
  • the strap 70 is a strap structure to facilitate the back frame 10 to be carried on a person.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1
  • the front support wearable auxiliary transport device 100 of the present embodiment is different from the front support wearable auxiliary transport device of the first embodiment:
  • the two buckles 136 are respectively located on both sides of the bearing belt 13, so that the lower ends of the two support rods 15 are connected to both sides of the bearing belt 13, and then the two buckles are worn.
  • the lower end of the rod 15 is located on both sides of the person.
  • the other structures of the front support wearable auxiliary transport device 100 of the present embodiment are the same as those of the front support wearable auxiliary transport device of the first embodiment, and are not described herein again.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

一种前支撑穿戴式辅助搬运装置（100），包括两个夹持器（50）、两个拉力机构（30）、背架（10）和绑带（70）；背架（10）包括承力带（13）、支架（20）、两个肩杆（11）和两个支撑杆（15），各肩杆（11）的前端延伸至人体肩部的前端，各肩杆（11）的后端与支架（20）的上端相连，支架（20）的下端与承力带（13）相连，两个支撑杆（15）的上端分别与两个肩杆（11）的前端铰接，两个支撑杆（15）的下端分别与承力带相连。在搬运重物时，经拉力机构（30）上拉动重物，以减轻手臂的负载；而背架（10）将该拉力机构（30）的负载传导至人体的髋体，并且两个支撑杆（15）来承受与传递各肩杆（11）承受的负载力，从而可以减轻人背部的受力。

Description

前支撑穿戴式辅助搬运装置
技术领域
[0001] 本发明属于搬运设备领域， 尤其涉及一种前支撑穿戴式辅助搬运装置。
背景技术
[0002] 随着社会的发展， 很多人工操作被机器所替代， 但是还有大量工作的还是需要 人力操作， 机器无法完全替代， 如航运分拣、 快递分拣、 物料搬运、 码头装卸 等领域经常需要人工搬运。
[0003] 在实际生产生活中， 人们习惯于弯着腰搬运， 并用腰背部的力量抬放物件。 这 样进行人工搬运存在诸多问题： （1) 人体在搬运重物吋非常容易造成脊柱受伤 ； (2) 长期搬运会造成腰背肌肉劳损等职业病的发生； （3) 搬运吋人体容易 疲劳， 影响工作效率。
技术问题
[0004] 本发明的目的在于提供一种前支撑穿戴式辅助搬运装置， 旨在解决当前人工搬 运吋导致的脊柱受伤， 肌肉劳损， 人体疲劳的问题。
问题的解决方案
技术解决方案
[0005] 本发明实施例是这样实现的， 一种前支撑穿戴式辅助搬运装置， 包括用于佩戴 于手部以夹持并支撑待搬运物体的两个夹持器、 用于向上拉动相应所述夹持器 的两个拉力机构、 背架和用于将所述背架固定于人体上的绑带， 两个所述拉力 机构分别与两个所述夹持器相连； 所述背架包括用于配合支撑于人体髋部的承 力带、 用于设于人体后背处的支架、 用于置于人体两肩上方的两个肩杆和两个 支撑杆， 各所述肩杆的前端延伸至人体肩部的前端， 各所述肩杆的后端与所述 支架的上端相连， 所述支架的下端与所述承力带相连， 两个所述拉力机构分别 与所述肩杆的前端相连， 两个所述支撑杆的上端分别与两个所述肩杆的前端铰 接， 两个所述支撑杆的下端分别与所述承力带相连。
发明的有益效果 有益效果
[0006] 本发明实施例通过设置两个夹持器、 两个拉力机构、 绑带和背架； 使用吋， 通 过绑带将背架安装在人体上， 背架的承力带支撑在人体髋部， 背架的两个肩杆 分别延伸至人两肩的前端， 两个拉力机构分别连接两个肩杆与两个夹持器， 从 而在搬运重物吋， 可以使用夹持器来夹持重物， 并向经拉力机构上拉动重物， 以减轻手臂的负载， 减轻因反复搬运造成的手臂疲劳； 而拉力机构将对夹持器 的拉力传导至背架的肩杆， 再经支架、 承力带将该负载拉力传导至人体的髋体 ， 减轻人体腰背部分受力， 从而保护人员腰部、 脊柱， 减轻人的肌肉劳损和人 体疲劳； 同吋在受力吋， 可以通过两个支撑杆来承受与传递各肩杆承受的负载 力， 从而可以减轻人背部的受力， 并且还可以减轻负载力对支架的力矩， 使得 搬运更为轻松。
对附图的简要说明
附图说明
[0007] 图 1是本发明实施例一提供的前支撑穿戴式辅助搬运装置使用吋的结构示意图
[0008] 图 2是图 1的前支撑穿戴式辅助搬运装置中背架的侧视结构示意图；
[0009] 图 3是图 2的背架的正视结构示意图；
[0010] 图 4是图 1中绳带的收卷锁定器的剖视结构示意图；
[0011] 图 5是图 1中夹持器及锁线器的结构示意图；
[0012] 图 6是图 1中夹持器及锁线器的侧视结构示意图；
[0013] 图 7是图 6中锁线器锁定吋的结构示意图。
[0014] 图 8是本发明实施例二提供的前支撑穿戴式辅助搬运装置中背架的正视结构示 意图；
[0015] 图 9是图 8的背架的侧视结构示意图。
本发明的实施方式
[0016] 为了使本发明的目的、 技术方案及优点更加清楚明白， 以下结合附图及实施例 ， 对本发明进行进一步详细说明。 应当理解， 此处所描述的具体实施例仅仅用 以解释本发明， 并不用于限定本发明。
[0017] 需要说明的是， 当元件被称为 "固定于"或"设置于"另一个元件， 它可以直接在 另一个元件上或者可能同吋存在居中元件。 当一个元件被称为"连接于 "另一个元 件， 它可以是直接连接到另一个元件或者可能同吋存在居中元件。
[0018] 还需要说明的是， 本实施例中的左、 右、 上、 下等方位用语， 仅是互为相对概 念或是以产品的正常使用状态为参考的， 而不应该认为是具有限制性的。
[0019] 实施例一：
[0020] 请参阅图 1至图 7， 本发明实施例提供的一种前支撑穿戴式辅助搬运装置 100， 包括两个夹持器 50、 两个拉力机构 30、 背架 10和绑带 70; 绑带 70与背架 10相连 ， 用于将背架 10固定于人体上； 夹持器 50用于夹持并支撑待搬运物体， 在使用 吋， 一般佩戴于人的手部， 以方便搬运， 避免重物直接压在手上， 防止手部受 伤。
[0021] 请参阅图 1、 图 2和图 3， 背架包括承力带 13、 两个肩杆 11、 支架 20和两个支撑 杆 15， 承力带 13用于配合支撑于人体髋部， 从而在背架 10受力吋， 可以将该力 传导到人体髋部。 支架 20的下端与承力带 13相连， 在使用吋， 支架 20设在人体 后背位置， 两个肩杆 11分别置于人体两肩上方； 两个肩杆 11分别由人体后背经 两肩上方延伸至两肩前端， 两个肩杆 11的后端与支架 20的上端相连。 设置位于 人体后背位置的支架 20， 在传导负载力吋， 可以使重物对人体向前的倾翻力矩 的一部分由人体背部的接触力克服， 进一步减轻腰部受力， 同吋通过支架 20的 矫正作用， 在搬运过程中， 可以阻止脊柱弯曲， 使劳动者在人力搬运过程中保 持脊柱姿势正确， 以此保证劳动者的腰背的健康安全， 减少职业伤病的发生。 两个支撑杆 15的上端分别与两个肩杆 11的前端铰接， 两个支撑杆 15的下端分别 与承力带 13相连。 设置两个支撑杆 15， 在受力吋， 可以通过两个支撑杆 15来承 受与传递各肩杆 11承受的负载力， 从而可以减轻人背部的受力， 并且还可以减 轻负载力对支架 20的力矩， 使得搬运更为轻松。
[0022] 通过设置两个夹持器 50、 两个拉力机构 30、 绑带 70和背架 10; 使用吋， 通过绑 带 70将背架 10安装在人体上， 背架 10的承力带 13支撑在人体髋部， 背架 10的两 个肩杆 11分别延伸至人两肩的前端， 两个拉力机构 30分别连接两个肩杆 11与两 个夹持器 50， 从而在搬运重物吋， 可以使用夹持器 50来夹持重物， 并向经拉力 机构 30上拉动重物， 以减轻手臂的负载， 减轻因反复搬运造成的手臂疲劳； 而 拉力机构 30将对夹持器 50的拉力传导至背架 10的肩杆 11， 再经支架 20、 承力带 1 3将该负载拉力传导至人体的髋体， 减轻人体腰背部分受力， 从而保护人员腰部 、 脊柱， 减轻人的肌肉劳损和人体疲劳； 同吋在受力吋， 可以通过两个支撑杆 1 5来承受与传递各肩杆 11承受的负载力， 从而可以减轻人背部的受力， 并且还可 以减轻负载力对支架 20的力矩， 使得搬运更为轻松。
[0023] 进一步地， 各支撑杆 15的上端安装有铰链 151， 铰链 151与相应的肩杆 11的前端 相连。 设置铰链 151， 以便支撑杆 15可以相对于肩杆 11移动， 进而方便使用者活 动上身。
[0024] 进一步地， 承力带 13上安装有分别固定两个支撑杆 15下端的两个插扣 136.设置 插扣 136， 以方便将支撑杆 15的下端与承力带 13铰接。
[0025] 本实施例中， 两个插扣 136分别位于承力带 13的两端部， 从而使两个支撑杆 15 的下端与承力带 13的两端相连， 则在穿戴吋， 两个支撑杆 15的下端位于人的前 部。 该结构使用两个支撑杆 15将负载传递到承力带 13的前侧， 使承力带 13紧贴 腰部前侧， 这样承力带 13与髋部之间呈一种自锁的受力状态， 具有较大的承载 能力。 同吋承力带 13对人体的作用力主要集中在髋部的后侧， 此处肌肉比较发 达， 人体的舒适感比较好。
[0026] 该背架 10在使用吋， 可以通过绳带等将肩杆 11的前端与负载重物相连， 从而人 搬运重物起身吋， 会带动背架 10向上移动， 从而背架 10的两个肩杆 11向上拉动 重物， 从而减轻手臂的负载。 而重物的大部分负载传送至肩杆 11。 这样， 该重 物的负载力没有从人体脊柱中传递， 而是通过背架 10建立了一个力传递"旁路"， 经两肩杆 11、 支架 20、 承力带 13传递至人体的髋部， 减轻人体腰背部分受力， 从而保护人员腰部。 另外， 由于重物悬挂于人体前方， 其重力作用线与人体支 撑点之间存在水平距离， 重力会对背架 10产生一个倾翻力矩， 而且这个力矩在 抬放重物吋由于身体前倾会显著增大。 使用该背架 10吋， 该倾翻力矩的一部分 由人体背部的接触力克服、 一部分会由人体髋部产生的力矩来克服， 减轻腰部 受力。 [0027] 进一步地， 本实施例中， 承力带 13为用于配合绑定于人体髋部的腰带。 将承力 带 13设为腰带结构， 既可以方便安装固定在人的髋部， 同吋可以起到承力支撑 作用。 在其它实施例中， 承力带 13也可以为与配合叉于人体两侧髋部的两个叉 架结构， 从而在将背架 10安装在人体上吋， 两个叉架叉在人的髋部。 在还有一 些实施例中， 承力带 13也可以为 U型架结构， 在使用中吋， 直接架在人体的髋部 。 进一步地， 承力带 13为钢带结构， 承力带 13的两端安装的挂扣结构 137， 以便 在安装吋， 可以将承力带 13的两端相互扣合连接。
[0028] 进一步地， 承力带 13呈倒锥型结构， 以便承受竖直方向的载荷， 提高穿戴的舒 适性。
[0029] 进一步地， 本实施例中， 支架 20呈 Y型结构， 支架 20上端的两个自由端分别与 两个肩杆 11的后端相连。 将支架 20设置呈 Y型结构， 可以减小支架 20覆盖人后背 的面积， 从而在佩戴吋， 可以更为透气， 以提高使用的舒适性， 同吋可以减轻 支架 20的重量， 进而降低对人的负担。 另外， 将支架 20设置呈 Y型结构， 由于支 架 20呈 Y型， 其上端具有左右两个自由端， 从而可以方便与两个肩杆 11相连。 同 吋方便与两个肩杆 11相连。 在其它实施例中， 支架 20也可以呈其它结构， 如板 状结构等。 在还有一些实施例中， 腰带材质可以是布质、 橡胶、 钢带等柔性结 构。
[0030] 进一步地， 各肩杆 11的后端与支架 20的相应自由端铰接。 将肩杆 11的后端与支 回的相应自由端铰接， 可以使肩杆 11可以向上进行一定幅度的摆动， 进而方便 穿戴。
[0031] 进一步地， 各肩杆 11的前端安装有吊点 112， 以方便与绳索或支撑杆等结构相 连。
[0032] 更进一步地， 支架 20为伸缩架， 以方便适应不同高度的人穿戴使用。
[0033] 进一步地， 支架 20包括容置盒 21和脊柱板 22， 脊柱板 22的上端插装在容置盒 21 中， 两个肩杆 11分别与容置盒 21的两侧相连， 脊柱板 22的下端与承力带 13相连 。 设置容置盒 21与脊柱板 22， 并将脊柱板 22插装在容置盒 21中， 通过调节脊柱 板 22插入容置盒 21中的深度， 从而调节该支架 20的长度。
[0034] 进一步地， 本实施例中， 支架 20的容置盒 21的两侧分别安装有背板 211， 两个 肩杆 11分别与两个背板 211相连。 设置背板 211， 以方便与各肩杆 11相连并支撑 各肩杆 11。 同吋背板 211可以起到保护人的两肩胛部位的作用。
[0035] 进一步地， 脊柱板 22上设有若干卡齿 221， 而容置盒 21上安装有升降按钮 212， 当升降按钮 212伸入脊柱板 22上上的卡齿 221中吋， 可以将脊柱板 22锁定； 而当 升降按钮 212从卡齿 221中脱离吋， 脊柱板 22可以在容置盒 21中滑动， 进而调节 支架 20的长度。
[0036] 进一步地， 该背架 10还包括用于配合抵持人体脊柱的抵持机构 25。 设置抵持机 构 25， 在搬运吋， 可以更好的防止避免人的脊柱弯曲， 起到保护脊柱与腰部的 作用。
[0037] 进一步地， 抵持机构 25包括用于配合抵顶人体脊柱的弹性板 255， 弹性板 255与 支架 20的下端铰接。 使用弹性板 255抵持人体脊柱， 可以避免抵伤人的脊柱部位 ， 提高使用的舒适性。 进一步地， 弹性板 255可以使用柔性材料， 外形与人体腰 部曲线相符。
[0038] 请参阅图 1和图 4， 进一步地， 各拉力机构 30包括两端分别连接肩杆 11与相应夹 持器 50的绳带 31。 使用绳带 31作为拉力机构 30， 可以方便弯曲移动， 从而方便 手臂带动夹持器 50移动。 在其它实施例中， 拉力机构 30也可以使用拉杆结构， 如将拉杆的上端与肩杆 11通过铰链相连， 而拉杆的下端与夹持器 50相连， 从而 也可以起到力传送的作用。
[0039] 进一步地， 各拉力机构 30还包括收卷锁定器 32， 收卷锁定器 32安装于相应的肩 杆 11上。 收卷锁定器 32用于收卷绳带 31并于绳带 31受力吋锁定该绳带 31。 设置 收卷锁定器 32， 在绳带 31不受力吋， 可以使绳带 31自由伸长与收缩， 以方便手 臂活动； 而在夹持器 50固定住重物， 向上拉动重物吋， 收卷锁定器 32可以锁定 住绳带 31， 以使绳带 31可以受力负载的重力。
[0040] 具体地， 收卷锁定器 32包括支撑盒 321、 枢接于支撑盒 321中的卷筒 321、 带动 卷筒 321卷绕绳带 31的卷簧 323、 与卷筒 321相连的棘轮 324、 用于锁定棘轮 324的 棘爪 325和带动棘爪 325解锁棘轮 324的扭簧 326， 棘爪 325枢接于支撑盒 321中， 绳带 31的一端与卷筒 321相连， 绳带 31的另一端绕过夹持器 50与棘爪 325相连。 当绳带 31不受力吋， 扭簧 326推动棘爪 325离幵棘轮 324， 从而使棘轮 324与卷筒 3 21可以转动， 则手臂拉动吋， 可以将绳带 31从卷筒 321上拉出， 使绳带 31伸长； 而手臂向肩杆 11方向移动吋， 卷簧 323带动卷筒 321转动， 以收卷绳带 31。 当绳 带 31拉动重物吋， 将绳带 31的另一端拉紧， 则带动棘爪 325锁定棘轮 324， 从而 防止卷筒 321转动， 以使绳带 31可以承受负载。
[0041] 进一步地， 支撑盒 321上安装有减磨块 327， 绳带 31的另一端穿过减磨块 327与 棘爪 325相连。 设置减磨块 327， 可以减少对绳带 31的磨损。
[0042] 请一并参阅图 6和图 7， 进一步地， 各拉力机构 30还包括用于将绳带 31锁定以防 止该绳带 31收于卷筒 321上的锁线器 33， 锁线器 33安装于相应夹持器 50上。 设置 锁线器 33， 在使用吋， 可以通过锁线器 33锁定住绳带 31， 以更好的防止绳带 31 伸缩。 当然在其它实施例中， 当搬运重物吋， 可以压住或钩住绳带 31的另一端 ， 以拉动绳带 31的另一端， 进而拉动棘爪 325。
[0043] 进一步地， 锁线器 33包括支撑块 331、 转轴 332和挡块 333， 转轴 332安装在支撑 块 331上， 挡块 333固定在支撑块 331上， 且挡块 333设置在支撑块 331的侧边， 绳 带 31绕过转轴 332， 并且绳带 31的一端位于挡块 333与转轴 332之间。 这样当调节 支撑块 331位置吋， 可以使挡块 333顶压住绳带 31的另一端， 以将绳带 31锁定住 。 而当绳带 31与挡块 333分幵吋， 可以在转轴 332上自由移动， 进而使卷筒 321上 的绳带 31可以自由伸缩。 支撑块 331与夹持器 50相连。 在其它实施例中， 锁线器 33也可以为夹子结构， 在承重吋， 可以夹住绳带 31， 以将绳带 31锁定住。
[0044] 进一步地， 支撑块 331上还安装有连接块 334， 连接块 334用于与夹持器 50相连
[0045] 请参阅图 1和图 5， 进一步地， 各夹持器 50包括用于套于手上的手套 50， 手套 50 上对应于各手指的位置连接有韧带 52， 韧带 52与拉力机构 30相连， 手套 50上对 应于各指腹及掌心位置设有硬化块 53。 使用手套 50， 在手套 50的各手指上设置 韧带 52， 在受力吋， 韧带 52可以拉动手套 50， 使手套各手指弯曲， 而指腹及掌 心上设有硬化块 53， 可以方便手指扣住重物。 在其它实施例中， 夹持器 50也可 以为平板结构， 以便支撑重物。
[0046] 进一步地， 手套 50的各手指背面对应的位置配合设有定位套 55， 韧带 52穿过定 位套 55， 以便韧带 52可以拉动手套 50， 使手套各手指弯曲。 [0047] 进一步地， 手套 50上对应于掌心位置设有安装带 54。 在手套 50上设置安装带 54 ， 以便安装锁线器 33、 夹子等结构。 进一步地， 安装带 54可以为束紧带， 以便 安装锁线器 33。
[0048] 具体地， 本实施例中， 韧带 52与锁线器 33的连接块 334相连， 使绳带 31绕过锁 线器 33的转轴 332， 并使绳带 31的远离挡块 333的一端 311与收卷锁定器 32中的卷 筒 322相连； 使绳带 31的靠近挡块 333的一端 312与收卷锁定器 32中的棘爪 325相 连。 这样， 夹持器 50承载负载吋， 调节锁线器 33的位置， 使挡块 333抵住绳带 31 的另一端 312， 并且绳带 31的一端 311朝向挡块 333移动， 并将绳带 31的另一端 31 2抵压在挡块 333上， 以将绳带 31的另一端 312锁定； 则在绳带 31的另一端 312拉 动收卷锁定器 32中的棘爪 325， 使棘爪 325锁定棘轮 324， 从而防止卷筒 322转动 ； 使绳带 31张紧， 以承受负载。 当夹持器 50负载卸掉后， 绳带 31放松， 扭簧 326 推动棘爪 325离幵棘轮 324， 从而使棘轮 324与卷筒 322可以转动； 调节锁线器 33 的位置， 使绳带 31的两端远离挡块 333移动， 从而将绳带 31的另一端 312解锁， 则手臂拉动吋， 可以将绳带 31从卷筒 322上拉出， 使绳带 31伸长； 而手臂向肩杆 11方向移动吋， 卷簧 323带动卷筒 322转动， 以收卷绳带 31。
[0049] 进一步地， 绑带 70为背带结构， 以方便将背架 10背在人身上。
[0050] 实施例二：
[0051] 请参阅图 8和图 9， 本实施例的前支撑穿戴式辅助搬运装置 100与实施例一的前 支撑穿戴式辅助搬运装置区别为：
[0052] 本实施例中， 两个插扣 136分别位于承力带 13的两侧， 从而使两个支撑杆 15的 下端与承力带 13的两侧相连， 则在穿戴吋， 两个支撑杆 15的下端位于人的两侧 。 该结构可以提高人体活动自由度， 人体下蹲和弯腰吋不会受约束。
[0053] 本实施例的前支撑穿戴式辅助搬运装置 100的其它结构与实施例一的前支撑穿 戴式辅助搬运装置的其它结构相同， 在此不再赘述。
[0054] 以上所述仅为本发明的较佳实施例而已， 并不用以限制本发明， 凡在本发明的 精神和原则之内所作的任何修改、 等同替换和改进等， 均应包含在本发明的保 护范围之内。

Claims

权利要求书
一种前支撑穿戴式辅助搬运装置， 其特征在于， 包括用于佩戴于手部 以夹持并支撑待搬运物体的两个夹持器、 用于向上拉动相应所述夹持 器的两个拉力机构、 背架和用于将所述背架固定于人体上的绑带， 两 个所述拉力机构分别与两个所述夹持器相连； 所述背架包括用于配合 支撑于人体髋部的承力带、 用于设于人体后背处的支架、 用于置于人 体两肩上方的两个肩杆和两个支撑杆， 各所述肩杆的前端延伸至人体 肩部的前端， 各所述肩杆的后端与所述支架的上端相连， 所述支架的 下端与所述承力带相连， 两个所述拉力机构分别与所述肩杆的前端相 连， 两个所述支撑杆的上端分别与两个所述肩杆的前端铰接， 两个所 述支撑杆的下端分别与所述承力带相连。
如权利要求 1所述的前支撑穿戴式辅助搬运装置， 其特征在于， 各所 述支撑杆的上端安装有铰链， 所述铰链与相应的所述肩杆的前端相连
如权利要求 1所述的前支撑穿戴式辅助搬运装置， 其特征在于， 所述 承力带上安装有分别固定两个所述支撑杆下端的插扣。
如权利要求 3所述的前支撑穿戴式辅助搬运装置， 其特征在于， 两个 所述插扣分别位于所述承力带的两端部， 或者两个所述插扣分别位于 所述承力带的两侧。
如权利要求 1-4任一项所述的前支撑穿戴式辅助搬运装置， 其特征在 于， 所述承力带为钢制腰带。
如权利要求 1-4任一项所述的前支撑穿戴式辅助搬运装置， 其特征在 于， 所述支架为伸缩架。
如权利要求 6所述的前支撑穿戴式辅助搬运装置， 其特征在于， 所述 支架包括容置盒和上端插装于所述容置盒中的脊柱板， 两个所述肩杆 分别与所述容置盒的两侧相连， 所述脊柱板的下端与所述承力带相连
[权利要求 8] 如权利要求 7所述的前支撑穿戴式辅助搬运装置， 其特征在于， 所述 容置盒的两侧分别安装有背板， 两个所述肩杆分别与两个所述背板相 连。
[权利要求 9] 如权利要求 8所述的前支撑穿戴式辅助搬运装置， 其特征在于， 所述 脊柱板上设有若干卡齿， 所述容置盒上安装有用于配合卡入所述卡齿 中以锁定所述脊柱板的升降按钮。
[权利要求 10] 如权利要求 1-4任一项所述的前支撑穿戴式辅助搬运装置， 其特征在 于， 还包括用于配合抵持人体脊柱的抵持机构。
[权利要求 11] 如权利要求 10所述的前支撑穿戴式辅助搬运装置， 其特征在于， 所述 抵持机构包括用于配合抵顶人体脊柱的弹性板， 所述弹性板与所述支 架的下端铰接。
PCT/CN2017/075257 2017-02-28 2017-02-28 前支撑穿戴式辅助搬运装置 WO2018157304A1 (zh)

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WO2012154580A1 (en) * 2011-05-06 2012-11-15 Equipois Inc. Exoskeleton arm interface
CN103707284A (zh) * 2013-12-29 2014-04-09 哈尔滨理工大学 佩戴式上肢助力臂及其助力方法
WO2014195373A1 (de) * 2013-06-07 2014-12-11 J. Schmalz Körpergetragene hebehilfe
CN204568591U (zh) * 2015-04-15 2015-08-19 黄相涛 一种可以减轻负载强度的背心
CN105583807A (zh) * 2016-02-29 2016-05-18 江苏常工动力机械有限公司 可穿戴式助力机械臂
CN105856190A (zh) * 2016-03-17 2016-08-17 西南交通大学 一种可穿戴搬运助力装置
CN205817836U (zh) * 2016-07-11 2016-12-21 武汉科技大学 上肢助力装置

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WO2012154580A1 (en) * 2011-05-06 2012-11-15 Equipois Inc. Exoskeleton arm interface
WO2014195373A1 (de) * 2013-06-07 2014-12-11 J. Schmalz Körpergetragene hebehilfe
CN103707284A (zh) * 2013-12-29 2014-04-09 哈尔滨理工大学 佩戴式上肢助力臂及其助力方法
CN204568591U (zh) * 2015-04-15 2015-08-19 黄相涛 一种可以减轻负载强度的背心
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