CN109333511B - Waist exoskeleton power assisting device - Google Patents
Waist exoskeleton power assisting device Download PDFInfo
- Publication number
- CN109333511B CN109333511B CN201811348220.8A CN201811348220A CN109333511B CN 109333511 B CN109333511 B CN 109333511B CN 201811348220 A CN201811348220 A CN 201811348220A CN 109333511 B CN109333511 B CN 109333511B
- Authority
- CN
- China
- Prior art keywords
- rotating wheel
- component
- spring
- power assisting
- chest
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000008093 supporting effect Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 4
- 210000002414 leg Anatomy 0.000 description 20
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 206010050031 Muscle strain Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 238000009958 sewing Methods 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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to a waist exoskeleton power assisting device which comprises a chest component, a waist component and a power assisting component, wherein the power assisting component is arranged on the waist component and connected with the chest component through a supporting rod, the power assisting component comprises a first rotating wheel, a second rotating wheel and a spring, the second rotating wheel is connected with the spring and is in contact with the edge of the first rotating wheel, the edge of the first rotating wheel comprises an arc shape, a concave part and a convex part, and the second rotating wheel can move along the edge of the first rotating wheel and drive the spring to stretch. According to the invention, the first rotating wheel and the second rotating wheel in the power assisting component rotate to drive the spring to compress or stretch, so that power assisting is provided for a user in the carrying process, the labor load of the user is reduced, the chest component and the waist component are simple in structure, the wearing is convenient, the load of the user is small, and the action flexibility is high.
Description
Technical Field
The invention relates to the technical field of exoskeletons, in particular to a waist exoskeletons power assisting device.
Background
The social progress and the technological development are attributed to the reunion of the masses of workers, especially the physical workers, which usually need to carry out repeated labor for a long time, such as bending down and carrying, crouching down and shouldering, and the like, so that the high-intensity intensive work seriously damages the health of the workers, even causes diseases such as lumbar muscle strain and the like, and influences the working efficiency.
In order to reduce the working intensity of workers, the power-assisted exoskeleton is gradually raised, and assists a human body to carry articles under the support of a power source, but the power-assisted exoskeleton is generally complicated in structure, so that the weight of the power-assisted exoskeleton is overlarge, a load is brought to a user, and the movement flexibility and wearing comfort are low.
Disclosure of Invention
The invention aims to provide a waist exoskeleton power assisting device which is simple in structure and improves the convenience of wearing of a user while assisting the user.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a waist ectoskeleton booster unit, includes chest subassembly, waist subassembly and helping hand subassembly, the helping hand subassembly install in on the waist subassembly, the helping hand subassembly pass through the bracing piece with chest subassembly is connected, the helping hand subassembly includes first runner, second runner and spring, the second runner with spring coupling and with the marginal contact of first runner, the edge of first runner includes circular-arc concave part and convex part, the second runner can follow the edge movement of first runner and drive the spring stretches out and draws back.
In a preferred embodiment, the power assisting assembly further comprises a fixed housing and a rotating shaft mounted on the fixed housing, the first rotating wheel passing through the rotating shaft and being rotatable relative to the rotating shaft.
In a preferred embodiment, the power assisting assembly further comprises a fixing seat and a mounting seat, two ends of the spring are respectively connected with the fixing seat and the mounting seat, and the second rotating wheel is rotatably connected with the mounting seat.
In a preferred embodiment, the power assisting component further comprises a connecting rod, one end of the connecting rod is connected with the supporting rod, and the other end of the connecting rod is connected with the first rotating wheel or the fixing base and can rotate relative to the first rotating wheel or the fixing base.
In a preferred embodiment, the rotation direction of the connecting rod relative to the first rotating wheel or the fixing seat is perpendicular to the rotation direction of the first rotating wheel relative to the rotating shaft.
In a preferred embodiment, the chest component comprises a chest baffle, a supporting plate and a fixed shaft, the fixed shaft penetrates through the chest baffle and the supporting plate, a ball bearing is arranged between the supporting plate and the fixed shaft so that the supporting plate can rotate relative to the fixed shaft, and two ends of the supporting rod are respectively connected with the supporting plate and the power assisting component.
In a preferred embodiment, the waist unit comprises two fixing plates, the fixing plates are bent to form a concave surface on the inner wall of the fixing plates, and the power assisting unit is arranged on the outer side of the fixing plates.
In a preferred embodiment, a binding band is arranged between the chest baffle and the fixing plate and between the chest baffle and the fixing plates, and a detachable eye-splice is arranged on the binding band.
In a preferred embodiment, a leg assembly is further provided, the leg assembly comprises a leg baffle and a fixing rod, and two ends of the fixing rod are respectively connected with the power assisting assembly and the leg baffle.
In a preferred embodiment, the booster component and the leg component are both arranged in two and symmetrically distributed relative to the chest component.
The beneficial effects of the invention are as follows: according to the invention, the first rotating wheel and the second rotating wheel in the power assisting component rotate to drive the spring to compress or stretch, so that power assisting is provided for a user in the carrying process, the labor load of the user is reduced, the chest component and the waist component are simple in structure, the wearing is convenient, the load of the user is small, and the action flexibility is high.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the construction of one embodiment of the lumbar exoskeleton boosting device of the present invention;
FIG. 2 is a schematic view of the embodiment of FIG. 1 in another orientation;
FIG. 3 is a schematic view of the structure of one embodiment of the booster assembly of the present invention;
FIG. 4 is a schematic view of the structure of one embodiment of the leg assembly of the present invention;
fig. 5 is a schematic view of the structure of one embodiment of the chest assembly of the present invention.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all the coupling/connection relationships referred to in the patent are not direct connection of the single-finger members, but rather, it means that a better coupling structure can be formed by adding or subtracting coupling aids depending on the specific implementation. The technical features of the invention can be interactively combined on the premise of no contradiction and conflict.
Example 1
Referring to fig. 1-2, the waist exoskeleton assistance device in this embodiment includes a chest unit 100, a waist unit 200, a leg unit 300 and an assistance unit 400, and the waist unit 200, the leg unit 300 and the assistance unit 400 are provided with two and symmetrically distributed on both sides of the chest unit 100. The binding bands 510 are arranged between the chest component 100 and the waist component 200 and between the two waist components 200, so that the waist exoskeleton power assisting device forms a wearable structure, and the device is convenient for the human body to execute actions. The binding band 510 can be connected with the chest component 100 and the waist component 200 in a sewing mode; preferably, the detachable eye-splice 520 is arranged on the binding belt 510 between the chest component 100 and the waist component 200 and the binding belt 510 between the waist component 200, and after the binding belt 510 is adjusted to be suitable for the height and the length of a human body, a user can fasten the eye-splice 520 to attach the device to the human body, and the device is simple in structure and convenient to use and wear.
Preferably, the length of the binding band 510 can be adjusted, so that the binding band is convenient for a user to adjust to a state suitable for the user's own needs, and is suitable for workers with different body types and working occasions, and the wearing flexibility is high.
The waist assembly 200 comprises two fixing plates 210, the two fixing plates 210 are connected through a binding belt 510, the fixing plates 210 are bent to enable the inner surfaces of the fixing plates to be concave inwards, the outer surfaces of the fixing plates to be convex outwards, the waist assembly conforms to the human bionics, after a user wears the waist assembly, the fixing plates 210 can be tightly attached to the hip and the hip of the human body, and the stability of the device wearing is guaranteed. The mounting plate 220 has been set firmly in the outside of fixed plate 210, and helping hand subassembly 400 is connected on mounting plate 220, and the one end of two helping hand subassemblies 400 all is connected with bracing piece 530, and its other end is connected with shank subassembly 300, and bracing piece 530 can rotate relative helping hand subassembly 400, is convenient for the human body to bow the action. In the process of carrying the human body by bending over, the power assisting component 400 stores power, and in the process of the human body from bending over to standing up, the power assisting component 400 releases energy, so as to provide power for the standing up process of the human body, assist the human body to carry up the object, lighten the load bearing of the waist of the user in the carrying process and avoid damage.
Referring to fig. 3, the booster assembly 400 includes a spring 420, a cam 430 and a wheel 440, the edge of the cam 430 is an arc with gradually changing radius, the arc includes a concave arc 431 and a convex arc 432 which are seamlessly connected, the connection radius of the concave arc 431 and the center of the cam 430 is smaller, and the connection radius of the convex arc 432 and the center of the cam 430 is larger. The rotating wheel 440 is contacted with the edge of the cam 430 and can rotate along the edge of the cam 430, the rotating wheel 440 is connected with the spring 420 through a connecting piece, when a human body bends down, the rotating wheel 440 rotates from the concave arc 431 to the convex arc 432, the cam 430 presses the rotating wheel 440 so that the rotating wheel 440 presses the spring 420 to compress, and at the moment, the spring 420 stores the force; when the human body is lifted vertically, the rotating wheel 440 rotates from the convex arc 432 to the concave arc 431, the rotating wheel 440 does not press the spring 420 any more, the spring 420 stretches and rebounds and releases the elastic force accumulated in the compression process, and the assistance is provided for the human body in the vertical process.
Specifically, the power assisting component 400 further includes a fixing base 460 and a mounting base 470, two ends of the spring 420 are respectively connected with the fixing base 460 and the mounting base 470, and the rotating wheel 440 is mounted on the mounting base 470 and can rotate relative to the mounting base 470. The power assisting component 400 further comprises a mounting shell 410, and the spring 420, the fixing seat 460 and the mounting seat 470 are all positioned in the mounting shell 410; the installation shell 410 is further provided with a cam shaft 450, the cam 430 passes through the cam shaft 450 and can rotate relative to the cam shaft 450, when a human body bends or stands upright, the cam 430 is driven to rotate relative to the cam shaft 450, so that the rotating wheel 440 is switched between the convex arc 432 and the concave arc 431, the installation seat 470 is caused to generate position change, and further compression and extension of the spring 420 are realized.
Preferably, the power assisting component 400 in this embodiment further includes a connecting rod 480, two ends of the connecting rod 480 are respectively connected with the supporting rod 530 and the cam 430, and the connecting rod 480 and the cam 430 can rotate relatively, so that the legs of the human body can bend and stretch outwards by a certain angle, the movable range of the legs is enlarged, and the user can bend and carry conveniently. Preferably, the rotational direction of the connecting rod 480 relative to the cam 430 is perpendicular to the rotational direction of the cam 430 relative to the cam shaft 450.
Referring to fig. 4, the leg assembly 300 includes a leg shield 310 and a fixing rod 320, the fixing rod 320 is bent in an L shape, one end of the fixing rod 320 is connected with the mounting case 410, the other end is connected with the leg shield 310, the leg shield 310 is in a thin plate shape, and an inner wall thereof is concaved outwards, so that an inner surface of the leg shield 310 is attached to a thigh of a user, the thigh is supported, and when a human body is bent and erected, the cam 430 can rotate relative to the cam shaft 450 due to the supporting effect of the leg assembly 300, thereby realizing the extension and retraction of the spring 420.
Referring to fig. 5, the chest assembly 100 includes a chest baffle 110 and a support plate 120, the chest baffle 110 and the support plate 120 being connected by a fixed shaft 130, the chest baffle 110 being closely attached to the chest of a user for supporting the chest when the user is stood down or upright. Preferably, a ball bearing is further disposed between the support plate 120 and the fixed shaft 130, so that the support plate 120 can rotate relative to the fixed shaft 130, thereby facilitating the human body to tilt left and right or adjust the legs back and forth; the ends of the two support rods 530 are respectively connected to both sides of the support plate 120, and the straps 510 between the chest unit 100 and the waist unit 200 are respectively connected between the chest baffle 110 and the fixing plate 210.
Example 2
Unlike embodiment 1, the two ends of the connecting rod 480 in this embodiment are respectively connected with the supporting rod 530 and the fixing seat 460, and the cam 430 is connected with the leg assembly 300, so that when the legs of the user move forward and backward, the cam 430 can be driven to rotate, thereby realizing compression and extension of the spring 420, the connecting rod 480 is rotationally connected with the fixing seat 460, and can also rotate with each other, so that the legs of the user can flex outwards, the installation flexibility of the power assisting assembly 400 is increased, and the structure is simple, and the use is convenient and quick.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (5)
1. The waist exoskeleton power assisting device is characterized by comprising a chest component, a waist component and a power assisting component, wherein the power assisting component is arranged on the waist component, the power assisting component is connected with the chest component through a supporting rod and comprises a first rotating wheel, a second rotating wheel and a spring, the second rotating wheel is connected with the spring and is in contact with the edge of the first rotating wheel, the edge of the first rotating wheel comprises an arc-shaped concave part and an arc-shaped convex part, and the second rotating wheel can move along the edge of the first rotating wheel and drive the spring to stretch; when a human body bends down and presses down, the first rotating wheel rotates from the arc of the concave part to the arc of the convex part, the convex part presses the second rotating wheel to enable the second rotating wheel to press the spring to compress, and the spring stores force; when the human body is vertically lifted, the first rotating wheel rotates from the arc of the convex part to the arc of the concave part, the second rotating wheel does not press the spring any more, the spring stretches and rebounds and releases the elastic force accumulated in the compression process of the spring, and the assistance is provided for the vertical process of the human body;
the power assisting assembly further comprises a fixed shell and a rotating shaft, the rotating shaft is arranged on the fixed shell, and the first rotating wheel penetrates through the rotating shaft and can rotate relative to the rotating shaft;
the power assisting assembly further comprises a fixed seat and an installation seat, two ends of the spring are respectively connected with the fixed seat and the installation seat, and the second rotating wheel is rotationally connected with the installation seat;
The power assisting assembly further comprises a connecting rod, one end of the connecting rod is connected with the supporting rod, and the other end of the connecting rod is connected with the first rotating wheel or the fixing seat and can rotate relative to the first rotating wheel or the fixing seat;
The rotating direction of the connecting rod relative to the first rotating wheel or the fixed seat is vertical to the rotating direction of the first rotating wheel relative to the rotating shaft;
The chest component comprises a chest baffle, a supporting plate and a fixed shaft, wherein the fixed shaft penetrates through the chest baffle and the supporting plate, a ball bearing is arranged between the supporting plate and the fixed shaft so that the supporting plate can rotate relative to the fixed shaft, and two ends of the supporting rod are respectively connected with the supporting plate and the power assisting component.
2. The lumbar exoskeleton power assist device of claim 1, wherein the lumbar assembly comprises two fixing plates, the fixing plates are bent to form a concave surface on an inner wall thereof, and the power assist assembly is mounted on an outer side of the fixing plates.
3. The waist exoskeleton power assisting device according to claim 2, wherein a binding band is arranged between the chest baffle and the fixing plate and between the two fixing plates, and detachable eye-splice is arranged on the binding band.
4. A lumbar exoskeleton power assist device as claimed in any one of claims 1 to 3, further comprising a leg assembly including a leg guard and a securing rod, the securing rod being connected at both ends to the power assist assembly and leg guard respectively.
5. The lumbar exoskeleton power assist device of claim 4 wherein the power assist assembly and the leg assembly are both two and symmetrically distributed with respect to the chest assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348220.8A CN109333511B (en) | 2018-11-13 | 2018-11-13 | Waist exoskeleton power assisting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348220.8A CN109333511B (en) | 2018-11-13 | 2018-11-13 | Waist exoskeleton power assisting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109333511A CN109333511A (en) | 2019-02-15 |
| CN109333511B true CN109333511B (en) | 2024-07-19 |
Family
ID=65315114
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811348220.8A Active CN109333511B (en) | 2018-11-13 | 2018-11-13 | Waist exoskeleton power assisting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109333511B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112873178B (en) * | 2021-01-19 | 2024-07-09 | 淮北冬傲信息技术有限公司 | Waist exoskeleton for carrying assistance and control system thereof |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104853712A (en) * | 2012-12-14 | 2015-08-19 | 国立大学法人名古屋工业大学 | Walking assistance machine |
| WO2017109198A1 (en) * | 2015-12-24 | 2017-06-29 | Safran Electronics & Defense | Foot portion for an exoskeleton structure |
| CN107150335A (en) * | 2017-07-19 | 2017-09-12 | 深圳龙海特机器人科技有限公司 | Wearable robot |
| CN209190768U (en) * | 2018-11-13 | 2019-08-02 | 深圳市迈步机器人科技有限公司 | A kind of waist ectoskeleton power assisting device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007097636A (en) * | 2005-09-30 | 2007-04-19 | Matsushita Electric Ind Co Ltd | Muscular strength assisting apparatus |
| CN106493715B (en) * | 2016-12-20 | 2019-02-05 | 东南大学 | A kind of exoskeleton device suitable for exposure suit support |
-
2018
- 2018-11-13 CN CN201811348220.8A patent/CN109333511B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104853712A (en) * | 2012-12-14 | 2015-08-19 | 国立大学法人名古屋工业大学 | Walking assistance machine |
| WO2017109198A1 (en) * | 2015-12-24 | 2017-06-29 | Safran Electronics & Defense | Foot portion for an exoskeleton structure |
| CN107150335A (en) * | 2017-07-19 | 2017-09-12 | 深圳龙海特机器人科技有限公司 | Wearable robot |
| CN209190768U (en) * | 2018-11-13 | 2019-08-02 | 深圳市迈步机器人科技有限公司 | A kind of waist ectoskeleton power assisting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109333511A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107309867B (en) | Lower limb assistance exoskeleton based on gravity support | |
| CN109623782B (en) | Wearable power-assisted exoskeleton robot | |
| CN103892943B (en) | Active/passive is in conjunction with the flexible lower limb exoskeleton of force booster type | |
| CN108247618B (en) | Lower limb exoskeleton capable of reducing load of back and knee joint | |
| CN106491319A (en) | A kind of wearable knee joint power-assisting robot | |
| CN106420277B (en) | A kind of Portable flexible walking auxiliary equipment | |
| JP6804656B2 (en) | Human body flexion / extension assist device using elastic body | |
| CN109571434B (en) | Unpowered lower limb exoskeleton robot | |
| CN108044607A (en) | A kind of ectoskeleton power-assisting robot | |
| CN109909983A (en) | A kind of adjustable accumulation of energy waist hip ectoskeleton | |
| CN109333511B (en) | Waist exoskeleton power assisting device | |
| WO2023115334A1 (en) | Wearable lower limb weight-bearing power-assisted exoskeleton robot with hip and knee active drive | |
| CN109318215B (en) | Waist exoskeleton robot | |
| CN207747043U (en) | A kind of ectoskeleton power-assisting robot | |
| CN112388610B (en) | Unpowered exoskeleton loading device | |
| CN204379701U (en) | Recovery exercising robot | |
| CN209190768U (en) | A kind of waist ectoskeleton power assisting device | |
| CN214285780U (en) | Adjustable wearable power-assisted mechanical exoskeleton | |
| CN210757712U (en) | Upper limb lifting power assisting device | |
| CN110464606B (en) | Wearable lower limb walking assisting exoskeleton imitating human knee joint motion curve | |
| CN214604355U (en) | Waist boosting device with displacement monitoring function | |
| CN212193151U (en) | Waist assistance exoskeleton robot | |
| CN210170409U (en) | Waist exoskeleton system | |
| CN215660243U (en) | Binding band structure of unpowered waist power assisting device | |
| CN212326878U (en) | Exoskeleton flexible hip joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |