Exoskeleton device for carrying assistance

Abstract

The invention relates to the field of service robots, and discloses an exoskeleton device for carrying assistance. The device comprises an upper limb structure, a back plate structure, a hip bone structure, a lower limb structure and an ankle structure; the upper limb structure is connected with the back plate structure, the back plate structure is connected with the hip bone structure through a rotating shaft, the hip bone structure is connected with the lower limb structure, the lower limb structure is connected with the ankle structure, the back plate structure comprises a back plate, a shoulder joint pulley is fixed on the back plate, and a waist power-assisting motor system is fixedly arranged on the back plate; and the back plate is hinged to the hip bone structure. According to thedevice, the problem that in a traditional exoskeleton squatting process, the man-machine matching performance is poor is solved; by means of a waist power assisting device, protection on an operator is further enhanced; and according to the designed upper limb structure, a steel wire rope is driven by an electric cylinder to replace a Bowden cable driving mode, and the power assisting efficiency is improved.

Description

technical field [0001] The invention relates to the field of service robots, in particular to an exoskeleton device for assisting in transportation. Background technique [0002] With the development of the logistics industry, there are a large number of logistics employees who do not have good physical protection due to their heavy work intensity. Many workers suffer from diseases such as tenosynovitis and lumbar disc herniation. Therefore, it is imminent to protect the limbs and joints of logistics employees. Moving is the most common action used by logistics practitioners. Usually, objects are lifted from the ground and carried with them for a certain distance and then placed in a certain location. [0003] For example, the National Patent Publication Document CN110842893A discloses the "Gait Discrimination Method, Device and System for Carrying Exoskeleton". The invention includes obtaining a predetermined number of samples collected in the initial standing state. Each s...

AI Technical Summary

Problems solved by technology

This invention focuses on the control and sensing design of the transport exoskeleton, but does not involve the force analysis and structural design of the transport exoskeleton

[0004] In addition, the existing assisted upper extremity exoskeleton does not consider the situation that the back does not fit the back panel of the exoskeleton due to the bending of the waist when carrying the load. Such working conditions will cause the distance between the operator and the back panel of the exoskeleton to increase, and And because the back panel is usually fixedly connected to the shoulder joint of the upper limb, it will cause the upper limb exoskeleton to slip with the upper limb, which will affect the wearing comfort and the accuracy of the power assist will be greatly affected

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