WO2022219119A1

WO2022219119A1 - Quick coupling for an exoskeleton and exoskeleton system comprising a quick coupling

Info

Publication number: WO2022219119A1
Application number: PCT/EP2022/060010
Authority: WO
Inventors: Maximilian Biehler; Tobias Klemm; Marius Kiss
Original assignee: German Bionic Systems Gmbh
Priority date: 2021-04-16
Filing date: 2022-04-14
Publication date: 2022-10-20

Abstract

The invention relates to a quick coupling for releasable coupling of an exoskeleton to a user or their support harness. The quick coupling can be designed for example electroactively in the form of an electroadhesive or electromagnetic quick coupling, and makes it possible to quickly put on and take off exoskeletons of the same or different types.

Description

Quick connector for an exoskeleton and exoskeleton system with a quick connector

The invention relates to a quick coupling for the detachable coupling of an exoskeleton to a user according to the preamble of claim 1, a corresponding user-side support structure with a corresponding coupling part according to claim 22, an exoskeleton with a corresponding coupling part according to claim 23 and an exoskeleton system with a corresponding quick coupling according to claim 24. Exoskeletons are mechanical support systems for supporting and relieving the body muscles of a wearer during certain movements, with an exoskeleton having active and/or passive actuators available to support the movement sequences of the wearer. For support, these exoskeletons must be connected to the wearer in a force-conducting manner. Force-conducting connections are usually made by fastening the exoskeleton to the wearer's body using belts and/or carrying harnesses integrated into the exoskeleton. The exoskeleton is attached to the extremities of the wearer, e.g. via backpack-like carrying harnesses and additional leg attachments and/or arm attachments. The position of the straps and carrying harness must be readjusted regularly after the exoskeleton has been put on, positioned in the right places and adjusted if necessary.

Against this background, it is the object of the invention to specify a user-friendly exoskeleton that avoids at least some of the disadvantages of the prior art. The object is achieved, inter alia, by a quick coupling for detachably coupling an exoskeleton to a user, comprising a first coupling part on the user side, connected to a carrying harness, and a second coupling part that can be coupled thereto and is connected to a basic structure of the exoskeleton on the exoskeleton side, the quick coupling being electroactive or mechanical lockable quick coupling is formed. By using a quick coupling, the exoskeleton can be put on and taken off in a matter of seconds. In other words, the connection points on the user side, for example the harness and the corresponding adjustment or adjustment of the harness, can be transferred to the harness, which except for the design of the quick-release coupling can be performed independently of the exoskeleton. For example, different carrying harnesses can be permanently assigned to different users. Furthermore, the use of several similar or different exoskeletons in connection with the coupling part of the harness is possible.

The coupling of a quick coupling is always to be understood as meaning a force- or torque-conducting coupling.

Further features and advantageous embodiments of the invention result from the dependent claims and the following description.

The second coupling part of the quick coupling is advantageously arranged on a substantially rigid back plate of the exoskeleton. As a result, forces and moments can be distributed to other control and support structures of the exoskeleton, in particular actuators and the leg attachments connected therewith.

The first, user-side coupling part is advantageously arranged on a substantially rigid, back-side connecting plate of the carrying harness. Forces and moments can be distributed over a large area on the back of a wearer via a rigid connection plate without the need for a large number of connection points. In other words, a single connection point in the form of the coupling part is sufficient to introduce all the essential forces and moments.

In an expedient embodiment, the first, user-side coupling part is mounted in the back plate of the exoskeleton so that it can be adjusted in height. In particular, the coupling part can be fastened displaceably in a slot that extends essentially in the vertical direction. In other embodiments, the height adjustability can also be realized by a height-variable coupling of the first and second coupling parts. This enables the wearer to have a coupling shape that is adapted to the anatomy, in particular the body stature of the wearer.

The quick coupling can preferably be coupled and/or decoupled via an actuating unit, in particular a switch or a cable pull. The coupling can be established or released easily and in a matter of seconds via the actuation unit. In an expedient embodiment, the exoskeleton has a basic structure with a back plate and a hip frame. A preferably active actuator (eg a pneumatic muscle or an electric motor) can be arranged laterally on the hip frame to support a walking or bending movement of the user.

Preferably, the exoskeleton comprises two thigh attachments, which are preferably freely pivotable in the vertical axis and non-rotatably connected to the actuators in a horizontal axis coinciding with a flexion axis of the user, for contact and power transmission between one thigh of the wearer and the actuators or the back plate. A corresponding design makes it easier for the wearer to stand up from a bent over to an upright posture. In a preferred embodiment, the quick coupling is designed electroactively as an electro-adhesion coupling, the first quick coupling part having an electrostatically chargeable electrode and the second quick coupling part having a corresponding electrostatically chargeable electrode to form a capacitor. Large coupling forces can be generated with very little energy expenditure via electrostatic adhesion.

All the electrodes are advantageously of planar design. However, non-planar, e.g. concave-convex, electrode pairs are also conceivable and possible. In order to increase the coupling surface or coupling surfaces, the first and the second coupling part can each have a rib-shaped cross section, in particular a U-shape with two connecting webs or a W-shape with three connecting webs. A paired connection of the coupling surfaces (capacitor surfaces) can reduce the amount of energy needed to generate the necessary coupling forces and lower the necessary voltage difference between the electrode surfaces.

It is particularly advantageous if the electrode surfaces of the first and of the second coupling part are arranged on the side walls of the ribs or connecting webs. the Electrode surfaces are thus arranged laterally on the legs of the rib-shaped connecting webs.

The rib-shaped coupling parts are preferably arranged vertically in such a way that a vertical height offset between the first and second coupling part is possible for stepless height adjustability between the first and second coupling part. In this case, there is no need for mechanical height adjustment on the carrying harness or on the exoskeleton of the first or second coupling part. For a constant coupling force, one of the coupling parts can have a greater longitudinal extent than the other of the coupling parts. As a result, the other of the coupling parts can always be fully accommodated by one of the coupling parts.

In an advantageous development, the electroactive quick coupling can include permanent magnets for provisional fixing and/or guidance between the first and second coupling part. The permanent magnets can be arranged in the first, in the second or with opposite poles in both clutch parts. The permanent magnets can provide a sufficiently high force for the static fixation of the first and second coupling part.

However, for the transmission of higher forces, in particular for lifting a load with the support of the exoskeleton, the electroactive coupling is preferably activated. The permanent magnets can also be aligned in such a way that the first coupling part is attracted to one another in a desired relation to one another in relation to the second coupling part, in particular for the desired alignment of ribs to one another. In this way, the application of the exoskeleton, in particular when the coupling part is arranged on the back of the carrying structure (vest), can be significantly simplified, since the user no longer has to pay attention to an exact alignment of the first to the second coupling part.

Since the electrode surfaces of the first and second coupling parts have to be charged with opposite polarity, in an advantageous embodiment the coupling part on the user side and the exoskeleton side have electro-couplings that are preferably integrated into the coupling parts of the adhesion coupling. This can, in particular, be designed as a plug-in coupling or as an induction coupling. The exoskeleton and/or the carrying structure can comprise an appropriate energy source for charging. To protect against unwanted discharge, the electrode surfaces of the first and second coupling parts are advantageously embedded in a solid dielectric, especially a plastic or a ceramic, over their entire circumference. As a result, in addition to safety, the discharge speed of the electrode surfaces can also be reduced by passive discharge.

The first or second coupling part preferably also has a control unit and an associated measuring unit for measuring the charge in the electrode surfaces, the control unit recharging the electrode surface to a desired charge level if the charge falls below a specified limit.

In an alternative, no less advantageous embodiment of an electroactive quick coupling, the quick coupling is electromagnetic and has at least one electromagnet in the second coupling part and a ferromagnetic first coupling part (or at least one ferromagnetic coupling element in the coupling part) or vice versa. An embodiment with electromagnets both in the first and in the second clutch part is also conceivable and possible.

For a simple coupling, a base body of the first coupling part is essentially peg-shaped and the base body of the second coupling part is essentially ring-shaped, with the peg-shaped base body being held in the ring-shaped clutch part in a force-fitting manner (electromagnetically) for the purpose of coupling.

In terms of the invention, the functional exchange of the first and second clutch part is equivalent for this as well as all other embodiments and their modifications. In particular, the arrangement of the first and the second coupling part on the exoskeleton or its basic structure and the user-side support structure are to be understood as being interchangeable without limiting the invention.

In an expedient further development, the annular coupling part of the first coupling part comprises an annular cylinder which can be magnetized via a current-conducting coil, in particular via a coil arranged in the annular cylinder. Additionally or alternatively, the ring cylinder can also include a coil on the bottom of the ring cylinder to form an electromagnet. In another embodiment of the invention, the quick-release coupling is designed as an active or passive snap-in coupling, with the first coupling part having a receiving opening for receiving and guiding the second coupling part in a receiving direction and at least one locking element, which can be displaced preferably transversely to the receiving direction, which causes a movement of the second coupling part prevented against the recording direction.

Active detent coupling means that the detent elements are moved into a detent position by an external force during coupling, e.g. via a cable pull. A passive snap-in clutch means that the snap-in elements can be operated independently, e.g

Spring preload, are moved into a detent position.

In particular, in the case of a passive latching coupling, the latching element can be held in a preferred position designed as a latching position by means of spring preloading of a spring. The latching element can be moved into a release position by means of an unlocking element that can be actuated, in particular mechanically, such as a cable pull, in which the latching element allows movement of the second coupling part counter to the receiving direction and thus decoupling of the first and second coupling parts. Preferably, the first and second coupling parts are each essentially rotationally symmetrical for coupling along a coupling axis that defines the receiving direction, with the first coupling element having a cylinder body with bearing grooves made in its lateral surface that run in the direction of the coupling axis for guiding rolling elements, in particular one or more Balls, formed or formed latching element(s), the latching element(s) being located in a preferred radial position via an axially acting spring, the latching elements via an axially displaceable unlocking element preferably designed as a sleeve-shaped unlocking ring by radial displacement of the latching elements by means of the unlocking element can be brought into a release position, and being coaxial with the cylinder body around or in this cylinder body in the form of a peg or sleeve

Coupling element, esp. The cylinder body of the first coupling element can preferably be designed as a hollow cylinder, the hollow cylinder being designed to accommodate a pin of the second coupling part. However, an inverse embodiment is also conceivable and possible. In an expedient embodiment of a quick coupling according to the invention, the first and second coupling parts can have an electric, pneumatic or electropneumatic plug-in coupling with a first and second electric, pneumatic or electropneumatic connection part with corresponding interfaces on the first and second coupling part. As a result, electricity, signals and/or air can be exchanged unidirectionally or bidirectionally between the exoskeleton and the support structure as required. Alternatively, however, an electric plug-in coupling can also be designed as a non-contact electric coupling, for example as an induction coupling.

The subject matter of the invention is also a user-side carrying structure of an exoskeleton system, in particular in the form of a vest, with a first coupling part of a quick coupling according to a previously described embodiment of the quick coupling.

The subject matter of the invention is also an exoskeleton of an exoskeleton system with a second coupling part of a quick coupling according to a previously described embodiment of the quick coupling.

The invention also includes an exoskeleton system with a carrying structure on the user side and an exoskeleton that can be coupled thereto, the coupling being designed as a quick coupling in the manner described above.

For all aspects of the invention, in an advantageous further development, the exoskeleton can comprise an active adjustment unit for automatic size adjustment of the exoskeleton. In contrast to a manual size adjustment, an adjustment unit for automatic size adjustment is to be understood as a system via which the size of the exoskeleton is adjusted semi-automatically, for example at the push of a button, or fully automatically, for example via user data stored in the exoskeleton and retrieved automatically. For this purpose, an electric motor or another suitable motorized actuator can be provided in the actuating unit be that, for example, via suitable gears (spindle drive; rack and pinion drive, etc.) with adjustable parts of the exoskeleton (e.g. side parts of a multi-part hip frame, in which the side parts can be moved laterally to adjust the width of the exoskeleton; e.g. height-adjustable second coupling part mounted in a carriage for adjustment the height) is connected. The user does not have to exert his own strength to adjust the size. The actuating unit according to the invention thus enables the size of the exoskeleton to be quickly adapted to the user. The setting unit can include a control unit for regulating and controlling the actuator of the setting unit. In an advantageous embodiment, the adjusting unit is designed as a height adjustment for adjusting a height of the second quick-coupling part in the back plate and/or as a lateral adjustment for adjusting a width of the hip frame. As a result, the exoskeleton can be quickly and easily adapted to the anatomical conditions of a user. The or a control unit of the exoskeleton expediently has a communication interface for receiving data sets from size settings assigned to a user and/or other control characteristics (eg user-specific resistance moments, support services or personalized speed profiles for the actuators of the exoskeleton).

The control unit can control the size adjustment and/or the actuators according to the received data sets. User-specific data sets with e.g. size settings can be transferred once and stored in an internal memory of the exoskeleton control unit for future use. However, they can also be transmitted to the exoskeleton in real time every time.

The communication interface is preferably designed as a wireless short-range communication interface (Bluetooth, RFID, NFC) or long-distance communication interface (WLAN), so that user-specific size settings and/or control characteristics can be transmitted to the control unit automatically, in particular without any active action on the part of the user.

The user-specific size settings and/or control characteristics can be seen, for example, in a mobile device (smartphone, etc.) assigned to the user be stored on an RFID chip assigned to the user, which automatically couples to the exoskeleton via the communication interface or is recognized by the exoskeleton when the user approaches the exoskeleton. It is particularly preferred if the size settings and/or control characteristics are stored directly in the carrying structure or integrated into it, for example by integrating a (rewritable) RFID chip in the carrying structure. As a result, the carrying structure, such as a vest, can be personalized for specific users. It is then possible for different users, each with support structures assigned only to them, to couple (one after the other) to the same exoskeleton and use the exoskeleton with their user-specific settings (size settings; control characteristics), with the user-specific settings being practically instantaneous in the course of the coupling between of the support structure and the exoskeleton from the support structure to the exoskeleton or - if they are already stored in the memory of the control unit of the exoskeleton - updated and activated.

The invention therefore also relates to a support structure that includes a data memory in which user-specific size settings and/or control characteristics are stored, and a wireless transmission interface for transmitting the data stored in the data memory to the exoskeleton and vice versa.

Suitable parameters for the size setting are body measurements of the user such as height, shoulder or hip height and hip width or setting characteristics previously determined by the user such as the desired height of a back plate or the desired width of a hip frame.

The invention also relates to a first method for adjusting the size of a basic structure of the exoskeleton according to the previous statements, in which, in particular, user-specific size settings stored in a carrying structure are transmitted from the carrying structure to the control unit of the exoskeleton via the communication interface of the exoskeleton, and the control unit of the Exoskeletons after receiving the size adjustments, a height adjustment or a lateral adjustment of the basic structure, after a user has mechanically coupled to the exoskeleton via the quick coupling (first or second quick coupling part). A second method according to the invention corresponds to the first method with the only difference that at least one size adjustment, eg a height or lateral adjustment, takes place before the user has coupled himself mechanically to the exoskeleton via the quick coupling.

The invention is described in the following by way of example using the attached figures. This is not intended to limit the invention. Nevertheless, advantageous developments and further features of the invention can result from the following explanation.

show:

1 an exoskeleton system according to the invention with an exoskeleton and a carrying structure on the user side with an electroactive quick coupling according to the invention as an electro-adhesion coupling,

FIG. 2 shows a carrying structure together with a user-side coupling part according to FIG. 1,

3 shows an exoskeleton together with a coupling part on the exoskeleton side according to FIG. 1,

4 an exoskeleton system according to the invention with an exoskeleton and a carrying structure on the user side with an electroactive quick coupling according to the invention as an electromagnetic quick coupling,

5 shows a carrying structure together with a user-side coupling part according to FIG. 4, FIG. 6 an exoskeleton together with an exoskeleton-side coupling part according to FIG. 4,

7A - E shows a quick coupling according to the invention with a coupling part on the user side and a coupling part on the exoskeleton side as a passive snap-in coupling in a non-coupled state (FIG. 7A), an introducing position (FIG. 7B), a coupled state (FIG. 7C), an initial position for Decoupling (Fig. 7D) and an unlocked state (Fig. 7E), and

8 shows a variant of a quick coupling designed as a passive snap-in coupling with an integrated electropneumatic plug-in coupling. Figures 1-3 show a first embodiment of a quick coupling 1 for an exoskeleton system or a corresponding exoskeleton system.

The exoskeleton system consists of a carrying structure 2 designed here as a vest, which is worn on the body of a user or wearer P and has a first coupling part 1B-E on the back (dorsal) for coupling to an exoskeleton 3 .

The exoskeleton 3 comprises a basic structure made up of a substantially rigid back plate 31 and a curved hip frame 30. A second coupling part 1A-E is arranged centrally on the back plate 31 for detachable connection to the first coupling part 1B-E.

The first and second coupling parts 1 A-E and 1B-E together form the quick coupling 1-E. An electromotive actuator 32 is arranged on the left and right of the lateral ends of the hip frame 30 to generate support moments when walking and/or bending, especially when lifting loads.

The support structure 2 is used to introduce and dissipate forces and moments from the upper body of the wearer P to the exoskeleton via the quick coupling 1-E in the back plate 31 of the exoskeleton 3, from where they are passed on to the actuators.

Forces and moments can be passed on to the thighs of the wearer P via thigh connections, not shown here, with the thigh connections being connected in a torque-proof manner to the output shafts of the actuators 32 . Customary embodiments of corresponding thigh attachments are well known in the prior art, so that no more detailed explanations are given at this point.

As can be seen from FIG. 2, the first coupling part 1B-E is formed in the form of ribs from a base body 50 with a U-shaped cross section with two ribs, referred to here as connecting webs 51, with a receiving groove 52 lying between them. The first coupling part 1B-E is integrated or connected to the support structure 2 over a large area via a reinforcement plate 53 arranged dorsally.

The ribs of the main body 50 run essentially vertically, ie in the superior-inferior direction. Both on the laterally outer ones as well as on the lateral ones On the inner side surfaces of the ribs or connecting webs 51 there are a total of four electrodes 53 embedded in an electrically non-conductive synthetic resin (dielectric). The electrodes can be supplied with current or charged via an electrical contact (not shown here). The electrodes 53 form a capacitor surface of a capacitor described in more detail below. Alternatively or additionally, the dielectric could also be made of or with a ceramic.

The entire support structure 2 together with the first coupling part 1B-E weighs only a few 100g and can therefore be worn over a long period of time without any loss of comfort for the wearer, e.g. also over normal everyday or work clothing.

With reference to Fig. 3, the counterpart to the first coupling part 1B-E, the second coupling part 1 A-E of the exoskeleton 3 is described below, which is arranged on the back side of the above-mentioned back plate 31 of the exoskeleton, i.e. facing the back of the wearer. It consists of a base body 60 with three ribs referred to as connecting webs (lateral connecting webs 65, central web 64). The base body 60 is therefore W-shaped. The ribs are also arranged vertically here. There is a connecting groove 62 between each two ribs. A total of four electrodes 63 covered with a dielectric made of synthetic resin are arranged on the inner side surfaces of the connecting webs 65 and on the side surfaces of the central web 64 . The electrodes 63 can be supplied with electricity and charged via an energy store (accumulator, not shown) installed in the back plate 31 .

The second coupling part 1A-E also has a two-pole electrical contact, not shown here, for connection to the above-mentioned electrical contact of the first coupling part 1B-E. The contact is advantageously arranged on the bottom of the base body 60 in one of the connecting grooves 62 .

To couple the exoskeleton 3 and the support structure 2, the user P, as sketched in Fig. 1, steps backwards to the exoskeleton 3, which is carried in a form-fitting manner on a wall bracket 4 on two retaining brackets 40, and guides the ribs of the first coupling part 1B-E into the connecting grooves 62 of the second coupling part 1A-E and at the same time the central web 64 of the second coupling part 1A-E into the receiving groove 52 of the first coupling part 1B-E. In this position, the wearer P can move the first coupling part 1B-E relative to the second coupling part 1A-E in the direction of the longitudinal extension of the ribs, i.e. vertically, so that the pivot points of the hip actuators 32 can be positioned as congruently as possible at the height of the anatomical pivot point of his hip joints.

The introduction process could also be supported by permanent magnets installed in at least one of the clutch parts. In particular, the magnets can prevent or at least make more difficult an unwanted relative displacement in the vertical direction by means of a magnetic pre-fixation.

To couple the coupling parts 1B-E and 1A-E, the wearer presses the button D (see Fig. 1) on the exoskeleton. A control unit of the exoskeleton now charges all the electrodes of both coupling parts via the energy store of the exoskeleton 3, so that the electrodes of the first and second coupling part form capacitor surfaces charged with opposite poles. The exoskeleton is thus connected to the support structure 2 in a field-positive manner via electrostatic forces of attraction of the capacitor surfaces.

The wearer P can now lift the exoskeleton out of the wall mount 4 by a slight upward movement, optionally connects thigh connections (not shown here) to his thighs and/or activates the exoskeleton or a desired support mode.

To decouple the support structure 2 and the exoskeleton, the wearer P can place the exoskeleton 3 on the wall bracket and press the button D. The control unit of the exoskeleton will then discharge all the electrodes of both coupling parts, so that the field adhesion is canceled and the carrier P with the support structure 2 can step away from the exoskeleton 3 . The completed coupling or decoupling process is advantageously indicated to the user P acoustically or visually. A second exemplary embodiment of an electroactive quick coupling will now be explained with reference to FIGS. Since components of the same type are provided with the same reference symbols, reference is made in this regard to the previous statements.

In contrast to the first exemplary embodiment, the quick coupling of the second exemplary embodiment is an electromagnetic quick coupling 1-M with a first and a second coupling part 1A-M and 1B-M, which, analogously to the previous example, is connected to the exoskeleton 3 and the support structure 2 are connected.

The first coupling part 1B-M, see FIG. 5, consists of a base body 70, which is connected to the support structure 2 and is essentially hollow-cylindrical, in which a cylindrical core 71 made of a ferromagnetic material with high magnetic conductivity is firmly embedded. The outer surface of the base body 70 also has a recess to form a stop shoulder 72 . The stop shoulder serves to limit the immersion of the ferromagnetic core 71 along the coupling axis X into the second coupling part 1A-M.

The second coupling part 1A-M on the exoskeleton side, cf. Fig. 6, consists of a base body 80 mounted in the back plate 31 so that it can be adjusted in height. The base body 80 can be releasably connected to the back plate in a suitable position, e.g. screwed, see double arrow in Fig. 6 and displacement area 85.

The base body 80 consists, among other things, of a cylinder receptacle 81, also referred to as a ring cylinder, which is shaped inversely to the base body 70 of the first coupling part 1B-M with an enclosed core 71. A first electrical coil to form an electromagnet is embedded in the contact surface 84 at the bottom of the annular cylinder. In addition, a second electrically conductive coil is installed in the ring cylinder to form a second electromagnet. Both electromagnets can be activated by pressing button D on the exoskeleton, see Fig. 4.

To couple the first and second coupling parts 1AM and 1B-M, the user steps backwards onto the support structure analogous to the previous exemplary embodiment Wall mount 4 positively held exoskeleton 3 until the core of the second coupling part touches the contact surface 84 and then actuates the pushbutton switch D to activate the electromagnets, ie the coils in the bottom and in the wall of the ring cylinder. As a result, the coupling parts are held by electromagnetic interaction, ie in a force-fitting manner.

Due to the introduction of the base body 70 with the core 71 into the ring cylinder, the electromagnetic interaction only has to be carried out so weakly in order to be able to absorb and transmit releasing forces in the direction of the coupling axis X. Forces acting perpendicularly to this can be transmitted from the base body 70 or core 71 to the annular cylinder 81 in a form-fitting manner.

To absorb torques in the direction of the coupling axis X, a form-fitting anti-twist device could advantageously also be provided, for example as a spring-groove connection with a spring on the ring cylinder 81 protruding radially into the ring cylinder and a corresponding groove in the base body 70 .

As described above, permanent magnets for guiding the coupling movement and pre-fixing until the electromagnets are activated could also be installed in preferably the second coupling part 1 A-M.

A third embodiment of the quick coupling as a mechanical and passively locking quick coupling (locking coupling) 1-MC is shown with reference to FIGS. 7A to 7E. The quick coupling 1-MC is essentially rotationally symmetrical and consists, as in the previous exemplary embodiments, of a first coupling part 1B-MC on the user side and a second coupling part 1A-MC on the exoskeleton side.

The second coupling part 1A-MC on the exoskeleton side comprises a base body 200 consisting of an annular base plate 201 and a hollow cylinder 202 extending perpendicularly and centrally away from it and having an outer surface and an inner surface. The base plate 201 is suitably connected or connectable to a back plate of an exoskeleton. The hollow cylinder 202 or its almond inner surface serves to accommodate a coupling pin 101 of the user-side coupling part 1B-MC in the coupling direction R+. The axis of symmetry of the hollow cylinder simultaneously forms the coupling axis X. In an outer surface of the hollow cylinder 202 there are several longitudinal guide grooves 203 extending in the direction of the coupling axis X for receiving and guiding locking elements designed as balls 220 . The guide grooves 203 are designed to be narrower than the diameter of the balls, but wide enough such that the balls 220 protrude slightly radially into the interior of the hollow cylinder 202 . The balls 220 are prestressed via a spring 215, designed here as a spiral spring, with a spring plate 216 at the end, the spring 215 and the spring plate 216 being mounted coaxially around the hollow cylinder 202. The balls 220 are therefore always located at the upper end of the guide grooves 203 in the normal state. The ring-shaped spring plate 216 has a radially inner conical surface 217 that interacts with the balls 220 and thus presses the balls radially inwards, which as a result protrude slightly into the hollow cylinder 202 . The position of the balls 220 at the upper end of the guide grooves 203 can also be referred to as the preferred position or locking position.

In the state shown in FIG. 7A, the balls 220 are guided radially on the outside by a retaining ring 206 which is firmly connected to an axially displaceable unlocking ring 210 . The unlocking ring 210 is sleeve-shaped with a first recess for receiving and abutting the securing ring 206 and a second rounded recess below a shoulder referred to here as the ring web 212, and is mounted coaxially to the coupling axis X so that it can be displaced axially.

The unlocking ring 210 is guided radially on the inside over the inner surface of the hollow cylinder 202 , the unlocking ring 210 is guided radially on the outside over a sleeve 205 fastened to the base plate 201 . The unlocking ring 210 can move axially between a lower stop surface formed by the base plate 201 and an upper stop surface formed by a retaining ring 211 mounted in an annular groove of the hollow cylinder 202 . In the normal state, the unlocking ring 210 is always located on the upper stop surface of the locking ring 211 due to the spring preload of the spring 215, which is introduced via the spring plate 216 into the locking ring 206 and thus into the unlocking ring 210.

In this position, the balls 220 cannot be moved radially outward.

The first coupling part 1B-MC on the user side consists of the coupling pin 101 already mentioned and an annular plate 100 fastened to it at the end, which is firmly connected in a suitable manner to a carrying structure, for example a vest described above. An annular groove, referred to here as a ball receptacle 102 , is formed on the outside of the coupling pin. In the coupled state, the annular groove accommodates the parts of the balls 220 that protrude into the hollow cylinder 22, as can be seen in particular from FIG. 7C.

In Figure 7C, the quick connector 1-MC is shown in a coupled state. The coupling pin 101 is completely accommodated in the hollow cylinder 202 . The balls 220 are in the preferred position, which can also be referred to as the detent position, and lie in a form-fitting manner in the ball receptacle 102, which is referred to as the annular groove. The coupling pin cannot be pulled out of the hollow cylinder 202 in the axial direction due to this positive latching.

To release the coupling of the two coupling parts 1A-MC and 1B-MC, the unlocking ring 210 is moved axially downwards against the spring preload. This can advantageously be done by a cable attached to the unlocking ring (not shown here). An unlocking process is shown in Figures 7D and 7E:

With the movement of the unlocking ring 210 downwards, the locking ring 206 is also moved downwards and thus releases a radial freedom of movement between the annular web 212 and the locking ring 206 for the balls 220, compare FIG. 7D. An axially downward force is applied to the balls via the rounded ball guide surface 213 of the annular web 212 of the unlocking ring 210, with the balls 220 being pushed away radially outwards via the annular groove 102 of the coupling pin 101 by a pulling movement on the coupling pin 101, so that the balls 220 no longer into the interior of Hollow cylinder 220 protrude. The quick coupling 1-MC is thus disengaged and the coupling pin 102 can be pulled out of the hollow cylinder 202, see FIG.

A coupling process is shown in FIGS. 7A and 7B: To couple the two coupling parts 1A-MC and 1B-MC, the coupling pin 100 is inserted axially into the hollow cylinder 202. On its underside, the coupling pin 100 has a guide phase 103 radially on the outside. About the guide phase 103, the balls 220 against the spring biasing force are pressed axially downwards and - as soon as the balls 220 are below the locking ring 206 - radially outwards and thus give the way for the coupling pin 101 free. As soon as the coupling pin 101 is fully inserted into the hollow cylinder 202, the annular groove (ball receptacle 102) of the coupling pin 101 is at the level of the locking ring 206, so that the balls 220 are pressed into the annular groove by the spring preload of the spring 215, thus creating a locked coupling state , compare figure IC. Without active unlocking via the unlocking ring 210, this latching cannot be canceled.

Finally, FIG. 8 shows a modification of the third exemplary embodiment, which differs from this in that an electropneumatic plug-in coupling is integrated into the quick-action coupling. The electropneumatic plug-in coupling 251 consists of a first plug 251A associated with the first coupling part 1B-MC and a second plug 251B associated with the second coupling part, which can be releasably connected to one another.

In the first coupling part 1B-MC designed analogously to the previous exemplary embodiment, the coupling pin 101 is hollow with a pin bore 249 , the first connecting part 251 A being permanently installed in the pin bore 249 . The base plate 201 of the second coupling part 1A-MC also has a hole in the middle, in which the second connecting part 251B is permanently installed. When the two coupling parts 1A-MC and 1B-MC are coupled, a plug-in contact of the two plugs 251 A and 251 B is produced in addition to the mechanical latching--as described in the previous exemplary embodiment. Electrical currents, signals and compressed air can be exchanged via the plug contact. An appropriate application of Connection parts in the electrical and/or pneumatic circuits of the exoskeleton or the support structure 2 can be realized via the interfaces 250A or 250B of the plug 251A/B.

A corresponding plug-in coupling can also be appropriately implemented in any of the other embodiments.

In the exemplary embodiments presented so far, the exoskeleton 3 has no active adjustment units for size adjustment (height adjustment, lateral adjustment). In exemplary embodiments that are not shown here, the hip frame of the exoskeleton can be supplemented with side parts that can be moved laterally and that can be adjusted automatically via electromotive adjustment units. Likewise, the second coupling part of the exoskeleton can be supplemented by an active adjustment unit, which adjusts the height of the second, height-adjustable coupling part. The adjustment can preferably be made when a support structure approaches the exoskeleton or the support structure is mechanically coupled to the exoskeleton, with setting parameters (size settings and/or control characteristics) being stored in the support structure or in a memory embedded in the support structure, and after the setting parameters have been transmitted wirelessly via wireless communication interfaces of the exoskeleton or the supporting structure between the supporting structure and the exoskeleton to the control unit of the exoskeleton. The support structure can be brought closer to the exoskeleton and the setting parameters can be transmitted via Bluetooth, for example. Changes to the setting parameters, which are made manually via a user interface on the exoskeleton, for example, or which occur as a result of a self-learning control algorithm controlling the exoskeleton, can be sent back from the exoskeleton via the communication interfaces to a data memory in the support structure, in which user-specific setting parameters are stored will.

The exemplary embodiments of a quick coupling presented here as an example enable an exoskeleton to be put on and taken off quickly and without great effort. Corresponding exoskeleton systems are particularly suitable for areas of application with frequent changes in tasks, in which the support of an exoskeleton is not always necessary, or in which an exoskeleton is to be shared with several users. All directional information used here refers to the anatomical directional information customary in medicine from a body perspective or, in the case of other directional information, to the customary designations in relation to a standing person.

Reference List

D activation switch (operating unit) E electrostatic adhesion clutch

M magnetic quick coupling

MC mechanical quick coupling

P Person R+ pick-up direction (coupling direction)

S screws

w wall

X Coupling axis 1 quick coupling

1 A quick coupling (second, exoskeleton-side coupling part)

1B quick coupling (first, user-side coupling part)

2 Harness 2' connecting plate

3 exoskeleton

30 hip frame/hip bar

31 back plate 32 hip actuators

4 wall bracket

40 retaining brackets 50 basic bodies

51 connecting bridge

52 receiving groove

53 electrode or electrode surface

60 basic bodies

62 connection groove

63 electrode or electrode surface

64 central bar 65 connecting bar

70 basic bodies

71 ferromagnetic core 72 stop shoulder

80 basic bodies

81 cylinder mount

82 elongated hole with guide bolts not shown, mechanically lockable 82' guide pin

84 electromagnet

85 Height-adjustable contact area

100 ring plate 101 coupling pin

102 ball mount

103 guide chamfer

200 body 201 base plate

202 hollow cylinder

203 guide grooves (ball)

205 sleeve 206 locking ring

210 release ring

211 retaining ring 212 ring bar

213 ball guide surface

215 spring

216 spring plate

217 cone surface

220 bullet

249 trunnion hole (coupling trunnion) 250A interface 250B interface

251 Electro-pneumatic plug-in coupling 251A first connecting part (plug)

251B second connector (plug)

Claims

Expectations

1. Quick coupling (1) for detachably coupling an exoskeleton (3) to a user (P), comprising a first coupling part (1B) on the user side, connected to a harness (2) and a second coupling part (1B) that can be coupled thereto, on the exoskeleton side on a basic structure of the exoskeleton (3) connected coupling part (1A), wherein the

Quick coupling (1) is designed electroactively (E, M) or as a mechanical (MC) lockable quick coupling.

2. Quick coupling (1) according to claim 1, characterized in that the exoskeleton-side coupling part (1A) on a substantially rigid back plate

(31) of the exoskeleton (3) is arranged.

3. Quick coupling (1) according to claim 1 or 2, characterized in that the first, user-side coupling part (1B) is arranged on a substantially rigid connecting plate (2') of the carrying harness (2).

4. Quick coupling (1) according to claim 3, characterized in that the first coupling part (1B) is mounted in the back plate (31) of the exoskeleton (3) so that it can be adjusted in height, in particular in a slot (82).

5. Quick coupling (1) according to one of the preceding claims, characterized in that the quick coupling (1) can be coupled and/or decoupled via an actuating unit (D), in particular a switch or a cable pull.

6. Quick coupling (1) according to any one of the preceding claims, characterized in that the basic structure of the exoskeleton (3) has a back plate (31) and a hip frame (30), wherein the hip frame (30) each laterally Actuator (32) can be arranged to support a bending movement of the user.

7. Quick coupling (1) according to claim 6, characterized in that the exoskeleton (3) has two thigh attachments which are preferably freely pivotable in the vertical axis and non-rotatably connected to the actuators (32) in a horizontal axis which coincides with a flexion axis of the user Power line between each thigh and the back plate (31).

8. Quick coupling (1) according to any one of the preceding claims, characterized in that the quick coupling (1) as an electroactive

Electroadhesive coupling (1-E) is formed, the first

Quick coupling part (1B-E) has an electrostatically chargeable electrode (53) and the second quick coupling part (1A-B) has a corresponding electrostatically chargeable electrode (63) for forming a capacitor.

9. Quick coupling (1) according to claim 8, characterized in that the first and the second coupling part (1A-E, 1B-E) are rib-shaped in cross section, in particular U-shaped with two connecting webs (51) or W-shaped three connecting webs (64,65).

10. Quick coupling (1) according to claim 9, characterized in that the electrodes (53; 63) of the first and the second coupling part (1A-E or 1B-E) are arranged on side walls of the connecting webs (51; 64; 65). .

11. Quick coupling (1) according to claim 9 or 10, characterized in that the rib-shaped coupling parts (1A-E, 1B-E) are arranged vertically, such that a vertical height offset between the first and second coupling part (1 AE, 1B- E) for stepless height adjustment between the first and second

coupling part (1 AE, 1B-E) is possible.

12. Quick coupling (1) according to any one of the preceding claims 8 to 11, characterized in that at least one coupling part (1A-E, 1B-E) a

Has permanent magnets for provisional fixing and/or guidance between the first and second coupling parts (1 A-E, 1B-E).

As a Plug-in coupling or as an induction coupling, for charging the electrodes (53, 63) in opposite directions, the exoskeleton (3) or the support structure (2) comprising an energy source.

14. Quick coupling (1) according to any one of claims 8-13, characterized in that the electrode surfaces (53, 63) are completely embedded in a solid dielectric, esp. A plastic or a ceramic.

15. Quick coupling (1) according to one of claims 1 to 7, characterized in that the quick coupling as an electromagnetic quick coupling (1-M) with an electromagnet (84) in the second coupling part (1A-M) and a ferromagnetic, first coupling part (1B -M) or vice versa.

16. Quick coupling (1) according to claim 15, characterized in that a base body (80) of the first coupling part (1B-M) is essentially pin-shaped and the base body (70) of the second coupling part (1A-M) is essentially ring-shaped.

17. Quick coupling (1) according to claim 16, characterized in that an annular cylinder (81) of the annular coupling part and/or a bottom (84) of the annular cylinder (81) can be magnetized via a coil of the first coupling part (1 AM). via a coil arranged in the annular cylinder and/or in the base (84) of the annular cylinder (81).

18. Quick coupling (1) according to one of claims 1 to 7, characterized in that the quick coupling is designed as a mechanical locking coupling (1-MC), the first coupling part (1B-MC) having a receiving opening for receiving and guiding the second coupling part ( 1 A-MC) in a receiving direction (R+) and at least one latching element (220), which can be displaced preferably transversely to the receiving direction (R+), which prevents movement of the second coupling part (1A-MC) counter to the receiving direction (R+).

19. Quick coupling (1-MC) according to claim 18, characterized in that the latching element (220) is held in a preferred position designed as a latching position by the spring preload of a spring (215) and is moved into a Release position is movable.

20. Quick coupling (1-MC) according to claim 18 or 19, characterized in that the first and the second coupling part (1A-MC or 1B-MC) are each formed substantially rotationally symmetrical for coupling along one of the

The coupling axis (X) defining the receiving direction (R+), the first coupling element (1B-MC) having a cylindrical body (202) with guide grooves (203) introduced in its lateral surface running in the direction of the coupling axis (X) for guiding locking elements (220 ), wherein the latching elements are located in a preferred radial position via an axially acting spring (215), the latching elements (220) being released via an axially displaceable, preferably sleeve-shaped unlocking ring (210) by radial displacement of the latching elements (220) into a Release position can be brought, and wherein coaxially to the cylinder body (202) around or in this cylinder body a pin or sleeve-shaped coupling element

(101) of the second coupling part (1A-C) can be guided and wherein the Coupling element (101) has radially set-back receiving surfaces (102) for positively locking receiving of the locking elements (220) in the preferred position.

21. Quick coupling (1) according to one of the preceding claims, characterized in that the first and the second coupling part (1A or 1B) is an electrical, a pneumatic or an electropneumatic plug-in coupling (251) with a first connecting part (251A) in the first coupling part and a second connection part (251B) in the second coupling part for the unidirectional or bidirectional transmission of power, signals and/or air between the exoskeleton and the support structure.

22. User-side support structure (2) of an exoskeleton system with a first coupling part (1B) of a quick coupling (1) according to any one of the preceding claims.

23. Exoskeleton (3) of an exoskeleton system with a second coupling part (1A) of a quick coupling (1) according to any one of the preceding claims.

24. Exoskeleton system with a user-side support structure (2) and an exoskeleton (3) that can be coupled thereto, wherein the coupling is designed as a quick coupling (1) according to one of the preceding claims 1 to 21.