WO2022240377A2

WO2022240377A2 - Carrier body structure used in exoskeleton

Info

Publication number: WO2022240377A2
Application number: PCT/TR2022/050402
Authority: WO
Inventors: Gökhan BURSOY
Original assignee: Tb Teknoloji Sanayi Ve Ticaret Anonim Sirketi
Priority date: 2021-05-11
Filing date: 2022-05-05
Publication date: 2022-11-17
Also published as: WO2022240377A3

Abstract

The body support member (3) alternatively consists of two parts (pipe, rod, etc.) of the profile on which step slots (8) are formed, in order to adjust the above-mentioned force support vest (9) according to the user's height and wearing comfort. In order to adjust the length of the body support member (3), which has a telescopic structure, the force support vest (9) is divided into two parts as shoulder and waist region. The two profile parts forming the body support member (3) are fixed to each other by means of the fastener (4) formed in both profile parts and placed in the corresponding step slots (8). Thus, it is ensured that the force support vest (9) can be adjusted according to the height and comfort of use of the user.

Description

CARRIER BODY STRUCTURE USED IN EXOSKELETON

Technical Field The present invention relates to a body structure used in the exoskeleton, in which the carrier arms that provide support to the user are attached by creating a controlled balancing force on the load carried during lifting of a weight by the user.

The present invention relates to a body structure to which the carrier arms are connected, which transfer the vertical load on the arms to the waist and shoulders during the lifting of a weight by the user in the load lifting process on the exoskeleton.

Prior Art

Exoskeletons are electromechanical or mechanical structures with an external wearable structural mechanism that work in interaction with human limbs. The exoskeleton, which acts as an exoskeleton, has many uses, such as an auxiliary limb for people with walking disabilities or the elderly, rehabilitation for people with paralysis, increasing strength in healthy people, improving work force or providing occupational health in industry. In exoskeletons used in industry, lightness and freedom of movement are very important in terms of comfort and ergonomics for the user. Basically, the exoskeleton used in the load-bearing process must be stiff and rigid. Metal is generally preferred in the production of exoskeletons in order to meet this feature. However, due to the fact that the exoskeleton is metal and heavy, it prevents the user's comfort and reduces his/her mobility. In order to meet expectations and get better results, researches on exoskeleton improvement continue in depth.

Objects of the Invention

The object of the present invention is to obtain a carrier body to which the carrier arms are connected, which transfer the load on the vertical arms to the waist and shoulders during the lifting of a weight by the user in the lifting process with the exoskeleton.

1 Another object of the present invention is to obtain an exoskeleton body structure whose shoulder length can be adjusted according to the user's shoulder width and comfort of use.

Another object of the present invention is to obtain an exoskeleton body structure that can be adjusted according to the height and comfort of use of the user.

Detailed Description of the Invention

The figures of the carrier body structure used in the exoskeleton are as follows:

Figure - 1 illustrates the close-assembled view of the carrier body, shoulder frame, and body support member.

Figure - 2 illustrates the close disassembled view of carrier body and body support member.

Figure - 3 illustrates the connection view of the carrier body and body support member with fasteners. Figure - 4 illustrates a close disassembled view of carrier body, shoulder frame, and body support member.

Figure - 5 illustrates the connection view of the shoulder skeleton to the carrier body with shoulder fasteners.

Figure - 6 illustrates the rear view of the force support vest being worn. Figure - 7 illustrates the alternative production view of force support vest and body support member.

Reference Numerals:

1. Carrier Body

1.1. Fastener Housing of Carrier Body

2. Shoulder Skeleton

3. Body Support Member

2 4. Fastener

5. Fastener Flousing

6. Shoulder Skeletal Canal

7. Shoulder Fastener

8. Step Slot

9. Force Support Vest

9.1. Waist Strap

9.2. Shoulder Strap

9.3. Back Support

9.4. Chest Strap

9.5. Waist Attachment Strap

10. Shoulder Fixing Fastener Flousing

11. Wheel

12. Vest Fixing Member

The exoskeleton body to which the carrier arms are connected, which transfer the load on the vertical arms to the waist and shoulders during the lifting of a weight by the user in the lifting process with the exoskeleton is illustrated in the attached figures. The exoskeleton body force support vest (9) in Figure 6 consists of a body support member (3) that supports the spinal cord of the user when the force support vest (9) is worn, a carrier body (1) that is attached to the body support member (3), and shoulder skeletons (2) that can be adjusted in height according to the user's request, attached to both sides of the carrier body (1). (Figure - 1 )

The element of the exoskeleton body that will contact the human body is the force support vest (9). The force support vest (9) consists of a back support (9.3) that covers a part of the user's back, a waist belt (9.1 ) that partially or completely covers the waist of the user, and shoulder straps (9.2) that partially or completely wraps the user's

3 shoulder. The force support vest (9) consists of three layers in order to be ergonomic during the work of the user, to make the user comfortable and to keep the moment on the body under control during the load-carrying work. As a result of transferring the load on the carrier arms to the force support vest (9), the deformations that may occur in the force support vest (9) cause the moments to occur at these deformation points. Therefore, stiffness and integrity are two critical features in the force support vest (9). The layer in which these two properties are imparted to the force support vest (9) consists of formable thermoplastic material or composite material. Said layer is called the hard layer. The hard layer provides a moment in the collarbones of the shoulder (clavicle) and lumbar region (ilium) despite the load on the carrier arms. There is a soft layer on top of the hard layer. Said layer has been developed to provide ergonomics to the force support vest (9). It consists of soft material (neoprene, high density sponge, silicon etc.). The third layer of the force support vest (9) is the fabric suitable for contact with the body and the fabric layer that covers the entire force support vest (9). In this case, the hard and second layer of the force support vest (9), which is completely covered with fabric, is hidden. (Figure - 6, Figure - 7)

For the waist region, which is one of the points that carry the force reactions of the moments that occur during load lifting, there is an adjustable waist belt (9.1) that provides force transmission to the front side of the body. In order for the force support vest (9) to be worn, the shoulder straps (9.2) are connected with the waist attachment strap (9.5) from the front side of the user. The chest straps (9.4) opposite each other on the force support vest (9) are connected to the chest of the user in the same manner. In this case, the force support vest (9) can be easily worn by removing it from the connection areas of the straps. The shoulder straps (9.2), chest straps (9.4) and waist attachment straps (9.5) in the force support vest (9) are riveted to the hard layer of the force support vest (9), namely the thermoplastic material. By means of riveting of shoulder straps (9.2), chest straps (9.4) and waist tie straps (9.5) to thermoplastic material, possible deformations that may occur in the force support vest (9) are prevented, thus controlling the force distribution. (Figure - 6, Figure - 7) There is a body support member (3) in the place of the force support vest (9) that coincides with the spinal cord level of the user. The body support member (3) is in the form of a rod, pipe, etc., as seen in the attached figures. There is a vest fixing member (12) formed symmetrically to it on the body support member (3). There are two fastener

4 housing (5), with the housings on both of them facing each other on the upper parts of the body support member (3) and the vest fastening members (12) towards the back of the user. The vertical distance between the fastener housings (5) is determined according to the total load to be lifted by the exoskeleton and it can vary. The spinal cord part of the body support vest (9) mentioned above, which consists of 3 layers, is placed between the body support member (3) and the vest fixing member (12), and then, the carrier body (1 ) is mounted to the body support member (3) by means of the fastener (4) such that the fastener housings (5) and the fastener housing of carrier body (1.1 ) correspond each other. Thus, the body support vest (9) is fixed to the body support member (3) and the carrier body (1), and force transfer is being possible. (Figure - 2, Figure - 3)

The carrier body (1 ) is formed by the mutual combining of two symmetrical plates. Said two symmetrical plates are connected to each other by means of pins, and form the carrier body (1 ). The carrier body (1 ) consists of two symmetrical plates. There is a shoulder skeletal canal (6) on both ends of the carrier body (1 ) towards the shoulder of the user. There is a shoulder fixing fastener housing (10) at the end of said shoulder skeletal canals (6). Also, shoulder skeletons (2) are placed inside said shoulder skeletal canals (6) on both sides. There are step slots (8) on the shoulder skeletons (2) in order to adjust the shoulder length according to the user's shoulder width and wearing comfort. The shoulder skeleton (2) is fixed to the carrier body (1 ) by means of the shoulder fastener (7), which is placed in the step slots (8) that are opposite to the shoulder fixing fastener housing (10). As can be seen in Figure - 3, there are two wheels (11) in the shoulder skeletal canal (6), each horizontal and vertical for the shoulder skeletons (2) fixed to the carrier body (1 ) to move comfortably and easily in the shoulder skeletal canals (6). Any part (bearing, bushing, etc.) that can rotate around its own axis can be used instead of the wheels (11 ) in the shoulder skeletal canal (6). (Figure - 4, Figure - 5)

Thus, the carrier body (1 ), which is used in the exoskeleton and takes its final shape, transfers the vertical load on the carrier arms to the fasteners (4). By means of the rigid structure of the fasteners (4) and the body support member (3), force is transferred to the support points of the user, especially the waist and shoulders.

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Claims

1. A carrier body that distributes the load on the carrier arms in exoskeletons (1), comprising; a. At least one body support member (3), which supports the spinal cord of the user and is at the level of the spinal cord, b. At least one vest fixing member (12), which is symmetrical to said body support member (3), c. At least one rigid and complete force support vest (9) that is fixed between said vest fixing member (12) and said body support member (3), that is consisting of thermoplastic and/or composite material, partially or completely covering the shoulder and waist region of the user, d. At least one carrier body (1 ) that is connected to said body support member (3) and the back regions of the said vest fixing members (12) at the same time, and that comprises at least one shoulder skeletal canal (6) at both ends, e. A shoulder skeleton (2) that enters said shoulder skeletal canals (6), and that can be connected in desired lengths to said shoulder skeletal canals (6) with at least two step slots (8) thereon.

2. A carrier body that distributes the load on the carrier arms in exoskeletons (1) according to Claim 1, characterized in that, said body support member (3) consists of at least two nested parts.

3. A carrier body that distributes the load on the carrier arms in exoskeletons (1) according to Claim 1 , comprising; a hard layer consisting of thermoplastic and/or composite material of said force support vest (9), a soft layer consisting of soft material on said hard layer, a fabric layer surrounding said hard and soft layers.

4. A carrier body that distributes the load on the carrier arms in exoskeletons (1) according to Claim 1, comprising, at least two wheels (11) that facilitate the

6 movement of said shoulder skeleton (2), which are positioned oppositely on the walls of said shoulder skeletal canal (6), rotate around its own axis and are placed in said shoulder skeletal canal (6), and/or bearing and/or bushing.

5. A carrier body that distributes the load on the carrier arms in exoskeletons (1) according to Claim 1 , comprising, at least one shoulder fastener (7) connecting said shoulder skeletal canal (6) and said shoulder skeleton (2) located within said shoulder skeletal canal (6).

6. A carrier body that distributes the load on the carrier arms in exoskeletons (1) according to Claim 1 , comprising, at least one fastener (4) connecting said body support member (3), said vest fixing member (12), and said carrier body (1 ).

7. A carrier body that distributes the load on the carrier arms in exoskeletons (1) according to Claim 1 , comprising, at least one shoulder strap (9.2) surrounding the user's shoulder, riveted to the thermoplastic and/or composite material layer of said force support vest (9), chest strap (9.4) covering the user's chest, and at least one waist attachment strap (9.5) covering the user's waist.

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