CN108393869B - Intelligent waist passive power assisting exoskeleton - Google Patents
Intelligent waist passive power assisting exoskeleton Download PDFInfo
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- CN108393869B CN108393869B CN201810172049.3A CN201810172049A CN108393869B CN 108393869 B CN108393869 B CN 108393869B CN 201810172049 A CN201810172049 A CN 201810172049A CN 108393869 B CN108393869 B CN 108393869B
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- power
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 abstract description 11
- 238000005452 bending Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 2
- 208000023178 Musculoskeletal disease Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the field of power-assisted instruments, in particular to an intelligent waist passive power-assisted exoskeleton which comprises a chest supporting mechanism, a waist power mechanism and leg supporting mechanisms which are sequentially connected, wherein the chest supporting mechanism comprises a detection device, the waist power mechanism comprises a power device and a corrugated block arranged below the power device, the power device is contacted with or separated from the corrugated block, and when the power device is contacted with the corrugated block, the lower part of the power device can slide on the corrugated block. The invention has simple structure, can provide power for the exoskeleton without being equipped with components such as a battery, a sensor and the like, is convenient for a user to move, and further enhances the use effect of the power assembly; and the chest support mechanism comprises a detection device capable of collecting the use data information so as to increase the functions of the intelligent waist passive power assisting exoskeleton, thereby solving the problems of complex structure, single function and poor use effect in the prior art.
Description
Technical Field
The invention relates to the field of power assisting instruments, in particular to an intelligent waist passive power assisting exoskeleton.
Background
In the industrial production or processing process, workers need to repeatedly lift, bend or twist the trunk for a long time, waist muscles are easy to fatigue and even have strain, the risk of the workers getting musculoskeletal diseases is increased, and the exoskeleton can be divided into a powered exoskeleton and an unpowered exoskeleton according to whether the exoskeleton uses energy or not in a working mode. The powered exoskeleton needs to provide power energy, generally comprises a battery, a sensor and other parts, has higher cost and is not beneficial to wide popularization; the existing unpowered exoskeleton is complex in structure, the problem that the use effect of the exoskeleton is poor due to the power assembly easily occurs, meanwhile, the existing exoskeleton is designed only for assisting, and has no function of collecting use data information, and the function is single.
The patent application of patent number 201710465110.9 discloses an unpowered exoskeleton comprising an exoskeleton body having a first side of the exoskeleton body, a telescoping member disposed on the first side of the exoskeleton body having a first end of the telescoping member and a second end of the telescoping member; and a connecting rod disposed on the first side of the exoskeleton body and having a through slot, the connecting rod having a first end of the connecting rod and a second end of the connecting rod, wherein the first end of the telescoping member is fixedly connected to the first side of the exoskeleton body, the second end of the telescoping member is fixedly connected to the first end of the connecting rod, and the connecting rod is slidably connected to the exoskeleton body through the through slot and the first fastener. However, the structure of the patent application of the invention is complex, and the problems of complex structure and single function in the prior art cannot be solved.
Disclosure of Invention
The invention aims at: in order to solve the problems of complex structure, single function and poor use effect in the prior art, the invention provides an intelligent waist passive power assisting exoskeleton.
In order to solve the problems existing in the prior art, the invention adopts the following technical scheme:
the utility model provides an intelligent waist passive power-assisted exoskeleton, is including chest supporting mechanism, waist power unit and the shank supporting mechanism that connects gradually, chest supporting mechanism is including the detection device that can collect use data information, waist power unit is including power device and arrange in the ripple piece of power device below, power device with the ripple piece contacts or separates mutually, just power device with when the ripple piece contacts, power device's lower part can be in slide on the ripple piece.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, the waist power mechanism comprises a first shell and a second shell arranged at the lower part of the first shell, wherein the first shell is sleeved on the outer side of the second shell and can swing relative to the second shell, the first shell is used for accommodating the power device, and the second shell is used for accommodating the corrugated block.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, a rotating component is arranged on the upper portion of the second shell, and the first shell swings relative to the second shell through the rotating component.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, the power device is a gas spring, one end of the gas spring is fixed on the first shell, the gas spring comprises a piston cylinder and a piston rod capable of reciprocating in the piston cylinder, and one end of the piston rod outside the piston cylinder can slide on the corrugated block.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, a boss is arranged on the lower portion of the second shell and used for fixing the corrugated block.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, the exoskeleton further comprises a brace and a waistband, and the brace is connected with the front side of the waistband.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, side support rods are arranged on the left side and the right side of the waistband, the upper ends of the side support rods are connected with a chest support mechanism, and the lower ends of the side support rods are connected with a waist power mechanism.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, the chest supporting mechanism comprises a chest cushion arranged on the front side of the braces, and a chest supporting block is arranged on the chest cushion.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, the chest supporting block is connected with the waist power mechanism through the side supporting rods, the lower ends of the side supporting rods are provided with adjusting screws, the waist power mechanism is provided with at least one screw hole, and the distance between the chest supporting mechanism and the waist power mechanism can be adjusted through the matching of the adjusting screws and the screw holes.
As an improvement of the technical scheme of the intelligent waist passive power assisting exoskeleton, the leg supporting mechanism comprises a connecting joint and a leg supporting piece, wherein the connecting joint is respectively connected with the waist power mechanism and the leg supporting piece, and the connecting joint can be used for adjusting the distance between the leg supporting mechanism and the waist power mechanism.
The invention has the beneficial effects that:
the invention comprises a chest supporting mechanism, a waist power mechanism and a leg supporting mechanism which are sequentially connected, wherein a power device is arranged in the waist power mechanism, a ripple block is arranged below the power device, the power device is in contact with or separated from the ripple block, the direction of a human body assisted by the power device is regulated by the ripple block, when the power device is in contact with the ripple block, the lower part of the power device can slide on the ripple block, the structure is simple, the exoskeleton can be provided with power without being provided with components such as a battery and a sensor, the weight of the power assembly can be reduced, the movement of a user is convenient, the using effect of the power assembly is further enhanced, meanwhile, the chest supporting mechanism comprises a detection device capable of collecting the using data information of the user, and the function of the intelligent waist passive assisting exoskeleton is increased by the detection device, so that the problems of complex structure, single function and poor using effect in the prior art are solved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the waist assist mechanism of the present invention;
FIG. 3 is a schematic view of the power plant and corrugated block of the present invention;
FIG. 4 is a schematic view of a partial structure of the present invention;
fig. 5 is a schematic structural view of the corrugated block of the present invention.
Reference numerals illustrate: 1-a waist boosting mechanism; 2-corrugated blocks; 3-a first housing; 4-a second housing; 5-rotating the component; 6-a piston cylinder; 7-a piston rod; 8-a boss; 9-a corrugated section; 10-detecting means; 11-a gas spring; 12-back strap; 13-a waistband; 14-side support bars; 15-chest; a soft cushion; 16-chest support block; 17-joint; 18-leg support; 19-a switch button.
Detailed Description
In order to make the objects, technical solutions and advantageous effects of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 5, an intelligent passive power assisting exoskeleton comprises a chest support mechanism, a waist power mechanism 1 and a leg support mechanism which are sequentially connected, wherein the chest support mechanism comprises a detection device 10 capable of collecting usage data information. The intelligent passive power assisting exoskeleton further comprises a brace 12 and a waistband 13, and the brace 12 is connected with the front side of the waistband 13. The detection device 10 can be used for detecting data such as bending times, bending angles, real-time acceleration, speed, ambient temperature and the like of a user during use, and transmitting the data to the control terminal, so that the real-time monitoring of the current motion state of the human body of the user is realized, the data information used by the user is collected through the detection device 10, the function of the intelligent waist passive power assisting exoskeleton can be increased, and the intelligent waist passive power assisting exoskeleton can be realized.
The waist power mechanism 1 comprises a power device and a ripple block 2 arranged below the power device, wherein the lower part of the power device can be contacted with or separated from the ripple block 2, and when the power device is contacted with the ripple block 2, the lower part of the power device can slide on the ripple block 2. At least two corrugated sections 9 are arranged on the upper part of the corrugated block 2, and the lower part of the power device can slide on the corrugated sections 9. Preferably, five sections of corrugated sections 9 are arranged on the upper surface of the corrugated block 2, the five sections of corrugated sections 9 are arranged in a straight concave shape, and the horizontal height of the corrugated sections 9 at the left end and the right end is higher than that of the corrugated section 9 in the middle. In more detail, when the user does not perform repeated lifting, long-time bending or twisting of the trunk, the power device is separated from the corrugated block 2 without external pressure. When a user repeatedly lifts, the trunk bends or twists for a long time, the power device is pressed by the user and is contacted with the corrugated block 2, and when the power device continues to be pressed, the lower part of the power device slides on the corrugated block 2, so that the power assembly of the waist assisting exoskeleton can enhance the use effect of the user. Because be provided with five sections ripple sections 9 that are sharp spill arrangement on the ripple piece 2, and the level of ripple section 9 at both ends is higher than the level of ripple section 9 in middle part about, when power device continued to receive pressure, power device's lower part can slide to adjacent ripple section 9 from the ripple section 9 of place to realize the power transmission in power device, avoid appearing blocking when using, strengthen user's result of use.
The waist power mechanism 1 further comprises a first shell 3 and a second shell 4 arranged at the lower part of the first shell 3, the first shell 3 can be sleeved on the outer side of the second shell 4, the first shell 3 can swing relative to the second shell 4, the first shell 3 can accommodate a power device, and the second shell 4 can accommodate the corrugated block 2. The second housing 4 is provided on an upper portion thereof with a rotation member 5, and the first housing 3 is swingable with respect to the second housing 4 via the rotation member 5. The power device may be a gas spring 11, one end of the gas spring 11 is fixed on the first housing 3, and the gas spring 11 includes a piston cylinder 6 and a piston rod 7 capable of reciprocating in the piston cylinder 6, and one end of the piston rod 7 outside the piston cylinder 6 can slide on the corrugated block 2. The piston cylinder 6 is hinged with the first housing 3, so that the effect that the piston cylinder 6 swings left and right in the first housing 3 is realized. A boss 8 is provided on the lower portion of the second housing 4, the boss 8 being for fixing the corrugated block 2. In use, the piston cylinder 6 is hinged to the first housing 3 such that the piston cylinder 6 can oscillate relative to the first housing 3. Since a piston rod 7 is provided in the piston cylinder 6 which can reciprocate in the piston cylinder 6, the piston rod 7 can also oscillate relative to the first housing 3. Be provided with boss 8 on the lower part of second shell 4, boss 8 can be used to fixed ripple piece 2, because piston rod 7 can slide on ripple piece 2, when gas spring 11 is in the wobbling, piston rod 7 slides on ripple piece 2, realizes the force transmission in power device, avoids appearing blocking when using, further strengthens user's result of use.
The switch button 19 is arranged on the outer side of the first shell 3, a user can control the switch button 19 to separate between the power device and the corrugated block 2, when the user does not need to use the intelligent passive assistance exoskeleton to assist, the distance between the power device and the corrugated block 2 can be pulled by the switch button 19, so that the power device and the corrugated block 2 are in a separated state, and therefore, the user can select whether the intelligent passive assistance exoskeleton needs to be used according to the needs of the user, and the trouble of taking the intelligent passive assistance exoskeleton off from a human body can be avoided when the assistance is not needed, so that the use of the user is convenient.
The left side and the right side of the waistband 13 are respectively provided with a side supporting rod 14, the upper ends of the side supporting rods 14 are connected with the chest supporting mechanism, and the lower ends of the side supporting rods 14 are connected with the waist power mechanism 1. The chest support mechanism comprises a chest cushion 15 arranged on the front side of the back belt 12, a chest support block 16 is arranged on the chest cushion 15, and the chest support block 16 is connected with the waist power mechanism 1 through a side support rod 14. The chest support block 16 is connected with the waist power mechanism 1 through the side support rod 14, the lower end of the side support rod 14 is provided with an adjusting screw, the waist power mechanism 1 is provided with at least one screw hole, and the distance between the chest support mechanism and the waist power mechanism 1 can be adjusted through the matching of the adjusting screw and the screw hole. The chest cushion 15 provides increased comfort to the user when the chest support mechanism is in contact with the user's body. The user can adjust the distance between the chest support mechanism and the lumbar power mechanism 1 by adjusting the adjusting screw.
The leg support mechanism comprises a connecting joint 17 and a leg support 18, wherein the connecting joint 17 is respectively connected with the waist power mechanism 1 and the leg support 18, and a user can adjust the distance between the leg support mechanism and the waist power mechanism 1 through the connecting joint 17.
Before use, a user can wear the intelligent passive power assisting exoskeleton on a human body through the braces 12, and the distance between the chest support mechanism and the waist power mechanism 1 and the distance between the leg support mechanism and the waist power mechanism 1 are respectively adjusted through the adjusting screws and the connecting joints 17, so that the user can achieve the most comfortable state in the use process. When the chest support device is used, when a human body is bent, the power device gradually approaches the corrugated block 2, and when the lower part of the power device is contacted with the corrugated block 2, the power device generates reverse support force on the opposite side support rod 14, so that the chest support mechanism receives thrust opposite to the motion trend of the human body of a user, and the passive stress of the waist is relieved. When the human body of the user continues to bend, the reverse supporting force generated by the power device on the opposite side supporting rod 14 is gradually increased, the lower part of the power device slides on the corrugated block 2, the moment of the power device on the opposite side supporting rod 14 is reduced, and the excessive reverse supporting force is prevented. After the use, in the process that the human body of the user is restored to the upright state from the bending state, the movement trend of the power device on the opposite side support rod 14 is the same, so that the power of the waist of the human body of the user is reduced, and the damage risk of the waist of the human body of the user is reduced. The invention has simple structure, can enhance the use effect of the power device through the cooperation of the power device and the corrugated block 2, and solves the problems of complex structure and poor use effect in the prior art.
Claims (7)
1. The intelligent waist passive power assisting exoskeleton is characterized by comprising a chest supporting mechanism, a waist power mechanism and a leg supporting mechanism which are sequentially connected, wherein the chest supporting mechanism comprises a detection device capable of collecting use data information, the waist power mechanism comprises a power device and a corrugated block arranged below the power device, the power device is contacted with or separated from the corrugated block, and when the power device is contacted with the corrugated block, the lower part of the power device can slide on the corrugated block; the exoskeleton further comprises a brace and a waistband, wherein the brace is connected with the front side of the waistband; the left side and the right side of the waistband are respectively provided with a side supporting rod, the upper ends of the side supporting rods are connected with a chest supporting mechanism, and the lower ends of the side supporting rods are connected with the waist power mechanism;
the waist power mechanism comprises a first shell and a second shell arranged at the lower part of the first shell, the first shell is sleeved on the outer side of the second shell, the first shell can swing relative to the second shell, the first shell is used for accommodating the power device, and the second shell is used for accommodating the corrugated block;
when the user bends down, the power device is pressed by the user to be in contact with the corrugated block, and when the power device continues to be pressed, the lower part of the power device slides from the corrugated section on the corrugated block to the adjacent corrugated section.
2. The intelligent lumbar passive power assisting exoskeleton of claim 1, wherein a rotating member is provided on an upper portion of said second housing, and said first housing swings relative to the second housing through said rotating member.
3. The intelligent lumbar passive power exoskeleton of claim 2, wherein said power means is a gas spring, one end of said gas spring is fixed to said first housing, and said gas spring comprises a piston cylinder and a piston rod reciprocally movable within said piston cylinder, one end of said piston rod outside of said piston cylinder being slidable on said bellows block.
4. The power assembly of the intelligent lumbar passive power exoskeleton of claim 2, wherein a boss is provided on a lower portion of said second housing, said boss being used to fix said corrugated block.
5. The intelligent lumbar passive power assisting exoskeleton of claim 4, wherein said chest support mechanism comprises a chest cushion disposed on a front side of said harness, said chest cushion having a chest support block disposed thereon.
6. The intelligent passive power assisting exoskeleton of claim 5, wherein the chest support block is connected with the waist power mechanism through the side support rods, the lower ends of the side support rods are provided with adjusting screws, the waist power mechanism is provided with at least one screw hole, and the distance between the chest support mechanism and the waist power mechanism can be adjusted through the matching of the adjusting screws and the screw holes.
7. The intelligent passive power-assisted exoskeleton of claim 1 wherein said leg support mechanism comprises a connection joint and a leg support, said connection joint connecting said lumbar power mechanism and said leg support, respectively, said connection joint being operable to adjust a distance between said leg support mechanism and said lumbar power mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810172049.3A CN108393869B (en) | 2018-03-01 | 2018-03-01 | Intelligent waist passive power assisting exoskeleton |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810172049.3A CN108393869B (en) | 2018-03-01 | 2018-03-01 | Intelligent waist passive power assisting exoskeleton |
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| CN108393869A CN108393869A (en) | 2018-08-14 |
| CN108393869B true CN108393869B (en) | 2024-03-15 |
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| CN201810172049.3A Active CN108393869B (en) | 2018-03-01 | 2018-03-01 | Intelligent waist passive power assisting exoskeleton |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318215B (en) * | 2018-12-06 | 2021-01-15 | 西安交通大学 | Waist exoskeleton robot |
| CN109746897B (en) * | 2019-01-07 | 2023-12-22 | 吉林大学 | Back bionic exoskeleton power assisting device |
| CN109760021A (en) * | 2019-02-26 | 2019-05-17 | 广州海同工业技术有限公司 | A kind of wearable upper limb assistance exoskeleton |
| CN113021315A (en) * | 2021-03-03 | 2021-06-25 | 上海冉擎机械设备有限公司 | Waist exoskeleton robot |
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| CN102050126A (en) * | 2010-11-23 | 2011-05-11 | 南车南京浦镇车辆有限公司 | Modular sleeper beam structure for railway train |
| CN103522302A (en) * | 2013-11-12 | 2014-01-22 | 哈尔滨工业大学 | Large-output-force robot flexible energy-storing joint based on gravity energy storing |
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| CN207930662U (en) * | 2018-03-01 | 2018-10-02 | 广州市海同机电设备有限公司 | A kind of passive-type waist auxiliary ectoskeleton |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2679505A1 (en) * | 2009-09-21 | 2011-03-21 | Carlo Menon | Exoskeleton robot |
| US9744066B2 (en) * | 2011-06-10 | 2017-08-29 | The Regents Of The University Of California | Trunk supporting exoskeleton and method of use |
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- 2018-03-01 CN CN201810172049.3A patent/CN108393869B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102050126A (en) * | 2010-11-23 | 2011-05-11 | 南车南京浦镇车辆有限公司 | Modular sleeper beam structure for railway train |
| CN103522302A (en) * | 2013-11-12 | 2014-01-22 | 哈尔滨工业大学 | Large-output-force robot flexible energy-storing joint based on gravity energy storing |
| CN106493715A (en) * | 2016-12-20 | 2017-03-15 | 东南大学 | A kind of ESD for being suitable to exposure suit support |
| CN207930662U (en) * | 2018-03-01 | 2018-10-02 | 广州市海同机电设备有限公司 | A kind of passive-type waist auxiliary ectoskeleton |
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Inventor after: Hu Xinjun Inventor after: Lai Xiaotao Inventor after: Mei Fan Inventor before: Yin Peng Inventor before: Hu Xinjun Inventor before: Yang Jing Inventor before: Lai Xiaotao Inventor before: Mei Fan |
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