CN110815191A - Wearable waist assistance exoskeleton - Google Patents
Wearable waist assistance exoskeleton Download PDFInfo
- Publication number
- CN110815191A CN110815191A CN201911215129.3A CN201911215129A CN110815191A CN 110815191 A CN110815191 A CN 110815191A CN 201911215129 A CN201911215129 A CN 201911215129A CN 110815191 A CN110815191 A CN 110815191A
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- module
- leg
- power
- exoskeleton
- push button
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- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 239000003638 chemical reducing agent Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 7
- 238000000926 separation method Methods 0.000 abstract description 3
- 210000002414 leg Anatomy 0.000 description 46
- 210000001624 hip Anatomy 0.000 description 25
- 230000006872 improvement Effects 0.000 description 9
- 101000845183 Homo sapiens Tetratricopeptide repeat protein 5 Proteins 0.000 description 2
- 102100031280 Tetratricopeptide repeat protein 5 Human genes 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036473 myasthenia Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wearable waist assistance exoskeleton, which comprises: the back module, the power module and the leg module; the power supply module is arranged at one end of the back module, and the leg module is detachably connected with the power supply module; the power module is provided with a detachably connected power interface, one side of the power interface is provided with a pull button, one end of the pull button is provided with a convex point, the initial position of the pull button is a locking position, and the convex point of the pull button positioned at the locking position is clamped into a lock hole on the side wall of the power interface and extends into the power interface; the leg module is detachably connected to both sides of the power module, and the leg module of any side includes: leg pole, set up in the regulation quick detach mechanism of leg pole one end. The leg module of the exoskeleton can realize quick electrical assembly connection and quick disassembly and separation, and is convenient for the use of the exoskeleton. The exoskeleton is active, the power assisting effect is obvious, normal walking of a human body is not influenced, the follow-up effect is good, and meanwhile, mechanical limit protection is acquired, so that the exoskeleton is safe and reliable.
Description
Technical Field
The invention relates to the technical field of wearing, in particular to a wearable waist assistance exoskeleton.
Background
The wearable exoskeleton robot is a mechanical device which simulates the motion state of a human body, enhances the motion capability of the human body, integrates bionics and ergonomics, is worn on the outer side of a limb of the human body, and can improve the specific capabilities of people in walking durability, load bearing capability and the like. The application field is very wide, and the motion flexibility, the maneuverability, the loading capacity and the like of soldiers can be improved in the military field; in the medical field, the rehabilitation training device can help patients with myasthenia of lower limbs or other disabled patients to perform rehabilitation training; in the civil field, the utility model can help the wearer to improve the capability of carrying heavy objects, improve the walking durability and the like.
At present, the existing waist assisting exoskeleton is complex in structure, cannot be assembled and disassembled in a fast modular mode structurally, and has the problems of difficulty in transportation, maintenance or wearing and the like. Many exoskeleton for waist assistance is in a passive form for waist assistance, and the assistance effect is not obvious in practice. Therefore, it is necessary to provide a further solution to the above problems.
Disclosure of Invention
The invention aims to provide a wearable waist assistance exoskeleton, which overcomes the defects in the prior art.
To achieve the above object, the present invention provides a wearable waist assisting exoskeleton, comprising: the back module, the power module and the leg module;
the power supply module is arranged at one end of the back module, and the leg module is detachably connected with the power supply module;
the power module is provided with a power interface in detachable connection, a pull button is arranged on one side of the power interface, a convex point is arranged at one end of the pull button, the initial position of the pull button is a locking position, and the convex point of the pull button positioned at the locking position is clamped into a lock hole in the side wall of the power interface and extends into the power interface;
the leg module detachably connected to both sides of the power module, the leg module of any one side includes: leg pole, set up in the regulation quick detach mechanism of leg pole one end, adjust quick detach mechanism and include: the utility model provides a power supply connector, including the female storehouse of regulation module, set up in quick detach electrical connector on the female storehouse of regulation module terminal surface, set up in bump card hole on the female storehouse side of regulation module, shank module connect in during the power kneck, the electric connection of fast inserting electrical connector in power kneck, the bump card is gone into in the bump card hole.
As an improvement of the wearable waist power-assisting exoskeleton, a shoulder strap binding interface is further arranged at the other end of the back module.
As an improvement of the wearable waist assistance exoskeleton, the other end of the pull button is connected with a reset elastic piece, and the reset elastic piece provides reset acting force for the pull button from the unlocking position of the pull button to the locking position.
As an improvement of the wearable waist assistance exoskeleton, the other end of the pull button is connected with a pull button accessory through a screw, the reset elastic piece is a spring, and the pull button accessory forms a spring bin for accommodating the spring.
As an improvement of the wearable waist assistance exoskeleton, the quick-release electrical joint comprises: the leg module comprises a first connector and a second connector arranged opposite to the first connector, and when the leg module is connected to the power interface, the first connector is electrically connected to the power interface.
As an improvement of the wearable waist assistance exoskeleton, the adjustment quick-release mechanism further comprises a female bin accessory, the female bin accessory is mounted on the adjustment module female bin through a screw, and the first joint and the second joint are arranged on the female bin accessory.
As an improvement of the wearable waist assistance exoskeleton, the adjustment quick release mechanism further comprises: the adjustable push button comprises an adjustable push button and a push button accessory, wherein the adjustable push button is positioned in one end of the leg rod, one end of the adjustable push button extends out, the other end of the adjustable push button is linked with the push button accessory, the push button accessory is movably arranged up and down, a plurality of width adjusting holes which are obliquely arranged along the pushing direction of the adjustable push button are formed in one end of the leg rod, and the adjustable push button accessory extends out of the corresponding width adjusting holes.
As an improvement of the wearable waist assistance exoskeleton, the other end of the leg rod is further provided with a driving mechanism, which comprises: the motor is connected with the output flange through the speed reducer, and the wire rod of the driving mechanism is connected with the quick-release electrical connector through the wire groove, the wire arranging device and the wire arranging device outlet.
As an improvement of the wearable waist assistance exoskeleton, the output flange is further provided with a limiting structure consisting of a limiting boss and a leg rod limiting groove.
As an improvement of the wearable lumbar assistance exoskeleton of the present invention, the wearable lumbar assistance exoskeleton further comprises a support module comprising: the output flange is connected with one end of the supporting rod in a pivoting mode, and the other end of the supporting rod is connected with the binding plate in a pivoting mode.
Compared with the prior art, the invention has the beneficial effects that: the leg module of the wearable waist assistance exoskeleton can realize quick electrical assembly connection and quick disassembly and separation, and is convenient for the use of the exoskeleton. The wearable waist assistance exoskeleton of the inventionThe active mode is adopted, the power assisting effect is obvious, the normal walking of a human body is not influenced, the follow-up effect is good, and the power assisting device is also used The time acquisition machine is protected in a limiting way, and is safe and reliable.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a perspective view of an embodiment of a wearable waist assistance exoskeleton of the present invention;
FIG. 2 is an enlarged perspective view of the back module of FIG. 1;
FIG. 3 is an enlarged cross-sectional view of the power interface of the power module of FIG. 1;
fig. 4 and 5 are schematic perspective views of one end of the leg module of fig. 1;
FIG. 6 is a cross-sectional view of one end of the leg module of FIG. 1;
FIG. 7 is an enlarged perspective view of the internal structure of one end of the leg module of FIG. 1;
fig. 8 is an enlarged perspective view of the leg module of fig. 1;
fig. 9 is an enlarged perspective view of the drive mechanism at the other end of the leg module of fig. 1.
Detailed Description
The present invention is described in detail below with reference to various embodiments, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should be able to make modifications and substitutions on the functions, methods, or structures of these embodiments without departing from the scope of the present invention.
As shown in fig. 1 to 9, the wearable waist assistance exoskeleton of the present embodiment includes: a back module 1, a power module 2 and a leg module 5.
When the wearable waist assistance exoskeleton is worn, the back module 1 is worn on the back of a human body. The back module 1 is mainly composed of a back plate 6, which back plate 6 follows the shape of the back of a human body, so as to be easy to wear. One end of the back module 1 is also provided with a shoulder strap binding interface.
The power module 2 is used for providing electric energy required by the leg module 5 when a human body walks, the electric energy is installed at the other end of the back module 1, and the leg module 5 is detachably connected with the power module 2, so that the leg module 5 is powered for working.
In order to achieve a quick electrical connection and a quick detachment of the leg module 5, the power module 2 has a detachably connected power interface. Correspondingly, one side of the power interface is provided with a pull button 8, and one end of the pull button 8 is provided with a convex point 7. The bumps 7 are used to achieve latching when the leg modules 5 are electrically connected. At this time, the initial position of the pull button 8 is a locking position, and the salient point 7 of the pull button 8 located at the locking position is clamped into the locking hole on the side wall of the power interface and extends into the power interface.
In addition, in order to facilitate the reset after the pull button 8 is pulled out, the other end of the pull button 8 is connected with a reset elastic member, and the reset elastic member provides reset acting force directed to the locking position by the unlocking position of the pull button 8 for the pull button 8. In one embodiment, the other end of the pull button 8 is connected to a pull button attachment 9 by a screw, the elastic return member is a spring, and the pull button attachment 9 forms a spring chamber 10 for accommodating the spring.
When the wearable waist assisting exoskeleton is worn, the leg module 5 is worn on the legs of a human body. This shank module 5 is connected with the both sides of above-mentioned power module 2 with dismantling formula, and shank module 5 of any side includes: a leg rod 20 and an adjusting quick-release mechanism 3 arranged at one end of the leg rod 20.
The leg rod 20 forms the main structure of the leg module 5. The adjusting quick-release mechanism 3 is used for realizing quick electric connection and quick detachment between the leg module 5 and the power module 2. Adjust quick detach mechanism 3 includes: the adjusting module comprises an adjusting module female bin 12, a quick-release electrical connector 29 arranged on the end face of the adjusting module female bin 12 and a convex point clamping hole 11 arranged on the side face of the adjusting module female bin 12.
When the leg module 5 is connected at the power interface, the quick-plug electrical connector is electrically connected at the power interface, and the salient point 7 is clamped in the salient point clamping hole 11. Therefore, when the leg module 5 needs to be disconnected from the back module 1, the pull button 8 is pulled, the salient point 7 leaves the lock hole in the side wall of the power interface, the quick-release electrical connector 29 is powered off from the power interface of the power module 2, the pull button 8 is released, the spring bin 10 can reset the pull button 8, and the salient point 7 is inserted into the lock hole in the side wall of the power interface again;
when the leg module 5 needs to be connected with the back module 1, the pull button 8 is pulled, the salient point 7 leaves the lock hole on the side wall of the power interface, the adjusting module female bin 12 in the leg module 5 is inserted, the quick-release electrical connector 29 is connected with the interface of the power module 2, the pull button 8 is loosened, the spring bin 10 can enable the pull button 8 to reset, and the salient point 7 is inserted into the lock hole on the side wall of the power interface again.
A quick release electrical connector 29 is used to make an electrical connection between the leg module 5 and the power module 2. In one embodiment, the quick release electrical connector 29 comprises: a first connector 14 and a second connector 13 arranged opposite to the first connector 14, wherein when the leg module 5 is connected to the power supply interface, the first connector 14 is electrically connected to the power supply interface, and correspondingly, the second connector 13 is electrically connected to the leg module 5. In addition, adjust quick detach mechanism 3 and still include female storehouse annex 15, female storehouse annex 15 passes through the screw mounting on adjusting module female storehouse 12, and first joint 14 and second joint 13 set up on female storehouse annex 15.
The adjusting quick-release mechanism 3 is also used for realizing size adjustment. Specifically, the adjustment quick release mechanism 3 further includes: the adjustable push button comprises an adjustable push button 19 and a push button accessory 21, wherein the adjustable push button 19 is positioned in one end of a leg rod 20, one end of the adjustable push button 19 extends out, the other end of the adjustable push button is linked with the push button accessory 21, the push button accessory 21 is arranged up and down, one end of the leg rod 20 is provided with a plurality of width adjusting holes 16 which are obliquely arranged along the pushing direction of the adjustable push button 19, any push button accessory 21 extends out of the corresponding width adjusting hole 16, and any push button accessory 21 is movably arranged.
Therefore, when the size needs to be adjusted, the push button 19 is pushed to push the push button accessories 21 arranged up and down to be close to the middle, even if the cylindrical salient points 7 of the push button accessories 21 leave the width adjusting clamping holes and the clamping holes of the corresponding leg rods 20, the leg rods 20 are pulled out or pushed in, and the adjustment of the width size of the waist can be realized.
The other end of the leg rod 20 is further provided with a driving mechanism 4, and the driving mechanism 4 is used for realizing the follow-up of the leg module 5 under the power supply of the power supply module 2. Correspondingly, the wire of the driving mechanism 4 is connected with the quick-release electric connector 29 through the wire groove 22, the wire arranging device 17 and the wire arranging device outlet 18.
Specifically, the drive mechanism 4 includes: the motor, reduction gear, output flange 24, the motor is connected with output flange 24 through the reduction gear. Meanwhile, the output flange 24 also has a limit structure consisting of a limit boss 32 and a leg rod limit groove 31 to form mechanical limit protection. In addition, one side of the driving mechanism 4 is also provided with an encoder mounting cover 23, and an encoder is placed on the encoder mounting cover, so that the angle change of the hip joint can be monitored in real time.
The wearable lumbar assist exoskeleton further comprises a support module comprising: a support bar 26 and a tie plate 27, the output flange 24 being pivotally connected to one end of the support bar 26 by a rotation pin 25, and the other end of the support bar 26 being pivotally connected to the tie plate 27. When the wearable waist power-assisting exoskeleton is worn, the binding plates 27 are bound on the thighs of the human body. In addition, a stopper pin 28 is provided at the connection of the binding plate 27 and the support bar 26, and the stopper pin 28 can limit the rotation angle of the binding plate 27.
In conclusion, the leg module of the wearable waist assistance exoskeleton can realize quick electrical assembly connection and quick disassembly and separation, and is convenient for the use of the exoskeleton. The wearable waist assistance exoskeleton is active, has an obvious assistance effect, does not influence normal walking of a human body, has a good follow-up effect, and is safe and reliable due to mechanical limit protection.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A wearable lumbar assistance exoskeleton, comprising: the back module, the power module and the leg module;
the power supply module is arranged at one end of the back module, and the leg module is detachably connected with the power supply module;
the power module is provided with a power interface in detachable connection, a pull button is arranged on one side of the power interface, a convex point is arranged at one end of the pull button, the initial position of the pull button is a locking position, and the convex point of the pull button positioned at the locking position is clamped into a lock hole in the side wall of the power interface and extends into the power interface;
the leg module detachably connected to both sides of the power module, the leg module of any one side includes: leg pole, set up in the regulation quick detach mechanism of leg pole one end, adjust quick detach mechanism and include: the utility model provides a power supply connector, including the female storehouse of regulation module, set up in quick detach electrical connector on the female storehouse of regulation module terminal surface, set up in bump card hole on the female storehouse side of regulation module, shank module connect in during the power kneck, the electric connection of fast inserting electrical connector in power kneck, the bump card is gone into in the bump card hole.
2. The wearable waist assistance exoskeleton of claim 1 wherein the other end of said back module is further provided with a shoulder strap tie interface.
3. The wearable waist assistance exoskeleton of claim 1, wherein a return elastic member is connected to the other end of the pull button, and the return elastic member provides a return force to the pull button from an unlocked position to a locked position of the pull button.
4. The wearable waist assistance exoskeleton of claim 3 wherein the other end of said pull button is connected to a pull button attachment by a screw, said return elastic member is a spring, and said pull button attachment forms a spring compartment for receiving said spring.
5. The wearable lumbar assist exoskeleton of claim 1 wherein the quick release electrical joint comprises: the leg module comprises a first connector and a second connector arranged opposite to the first connector, and when the leg module is connected to the power interface, the first connector is electrically connected to the power interface.
6. The wearable waist assistance exoskeleton of claim 5, wherein said adjustment quick release mechanism further comprises a female bin accessory, said female bin accessory being mounted to said adjustment module female bin by screws, said first and second joints being disposed on said female bin accessory.
7. The wearable lumbar assist exoskeleton of claim 1, wherein the adjustment quick release mechanism further comprises: the adjustable push button comprises an adjustable push button and a push button accessory, wherein the adjustable push button is positioned in one end of the leg rod, one end of the adjustable push button extends out, the other end of the adjustable push button is linked with the push button accessory, the push button accessory is movably arranged up and down, a plurality of width adjusting holes which are obliquely arranged along the pushing direction of the adjustable push button are formed in one end of the leg rod, and the adjustable push button accessory extends out of the corresponding width adjusting holes.
8. The wearable waist assistance exoskeleton of claim 1, wherein the other end of said leg bar is further provided with a drive mechanism comprising: the motor is connected with the output flange through the speed reducer, and the wire rod of the driving mechanism is connected with the quick-release electrical connector through the wire groove, the wire arranging device and the wire arranging device outlet.
9. The wearable waist assistance exoskeleton of claim 8, wherein the output flange further comprises a limiting structure consisting of a limiting boss and a leg rod limiting groove.
10. The wearable lumbar assistance exoskeleton of claim 8, further comprising a support module comprising: the output flange is connected with one end of the supporting rod in a pivoting mode, and the other end of the supporting rod is connected with the binding plate in a pivoting mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215129.3A CN110815191A (en) | 2019-12-02 | 2019-12-02 | Wearable waist assistance exoskeleton |
| PCT/CN2020/105795 WO2021109597A1 (en) | 2019-12-02 | 2020-07-30 | Wearable lumbar power-assisted exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911215129.3A CN110815191A (en) | 2019-12-02 | 2019-12-02 | Wearable waist assistance exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110815191A true CN110815191A (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911215129.3A Pending CN110815191A (en) | 2019-12-02 | 2019-12-02 | Wearable waist assistance exoskeleton |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110815191A (en) |
| WO (1) | WO2021109597A1 (en) |
Cited By (3)
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| CN111388268A (en) * | 2020-03-10 | 2020-07-10 | 广东博方众济医疗科技有限公司 | Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same |
| CN112621722A (en) * | 2020-12-21 | 2021-04-09 | 迈宝智能科技(苏州)有限公司 | Active waist helping hand ectoskeleton |
| WO2021109597A1 (en) * | 2019-12-02 | 2021-06-10 | 迈宝智能科技(苏州)有限公司 | Wearable lumbar power-assisted exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116276921B (en) * | 2023-05-18 | 2023-07-21 | 北京动思创新科技有限公司 | Single motor hip joint exoskeleton |
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| Publication number | Publication date |
|---|---|
| WO2021109597A1 (en) | 2021-06-10 |
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