CN113070869B - Variable-rigidity wearable semi-squat non-linear booster for operators and boosting method thereof - Google Patents
Variable-rigidity wearable semi-squat non-linear booster for operators and boosting method thereof Download PDFInfo
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- CN113070869B CN113070869B CN202110379284.XA CN202110379284A CN113070869B CN 113070869 B CN113070869 B CN 113070869B CN 202110379284 A CN202110379284 A CN 202110379284A CN 113070869 B CN113070869 B CN 113070869B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 210000000689 upper leg Anatomy 0.000 claims abstract description 66
- 210000002414 leg Anatomy 0.000 claims abstract description 42
- 210000004394 hip joint Anatomy 0.000 claims abstract description 30
- 230000000712 assembly Effects 0.000 claims abstract description 17
- 238000000429 assembly Methods 0.000 claims abstract description 17
- 210000001624 hip Anatomy 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 description 5
- 230000036544 posture Effects 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 206010049565 Muscle fatigue Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention discloses a variable-rigidity wearable semi-squat nonlinear booster for operators and a boosting method thereof. Two sides of the back plate are respectively fixed with two hip joint connecting rods, and each hip joint connecting rod is hinged with one thigh connecting rod; each thigh connecting rod is hinged with one shank connecting rod; a non-circular pulley is fixed on the front surface of the thigh connecting rod; the campstool seat plate and the spring barrel form a sliding pair and are connected through a variable-stiffness spring; the bottom of the spring barrel is fixed with a telescopic support leg; the folding stool seat plates of the two folding stool assemblies are hinged with the back surface of the back plate; the spring barrels of the two campstool assemblies are connected through a safety rope, and the campstool plates of the two campstool assemblies are fixed through campstool backing plates; the folding stool seat boards of the two folding stool assemblies are respectively connected with the non-smooth wheels on the two thigh connecting rods through a driving rope. The invention realizes the nonlinear supporting force when the operator squats and the nonlinear boosting force when the operator stands by combining the variable stiffness spring and the non-smooth wheel with the driving rope.
Description
Technical Field
The invention relates to a booster, in particular to a variable-rigidity wearable semi-squat nonlinear booster for operators and a boosting method thereof.
Background
In modern industrial production, operators in workshops begin to wear the power-assisted exoskeleton to help them complete work, and fatigue of limbs caused by mechanical actions is relieved. In some scenes where workers do not need to move, a large number of active boosters have been developed to assist workers in inputting energy to a human body through a motor to provide power. However, the active exoskeleton is heavy and inconvenient for workers who need to frequently move positions, and the manufacturing and maintenance costs are high, so that a novel power assisting device is generated.
The passive exoskeleton well solves the problems and utilizes elastic elements such as springs and the like to store energy and discharge energy. The device is light and portable through compact design, and is suitable for being worn by operators during work. At present, a power assisting device for upper limbs is provided, so that muscle fatigue caused by repeated hand lifting and releasing of workers is greatly reduced. However, the number of the power assisting devices aiming at the lower limbs is small in the market, and only partial lower limb power assisting exoskeletons mostly adopt an active mode and are controlled to customize the limb activities of people. The added power and control device increases the whole weight of the device, not only brings load sense to workers and influences the normal work of the workers, but also brings trouble to the workers due to customized limb movement.
Therefore, a lightweight and portable passive exoskeleton booster is urgently needed in the market, the normal work of workers is not interfered, and the booster can be realized according to the individualized work posture of the workers instead of limiting the limb movement of the workers.
Disclosure of Invention
The invention aims to provide a variable-rigidity wearable type operator semi-squat non-linear booster and a boosting method thereof, aiming at the defects of the prior art.
The invention relates to a variable-rigidity wearable semi-squat nonlinear booster for operators, which comprises a wearable exoskeleton and a campstool; the wearable exoskeleton comprises a back plate, a hip joint connecting rod, a thigh connecting rod and a shank connecting rod; the hip joint connecting rod and the thigh connecting rod respectively comprise a first telescopic rod section and a second telescopic rod section which form a sliding pair, and the first telescopic rod section and the second telescopic rod section are respectively provided with a plurality of first mounting hole groups which are equidistantly distributed along the length direction; the first mounting hole group consists of two mounting holes which are arranged at intervals in the width direction; one mounting hole group I of the first telescopic rod section is connected with one mounting hole group I of the second telescopic rod section through a bolt and a nut; two sides of the back plate are respectively fixed with the first telescopic rod sections of the two hip joint connecting rods, and the second telescopic rod section of each hip joint connecting rod is hinged with the first telescopic rod section of one thigh connecting rod; the hip joint connecting rod is horizontally arranged; the second telescopic rod section of each thigh connecting rod is hinged with the top end of one shank connecting rod; the front surfaces of the two telescopic rod sections of the thigh connecting rods are fixed with non-smooth wheels, and the rotating center lines of the non-smooth wheels are the central axes of hinged shafts of the thigh connecting rods and the shank connecting rods. A waist binding belt is fixed on the back plate, and leg binding belts are fixed on the two shank connecting rods and the two thigh connecting rods.
The campstool comprises a campstool component, a campstool cushion plate and a safety rope; the folding stool component comprises a folding stool seat plate, a spring barrel, a variable-stiffness spring and telescopic support legs; a limiting block integrally formed on the campstool seat plate and a limiting groove axially formed in the top of the spring barrel form a sliding pair, and the limiting block is connected with the limiting groove through a variable stiffness spring; a side plate is fixed on the inner side of the campstool plate; the bottom of the spring barrel is fixed with a telescopic support leg; the side plates of the two campstool assemblies are respectively hinged with the two sides of the back surface of the back plate, and the hinged shafts of the side plates and the back plate are parallel to the hinged shafts of the hip joint connecting rod and the thigh connecting rod; the spring barrels of the two campstool assemblies are connected through a safety rope, the campstool seat plates of the two campstool assemblies are fixedly connected through a campstool backing plate, and a first sliding rod on a telescopic supporting leg of each campstool assembly is connected with a second telescopic rod section of each thigh connecting rod through a safety rope; the folding stool seat boards of the two folding stool assemblies are respectively connected with the non-smooth wheels on the two thigh connecting rods through a driving rope; each driving rope bypasses an arc groove formed in the top end of the telescopic rod section of the corresponding thigh connecting rod, or the top end of the telescopic rod section of the thigh connecting rod is hinged with a fixed pulley, and the two driving ropes bypass the fixed pulley on the corresponding thigh connecting rod respectively.
Preferably, a plurality of mounting hole groups II are arranged on two sides of the back plate at equal intervals along the horizontal direction; the second mounting hole group consists of two mounting holes which are arranged at intervals up and down; and one mounting hole group II on each side of the back plate is connected with one mounting hole group I of the telescopic rod section I on the corresponding hip joint connecting rod through a bolt and a nut.
Preferably, the radial direction of the non-smooth wheel gradually increases from top to bottom and then gradually decreases.
Preferably, a loop bar is fixed at the bottom of the limiting block of the campstool plate, one end of the variable stiffness spring is sleeved in the limiting groove of the spring barrel, and the other end of the variable stiffness spring is sleeved on the loop bar.
Preferably, the limiting groove on the spring barrel penetrates through the side wall of the spring barrel, but the end surface of the bottom end of the limiting groove is lower than the lowest position of the groove opening of the side wall of the spring barrel, which is penetrated by the limiting groove; the top end and the bottom end of the limiting groove are both closed; the top end face of the limiting groove limits the highest position of the limiting block, and the lowest position of the notch of the spring barrel limits the lowest position of the limiting block.
Preferably, the telescopic support leg comprises a first sliding rod and a second sliding rod which form a sliding pair; the first sliding rod is provided with a plurality of mounting holes which are equidistantly distributed along the length direction, and the second sliding rod is provided with a mounting hole; one mounting hole of the first sliding rod is connected with a mounting hole of the second sliding rod through a bolt and a nut; the first sliding rod is fixed with the spring barrel.
Preferably, a rubber pad is fixed at the bottom end of the telescopic supporting leg.
Preferably, one end of the driving rope is fixed in a groove formed in the non-smooth wheel, and the other end of the driving rope penetrates through a through hole in the top of the spring barrel and is fixed with the campstool plate.
Preferably, the two ends of the waist bandage and the leg bandage are both fixed with magic tapes, and the two sides of the magic tapes at the two ends are both female and male.
The power assisting method of the variable-rigidity wearable type operation worker semi-squat nonlinear booster specifically comprises the following steps:
the waist of an operator is bound with a waist binding belt on the back plate, the two legs are bound with leg binding belts on the two thigh connecting rods, and the two legs are bound with leg binding belts on the two leg connecting rods. When an operator stands upright, the campstool falls on the hip and the back of the thigh; when an operator squats down to enable the telescopic support legs to land, the hip of the operator presses the campstool base plate and the campstool seat plate to move downwards along with the bending of the thighs of the operator, the movement of the campstool seat plate and the rotation of the non-circular pulleys on the thigh connecting rods drive the driving ropes to move, the campstool seat plate compresses the variable-stiffness springs downwards in the spring barrels, and the telescopic support legs and the spring barrels provide supporting force for the campstool base plate and the campstool seat plate; the variable-stiffness spring and the non-smooth wheel realize non-linear assistance and supporting force, the squatting degree is large, the elastic force generated by the variable-stiffness spring is large, the torque generated by the non-smooth wheel is large, the squatting degree is small, the elastic force generated by the variable-stiffness spring is small, and the torque generated by the non-smooth wheel is small; when an operator is raised from a squatting state, the variable-stiffness spring extends to drive the campstool seat plate and the campstool cushion plate to move upwards to push the hip of the operator, and meanwhile, the restoring force of the driving rope assists the thigh connecting rod to return to a vertical state.
The invention has the beneficial effects that:
1. the invention reduces the fatigue of legs caused by frequent squatting and standing in the working process of operators by means of squatting energy storage and assisting standing.
2. The variable stiffness spring is used, so that different support forces and standing auxiliary thrust are generated by squatting to different degrees, the squatting degree is large, the elasticity generated by the variable stiffness spring is large, the squatting degree is small, the elasticity generated by the variable stiffness spring is small, the requirement of human engineering is met, and different squatting degrees correspond to body postures of operators in different operating environments.
3. The non-smooth wheel of the invention is combined with the driving rope to realize the assistance to the knee joint when in standing, and the appearance of the non-smooth wheel can generate non-linear assistance torque to adapt to different squatting degrees of operators, thereby conforming to ergonomics, having large squatting degree, large torque generated by the non-smooth wheel, small squatting degree and small torque generated by the non-smooth wheel.
4. In the process of compressing the spring by the campstool seat plate, when the half-squat reaches the maximum limit block and is positioned at the lowest position, the variable-stiffness spring is not pressed to the shortest, so that the reliability of the device is improved; if half squat when reaching the at utmost, become rigidity spring pressure and just reach the extreme low position stable position to the shortest stopper, become rigidity spring under this state is extremely unstable in the spring bucket, can cause the influence to operation workman's work.
5. The lengths of the hip joint connecting rods, the thigh connecting rods and the telescopic supporting legs and the distance between the two hip joint connecting rods and the back plate are adjustable, so that the hip joint connecting rods, the thigh connecting rods and the telescopic supporting legs can adapt to the habits of people with different physical states and individuals, and the individuation degree is good.
6. In consideration of the safety problem of operators in the using process, safety ropes are additionally arranged between the two spring barrels and between the spring barrels and the thigh connecting rods, so that the occurrence of unexpected conditions such as slipping is prevented, and the operators are protected.
Drawings
FIG. 1 is a side perspective view of the overall structure of the present invention with the thigh links in an upright position;
FIG. 2 is another side perspective view of the overall structure of the present invention with the thigh links in an upright position;
FIG. 3 is a perspective view of the structure of the campstool of the present invention;
FIG. 4 is an assembled cross-sectional view of the drive rope, the campstool plate, the spring barrel and the variable rate spring of the present invention;
fig. 5 is a side perspective view of the overall structure of the present invention in a thigh link downswing state.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figures 1 and 2, the variable stiffness wearable operator semi-squat non-linear booster comprises a wearable exoskeleton and a campstool capable of supporting the semi-squat of a human body. The wearable exoskeleton comprises a back plate 4, a hip joint connecting rod 3, a thigh connecting rod 2 and a shank connecting rod 1; the hip joint connecting rod 3 and the thigh connecting rod 2 are telescopic rods and respectively comprise a first telescopic rod section and a second telescopic rod section which form a sliding pair, and the first telescopic rod section and the second telescopic rod section are respectively provided with a plurality of first mounting hole groups which are equidistantly distributed along the length direction; the first mounting hole group consists of two mounting holes which are arranged at intervals in the width direction; one mounting hole group I of the first telescopic rod section is connected with one mounting hole group I of the second telescopic rod section through a bolt and a nut, and the first telescopic rod section is adjusted to be connected with different mounting hole groups I of the second telescopic rod section, so that the telescopic rod section can adapt to workers with different body forms and use habits; two sides of the back plate 4 are respectively fixed with the first telescopic rod sections of the two hip joint connecting rods 3, the second telescopic rod section of each hip joint connecting rod 3 is hinged with the first telescopic rod section of one thigh connecting rod 2, and the hinges for hinging the hip joint connecting rods 3 and the thigh connecting rods 2 correspond to hip joints of a human body; the hip joint connecting rod 3 is horizontally arranged; the second telescopic rod section of each thigh connecting rod 2 is hinged with the top end of one shank connecting rod 1, and the hinge for hinging the thigh connecting rods 2 and the shank connecting rods 1 corresponds to the knee joint of the human body; the front surfaces of the two telescopic rod sections of the thigh connecting rod 2 are fixed with non-smooth wheels, and the rotating center lines of the non-smooth wheels are the central axes of hinged shafts of the thigh connecting rod 2 and the shank connecting rod 1. A waist bandage is fixed on the back plate 4, and leg bandages are fixed on the two shank connecting rods 1 and the two thigh connecting rods 2.
As shown in fig. 3 and 4, the campstool comprises a campstool assembly, a campstool plate 9 (made of light material), and a safety rope; the campstool assembly comprises a campstool seat plate 6, a spring barrel 7, a variable-stiffness spring 8 and telescopic supporting legs 11; a limiting block integrally formed on the campstool seat plate 6 and a limiting groove axially formed in the top of the spring barrel 7 form a sliding pair, and the limiting block and the limiting groove are connected through a variable stiffness spring 8; a side plate 10 is fixed on the inner side of the campstool plate 6; the bottom of the spring barrel 7 is fixed with a telescopic supporting leg 11; the side plates 10 of the two campstool assemblies are respectively hinged with the two sides of the back surface of the back plate 4, and the hinged shafts of the side plates 10 and the back plate 4 are parallel to the hinged shafts of the hip joint connecting rods 3 and the thigh connecting rods 2; the spring barrels 7 of the two campstool assemblies are connected through a safety rope, the campstool seat plates 6 of the two campstool assemblies are fixedly connected through campstool backing plates 9, the first sliding rods on the telescopic supporting legs 11 of the two campstool assemblies are connected with the second telescopic rod sections of the two thigh connecting rods 2 through a safety rope respectively, and the safety rope protects the safety of operators in the using process; the folding stool seat plates 6 of the two folding stool assemblies are respectively connected with the non-smooth wheels on the two thigh connecting rods 2 through a driving rope 5; each driving rope 5 bypasses an arc groove formed in the top end of the telescopic rod section of one corresponding thigh connecting rod 2, or the top end of the telescopic rod section of one corresponding thigh connecting rod 2 is hinged with a fixed pulley, and the two driving ropes 5 bypass the fixed pulley on the corresponding thigh connecting rod 2 respectively.
As a preferred embodiment, two sides of the back plate 4 are both provided with a plurality of mounting hole groups two which are equidistantly arranged along the horizontal direction; the second mounting hole group consists of two mounting holes which are arranged at intervals up and down; a second mounting hole group on each side of the back plate 4 is connected with a first mounting hole group corresponding to a first telescopic rod section on the hip joint connecting rod 3 through a bolt and a nut, and different second mounting hole groups of the back plate 4 are adjusted to be connected with different first mounting hole groups of the hip joint connecting rod 3, so that the hip joint connecting rod adjusting device can adapt to workers with different postures and use habits.
As a preferred embodiment, the radial direction of the non-circular pulley is gradually increased from top to bottom and then gradually decreased.
As a preferred embodiment, as shown in fig. 3, a loop bar is fixed at the bottom of the limiting block of the campstool plate 6, one end of the variable stiffness spring 8 is sleeved in the limiting groove of the spring barrel 7, and the other end is sleeved on the loop bar.
As a preferred embodiment, the limiting groove on the spring barrel 7 penetrates through the side wall of the spring barrel 7, but the bottom end face of the limiting groove is lower than the lowest position of the notch of the side wall of the spring barrel 7 penetrated by the limiting groove; the top end and the bottom end of the limiting groove are both closed; the end surface of the top end of the limiting groove limits the highest position of the limiting block, and the lowest position of the notch of the spring barrel 7 limits the lowest position of the limiting block; in the process of compressing the spring by the campstool seat plate, when the half squat reaches the maximum and the limit block is positioned at the lowest position, the variable-stiffness spring 8 is not pressed to the shortest, so that the reliability of the device is improved; if half squat when reaching the at utmost, become rigidity spring 8 and press to the shortest stopper just reach the extreme lower position stable position, become rigidity spring 8 under this state extremely unstable in the spring barrel, can cause the influence to operation workman's work.
As a preferred embodiment, the telescopic leg 11 comprises a first sliding rod and a second sliding rod which form a sliding pair; the first sliding rod is provided with a plurality of mounting holes which are equidistantly distributed along the length direction, and the second sliding rod is provided with a mounting hole; one mounting hole of the first sliding rod is connected with a mounting hole of the second sliding rod through a bolt and a nut; the first sliding rod is fixed with the spring barrel 7.
As a preferred embodiment, a rubber pad is fixed to the bottom end of the telescopic leg 11.
As a preferred embodiment, as shown in figure 2, one end of the driving rope 5 is fixed in a groove formed in the non-smooth wheel, and the other end of the driving rope passes through a through hole in the top of the spring barrel 7 and is fixed with the campstool plate 6.
As a preferred embodiment, the two ends of the waist bandage and the leg bandage are fixed with magic tapes, and the two sides of the magic tapes at the two ends are respectively fixed with a male surface and a female surface.
The power assisting method of the variable-rigidity wearable type operation worker semi-squat nonlinear booster specifically comprises the following steps:
waist binding bands on the back plate 4 are bound on the waist of an operator, leg binding bands on the two thigh connecting rods 2 are bound on the two big legs, and leg binding bands on the two shank connecting rods 1 are bound on the two shanks. When the operator stands upright, the campstool naturally falls on the hip and the back of the thigh, and the limb movement and the normal work of the operator cannot be influenced. When an operator squats down to enable the telescopic support legs 11 to land (without holding by hands), along with bending of thighs of the operator, the buttocks of the operator press the campstool cushion plate 9 and the campstool seat plate 6 to move downwards, the movement of the campstool seat plate 6 and the rotation of the non-smooth wheels on the thigh connecting rods 2 drive the driving rope 5 to move, the campstool seat plate 6 compresses the variable-stiffness spring 8 downwards in the spring barrel 7, the telescopic support legs 11 and the spring barrel 7 provide supporting force for the campstool cushion plate 9 and the campstool seat plate 6, and as shown in fig. 5, at the moment, the operator can work in a half squat mode under the supporting force; the different squatting degrees are matched with body postures of operators in different operating environments, the variable stiffness spring 8 and the non-smooth wheel realize non-linear assistance and supporting force, the squatting degree is large, the elastic force generated by the variable stiffness spring 8 is large, the torque generated by the non-smooth wheel is large, the squatting degree is small, the elastic force generated by the variable stiffness spring 8 is small, and the torque generated by the non-smooth wheel is small, so that the different squatting degrees of the operators are adapted. When an operator stands from a squatting state, the variable stiffness spring 8 extends to drive the campstool seat plate 6 and the campstool cushion plate 9 to move upwards to provide thrust for the hip of the operator, and meanwhile, the restoring force of the driving rope 5 assists the thigh connecting rod 2 to return to a vertical state, so that combined assistance is realized.
Claims (10)
1. Become rigidity wearing formula operation workman nonlinear booster of squatting half, including wearing ectoskeleton and campstool, its characterized in that: the wearable exoskeleton comprises a back plate, a hip joint connecting rod, a thigh connecting rod and a shank connecting rod; the hip joint connecting rod and the thigh connecting rod respectively comprise a first telescopic rod section and a second telescopic rod section which form a sliding pair, and the first telescopic rod section and the second telescopic rod section are respectively provided with a plurality of first mounting hole groups which are equidistantly distributed along the length direction; the first mounting hole group consists of two mounting holes which are arranged at intervals in the width direction; one mounting hole group I of the first telescopic rod section is connected with one mounting hole group I of the second telescopic rod section through a bolt and a nut; two sides of the back plate are respectively fixed with the first telescopic rod sections of the two hip joint connecting rods, and the second telescopic rod section of each hip joint connecting rod is hinged with the first telescopic rod section of one thigh connecting rod; the hip joint connecting rod is horizontally arranged; the second telescopic rod section of each thigh connecting rod is hinged with the top end of one shank connecting rod; the front of the second telescopic rod section of the thigh connecting rod is fixed with a non-smooth wheel, and the rotating center line of the non-smooth wheel is the central axis of a hinged shaft of the thigh connecting rod and the shank connecting rod; a waist binding belt is fixed on the back plate, and leg binding belts are fixed on the two shank connecting rods and the two thigh connecting rods;
the campstool comprises a campstool component, a campstool cushion plate and a safety rope; the folding stool component comprises a folding stool seat plate, a spring barrel, a variable-stiffness spring and telescopic support legs; a limiting block integrally formed on the campstool seat plate and a limiting groove axially formed in the top of the spring barrel form a sliding pair, and the limiting block is connected with the limiting groove through a variable stiffness spring; a side plate is fixed on the inner side of the campstool plate; the bottom of the spring barrel is fixed with a telescopic support leg; the side plates of the two campstool assemblies are respectively hinged with the two sides of the back surface of the back plate, and the hinged shafts of the side plates and the back plate are parallel to the hinged shafts of the hip joint connecting rod and the thigh connecting rod; the spring barrels of the two campstool assemblies are connected through a safety rope, the campstool seat plates of the two campstool assemblies are fixedly connected through a campstool backing plate, and a first sliding rod on a telescopic supporting leg of each campstool assembly is connected with a second telescopic rod section of each thigh connecting rod through a safety rope; the folding stool seat boards of the two folding stool assemblies are respectively connected with the non-smooth wheels on the two thigh connecting rods through a driving rope; each driving rope bypasses an arc groove formed in the top end of the telescopic rod section of the corresponding thigh connecting rod, or the top end of the telescopic rod section of the thigh connecting rod is hinged with a fixed pulley, and the two driving ropes bypass the fixed pulley on the corresponding thigh connecting rod respectively.
2. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: a plurality of mounting hole groups II which are distributed at equal intervals in the horizontal direction are arranged on both sides of the back plate; the second mounting hole group consists of two mounting holes which are arranged at intervals up and down; and one mounting hole group II on each side of the back plate is connected with one mounting hole group I of the telescopic rod section I on the corresponding hip joint connecting rod through a bolt and a nut.
3. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: the radial direction of the non-circular pulley is gradually increased from top to bottom and then gradually decreased.
4. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: a loop bar is fixed at the bottom of a limiting block of the campstool seat plate, one end of a variable stiffness spring is sleeved in a limiting groove of the spring barrel, and the other end of the variable stiffness spring is sleeved on the loop bar.
5. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: the limiting groove on the spring barrel penetrates through the side wall of the spring barrel, but the end face of the bottom end of the limiting groove is lower than the lowest position of the groove opening of the side wall of the spring barrel, which is penetrated through by the limiting groove; the top end and the bottom end of the limiting groove are both closed; the top end face of the limiting groove limits the highest position of the limiting block, and the lowest position of the notch of the spring barrel limits the lowest position of the limiting block.
6. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: the telescopic support legs comprise a first sliding rod and a second sliding rod which form a sliding pair; the first sliding rod is provided with a plurality of mounting holes which are equidistantly distributed along the length direction, and the second sliding rod is provided with a mounting hole; one mounting hole of the first sliding rod is connected with a mounting hole of the second sliding rod through a bolt and a nut; the first sliding rod is fixed with the spring barrel.
7. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: and a rubber pad is fixed at the bottom end of each telescopic supporting leg.
8. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: one end of the driving rope is fixed in a groove formed in the non-smooth wheel, and the other end of the driving rope penetrates through a through hole in the top of the spring barrel and is fixed with the campstool seat plate.
9. The variable stiffness wearable operator semi-squat non-linear booster of claim 1, wherein: the two ends of the waist bandage and the leg bandage are respectively fixed with a magic tape, and the magic tapes at the two ends are respectively arranged on the two sides of the male and female of the male.
10. The boosting method of a variable stiffness wearable operator semi-squat non-linear booster as claimed in claim 3, wherein: the method comprises the following specific steps:
waist binding bands on the back plate are bound to the waist of an operator, leg binding bands on the two thigh connecting rods are bound to the two big legs, and leg binding bands on the two shank connecting rods are bound to the two shanks; when an operator stands upright, the campstool falls on the hip and the back of the thigh; when an operator squats down to enable the telescopic support legs to land, the hip of the operator presses the campstool base plate and the campstool seat plate to move downwards along with the bending of the thighs of the operator, the movement of the campstool seat plate and the rotation of the non-circular pulleys on the thigh connecting rods drive the driving ropes to move, the campstool seat plate compresses the variable-stiffness springs downwards in the spring barrels, and the telescopic support legs and the spring barrels provide supporting force for the campstool base plate and the campstool seat plate; the variable-stiffness spring and the non-smooth wheel realize non-linear assistance and supporting force, the squatting degree is large, the elastic force generated by the variable-stiffness spring is large, the torque generated by the non-smooth wheel is large, the squatting degree is small, the elastic force generated by the variable-stiffness spring is small, and the torque generated by the non-smooth wheel is small; when an operator is raised from a squatting state, the variable-stiffness spring extends to drive the campstool seat plate and the campstool cushion plate to move upwards to push the hip of the operator, and meanwhile, the restoring force of the driving rope assists the thigh connecting rod to return to a vertical state.
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| CN202110379284.XA CN113070869B (en) | 2021-04-08 | 2021-04-08 | Variable-rigidity wearable semi-squat non-linear booster for operators and boosting method thereof |
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| CN202110379284.XA CN113070869B (en) | 2021-04-08 | 2021-04-08 | Variable-rigidity wearable semi-squat non-linear booster for operators and boosting method thereof |
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| CN113070869B true CN113070869B (en) | 2022-03-22 |
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|---|---|---|---|---|
| CN114534172B (en) * | 2022-02-17 | 2022-09-27 | 华中科技大学 | Passive load supporting device with automatic power-assisted phase switching function |
| CN114654449B (en) * | 2022-03-29 | 2024-04-12 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Active and passive combined wearable knee joint power assisting exoskeleton |
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| CN113070869A (en) | 2021-07-06 |
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