Underground coal mine skeleton assisting equipment
By designing a bone-assisted equipment for coal mines, using pneumatic muscle storage and feedback to solve the physical consumption and lumbar spine damage problems of underground workers when lifting weights, achieving explosion-proof, simple operation and low failure rate .
Patent Information
- Application Number
- CN202310982463.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-08-07
- Publication Date
- 2025-02-21
AI Technical Summary
The existing power robot equipment needs to be explosion-proof when used underground in coal mines and is complex in operation and is prone to failure. It cannot effectively solve the physical exhaustion and lumbar spine and spinal injuries of underground workers when lifting heavy objects.
A coal mine underground bone assist equipment is designed, using pneumatic muscles as driving elements, and the human body's gravity potential energy is stored through the stretching of pneumatic muscles during the flexion, and the output assist is feedback during the stretching process, reducing the physical consumption of lifting weights in the human body. .
The equipment is driven by pneumatic muscles, avoids the use of power supplies, solves the explosion-proof problem, and through simple structural design, it reduces the incidence of mechanical transmission failures, effectively reduces the physical consumption of workers when working underground, and protects the lumbar spine and spine .
Smart Images
Figure CN119489423A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of coal mine equipment, and in particular to a skeletal power-assisting device for underground coal mines. Background Art
[0002] Due to the influence of space and environment, some loading and unloading work in coal mines cannot use mechanical equipment, such as loading and unloading rails, belt racks and other heavy objects. This kind of lifting work not only increases the work intensity of workers and greatly consumes physical strength, but also long-term high-intensity lifting work like this will cause damage to the lumbar vertebrae, spine and knees of underground workers.
[0003] The current power-assisted robot equipment follows the operator's intention when moving, and reliable human-machine collaborative control is required to ensure that the exoskeleton can maintain a coordinated movement rhythm with the operator and provide assistance in a timely manner through the motor. However, the underground working environment is harsh, with large noise disturbances, and the use of power equipment must be explosion-proof. In addition, the use of power-assisted robot equipment in mines is complicated and prone to failure. Summary of the invention
[0004] In order to solve the problem in the prior art that power-assisting robot equipment needs to be explosion-proof when used in coal mines and is complicated to operate and prone to malfunction, the present invention provides a skeletal power-assisting equipment for underground coal mines.
[0005] The technical solution of the present invention is achieved in this way: A skeletal assisting device for underground coal mines, comprising a skeletal support, pneumatic muscles, a shoulder strap support, a hip joint frame, a joint connecting rod, a leg guard support plate and a thigh guard plate, the skeletal support is V-shaped, pneumatic muscles are respectively arranged on both sides of the skeletal support, the pneumatic muscles are initially in a contracted state, the top of the skeletal support is hinged to the shoulder strap support, the shoulder strap support rotates along the central axis of the skeletal support, and the shoulder straps are respectively arranged at the two bottom ends of the shoulder strap support and the skeletal support; The two bottom ends of the skeletal support are respectively connected to the hindquarter joint frames, each hindquarter joint frame is hinged to a joint connecting rod, each joint connecting rod is connected to a leg guard support plate through a torsion spring mechanism, the two leg guard supports are arranged opposite to each other, each leg guard support plate is hinged to a thigh guard plate, the thigh guard plate is perpendicular to the leg guard support plate and rotates along the axial direction of the leg guard support plate, and each thigh guard plate is provided with a thigh strap to fix the thigh guard plate to the thigh.
[0006] Preferably, the skeletal support includes a V-shaped support plate and a pneumatic support, the V-shaped support plate is provided with a plurality of hollow holes and connecting holes, the two sides of the V-shaped support plate are respectively connected to the pneumatic supports, and the pneumatic supports are used to connect the pneumatic muscles; the top end of the V-shaped support plate is hinged to the shoulder strap support.
[0007] Preferably, the shoulder joint frame includes a connecting bracket and a joint guard plate, the top of the connecting bracket is set as a triangular groove and the bottom end is set as a U-shaped groove, the top of the triangular groove and the top of the U-shaped groove are set at an obtuse angle, the side plates of the triangular groove and the U-shaped groove are integrally arranged, and the outer side of one side of the U-shaped groove is an inverted L-notch; the joint guard plate is connected to the outer side of one side of the U-shaped groove and is limited by the inverted L-notch; the triangular groove of the connecting bracket is fixed to the bottom end of the V-shaped support plate, and the U-shaped groove is hinged to the joint connecting rod.
[0008] Preferably, the joint connecting rod includes an inner connecting rod and an outer connecting rod, the inner connecting rod and the outer connecting rod are connected with a gap in the middle; hinge holes are provided on the inner connecting rod and the outer connecting rod, and are connected to the two side plates of the U-shaped groove of the connecting bracket through a first pin shaft.
[0009] Preferably, the torsion spring mechanism comprises a connecting shaft, a rotating block, a first support plate and a second support plate, the bottom end of the rotating block is provided with a bottom U-shaped notch, the top end is provided with a top U-shaped notch, the bottom U-shaped notch and the top U-shaped notch are perpendicular to each other, the first support plate and the second support plate are arranged at intervals, are located in the top U-shaped notch and are fixed to both sides thereof, the first support plate and the second support plate are located on the inner side of the inner connecting rod and the outer connecting rod, and are connected by a second pin shaft; The top of the leg guard support plate is provided with a top connecting groove, the rotating block is embedded in the top connecting groove, the connecting shaft passes through both sides of the bottom U-shaped notch and is hinged to the top connecting groove, and the leg guard support plate can swing inwards and outwards.
[0010] Preferably, a waist strap is provided between the two bottom ends of the V-shaped support plate.
[0011] Preferably, the thigh guard is configured to be semi-elliptical in shape, and a pair of hollow long holes is provided on the thigh guard.
[0012] Preferably, the skeletal support and the hip joint support are covered with a cushioning fabric.
[0013] Preferably, a plastic steel wheel body is arranged between the first support plate and the second support plate, and the plastic steel wheel body is sleeved on the second pin shaft.
[0014] The beneficial effects of the present invention are as follows: the coal mine underground skeletal power-assisting equipment of the present invention uses pneumatic muscles as a drive to avoid the use of power supply and solve the explosion-proof problem; the overall structure is simple to use, easy to operate, and the incidence of mechanical transmission failure is low. The shoulder strap between the shoulder strap support and the skeletal support is used to fix on the back. The shoulder strap support is hinged to the skeletal support to facilitate movement or force. The skeletal support fits the human back and takes on the main force transmission function. The pneumatic muscles are located on both sides of the skeletal support and are in the original state of inflation and contraction. When a person lifts heavy objects, the body flexes and the gravitational potential energy of the body is stored by stretching the pneumatic muscles. When the body resumes the stretching process, the pneumatic muscles are fed back to output assistance to reduce the physical strength consumed by the body in lifting heavy objects. The hip joint frame acts as a fulcrum to transmit the pulling force to the buttocks and thighs. The joint connecting rod plays a role in force transmission and at the same time adds a degree of freedom by imitating the human body, thereby enhancing the redundancy capacity of the hip joint. The torsion spring mechanism makes the leg guard support plate swing more conveniently for wearing. The leg guard support plate and the thigh guard plate transmit the pulling force to the thigh, effectively dispersing the pressure on the human lumbar vertebrae and spine when under force. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0016] Figure 1 This is a schematic structural diagram of a skeletal assistance device for underground coal mines according to the present invention; Figure 2 for Figure 1 A schematic diagram of the structure of the bone scaffold shown; Figure 3 for Figure 1 Schematic diagram of the structure of the hip joint frame shown.
[0017] In the figure: 1. Skeletal support; 2. Pneumatic muscle; 3. Strap support; 4. Shoulder joint frame; 5. Joint connecting rod; 6. Leg guard support plate; 7. Thigh guard plate; 8. Torsion spring mechanism; 9. Plastic steel wheel body; 11. V-shaped support plate; 12. Pneumatic support; 41. Triangular groove; 42. U-shaped groove; 43. Inverted L-shaped notch; 44. Joint guard plate; 81. Connecting shaft; 82. Rotating block; 83. First support plate; 84. Second support plate. Implementation
[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0019] Example: Figure 1 The coal mine underground skeleton power-assisting equipment shown in the figure comprises a skeleton support 1, a pneumatic muscle 2, a shoulder strap support 3, a hip joint frame 4, a joint connecting rod 5, a leg guard support plate 6 and a thigh guard plate 7. The skeleton support 1 is V-shaped, and pneumatic muscles 2 are respectively arranged on both sides of the skeleton support 1. The top of the skeleton support 1 is hinged with a shoulder strap support 3, and the shoulder strap support 3 rotates along the central axis of the skeleton support 1, that is, the vertical axis. The shoulder strap support 3 and the two bottom ends of the skeleton support 1 are respectively provided with shoulder straps, and the two shoulder straps are connected to the skeleton support 1 through the front side of the body. It is more convenient to carry on the back; the two bottom ends of the skeletal support 1 are respectively connected to the hamstring joint frames 4, and the two hamstring joint frames 4 are located on both sides of the hamstring joint of the human body for protection. Each hamstring joint frame 4 is hinged to a joint connecting rod 5, and each joint connecting rod 5 is connected to a leg guard support plate 6 through a torsion spring mechanism 8. The two leg guard supports 6 are arranged opposite to each other, and each leg guard support plate 6 is hinged to a thigh guard plate 7, which is perpendicular to the leg guard support plate 6 and rotates along the axial direction of the leg guard support plate 6. Each thigh guard plate 7 is provided with a thigh strap to fix the thigh guard plate at the thigh.
[0020] The hip joint frame is the support point for the upper and lower parts of the body. The joint connecting rod plays a role in force transmission, which can effectively improve the redundancy of the hip joint and prevent the human body from squatting incompletely or causing singular points. The two leg guards are located on the outside of the two legs. The two leg guards can be swung through the torsion spring mechanism, making it easy to open the leg guards for wearing. The pneumatic muscle is produced by the German FESTO company and is a driving element. It is used in mines to avoid the use of power supply and solve the problem of explosion-proof.
[0021] like Figure 1 and Figure 2 As shown, the skeleton support 1 includes a V-shaped support plate 11 and a pneumatic support 12. The V-shaped support plate 11 is provided with a plurality of hollow holes and connecting holes. The two sides of the V-shaped support plate 11 are respectively connected to the pneumatic support 12, and the pneumatic support 12 is used to connect the pneumatic muscles; the top of the V-shaped support plate 11 is hinged to the shoulder strap support 3. The V-shaped support plate is provided with a plurality of hollow holes to reduce the weight, a part of the connecting holes is used to connect the pneumatic support, and a part of the connecting holes is used to connect the shoulder strap and the waist strap. The shoulder strap is used to limit the skeleton support to the back of the human body, and the waist strap is used to apply force to the waist.
[0022] like Figure 1 and Figure 3As shown, the humerus joint frame 4 includes a connecting bracket and a joint guard plate. The top of the connecting bracket is set as a triangular groove 41 and the bottom is set as a U-shaped groove 42. The top of the triangular groove 41 and the top of the U-shaped groove 42 are set at an obtuse angle. The triangular groove and the side plate of the U-shaped groove are set as one body. The outer side of one side of the U-shaped groove is an inverted L-shaped notch 43; the joint guard plate 44 is connected to the outer side of one side of the U-shaped groove and is limited by the inverted L-shaped notch; the triangular groove of the connecting bracket is fixed to the bottom end of the V-shaped support plate, and the U-shaped groove is hinged to the joint connecting rod. The humerus joint frame serves as a supporting point connecting the upper and lower parts, and there is an angle between its top and bottom ends to adapt to human activities.
[0023] The joint link 5 includes an inner link and an outer link, which are connected with each other and have a gap in between; hinge holes are provided on the inner link and the outer link, and are connected with the two side plates of the U-shaped groove of the connecting bracket through the first pin shaft. The joint link increases the degree of freedom and improves the redundancy of the joint part of the humerus.
[0024] like Figure 1 As shown, the torsion spring mechanism 8 includes a connecting shaft 81, a rotating block 82, a first support plate 83 and a second support plate 84. The bottom end of the rotating block 82 is provided with a bottom U-shaped notch, and the top end is provided with a top U-shaped notch. The bottom U-shaped notch and the top U-shaped notch are perpendicular to each other. The first support plate 83 and the second support plate 84 are arranged at intervals, located in the top U-shaped notch and fixed to both sides thereof. The first support plate 83 and the second support plate 84 are located on the inner side of the inner connecting rod and the outer connecting rod and are connected by a second pin shaft; a top connecting groove is provided on the top of the leg guard support plate 6, and the rotating block is embedded in the top connecting groove. The connecting shaft 81 passes through both sides of the bottom U-shaped notch and is hinged to the top connecting groove. The leg guard support plate 6 can swing inwards and outwards for easy wearing and movement.
[0025] like Figure 1 As shown, the thigh guard 7 is set in a semi-elliptical shape, and a pair of hollow long holes are set on the thigh guard, which can reduce weight and facilitate the installation of buffer fabric. A plastic steel wheel body 9 is set between the first support plate and the second support plate, and the plastic steel wheel body 9 is sleeved on the second pin shaft. The plastic steel wheel body passes the steel wire rope and plays the role of a fixed pulley.
[0026] Cushioning fabrics are placed on the bone support and the hip joint frame to increase the comfort after wearing. Cushioning fabrics can also be placed on the thigh guard to prevent it from being hurt during use.
[0027] The coal mine underground skeleton power-assisting equipment of the present invention does not use electricity but uses pneumatic artificial muscles as driving elements, which is suitable for various environments in coal mines and solves the problem of explosion prevention. When workers are loading and unloading heavy objects such as rails and belt racks, they wear the coal mine underground skeleton power-assisting equipment of the present invention on their bodies, use the stretching of pneumatic muscles in flexion to store the gravitational potential energy of the human body, and then feedback and output power assistance during the human body's recovery and extension process, and apply upward pulling force to the back and legs. The waist strap keeps its position unchanged during the human body's bending process, ensuring the appropriate pulling force of the skeleton support on the human body's shoulders, and at the same time transmitting the reaction force to the human body's legs to save physical strength. The thigh strap not only helps to provide power assistance during bending work, but also protects the human lumbar spine by physical means of generating reverse pressure on the waist. When workers lift things and walk, it helps them keep their waists upright, maintains the natural posture of the spine, and reduces the risk of occupational diseases in the waist. The coal mine underground skeleton power-assisting equipment of the present invention uses ergonomics to share part of the force that is prone to joint strain to the body's muscle groups.
[0028] The coal mine underground skeleton power assisting equipment of the present invention can be repeatedly used after being inflated each time, and can also be used by artificial inflation. It is safe and reliable, and has high practicality and reliability in the operation of coal miners.
[0029] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims
1. A skeleton-assisting device for underground coal mines, characterized in that: It includes a skeleton support, pneumatic muscles, a shoulder strap support, a hip joint frame, a joint connecting rod, a leg guard support plate and a thigh guard plate. The skeleton support is V-shaped. Pneumatic muscles are respectively arranged on both sides of the skeleton support. The pneumatic muscles are initially in a contracted state. The top of the skeleton support is hinged to the shoulder strap support. The shoulder strap support rotates along the central axis of the skeleton support. The shoulder strap support and the two bottom ends of the skeleton support are respectively provided with shoulder straps. The two bottom ends of the skeletal support are respectively connected to the hindquarter joint frames, each hindquarter joint frame is hinged to a joint connecting rod, each joint connecting rod is connected to a leg guard support plate through a torsion spring mechanism, the two leg guard supports are arranged opposite to each other, each leg guard support plate is hinged to a thigh guard plate, the thigh guard plate is perpendicular to the leg guard support plate and rotates along the axial direction of the leg guard support plate, and each thigh guard plate is provided with a thigh strap to fix the thigh guard plate to the thigh.
2. The coal mine underground skeleton assistance equipment according to claim 1, characterized in that: The skeleton support includes a V-shaped support plate and a pneumatic support. The V-shaped support plate is provided with a plurality of hollow holes and connecting holes. The two sides of the V-shaped support plate are respectively connected to the pneumatic supports, and the pneumatic supports are used to connect the pneumatic muscles. The top end of the V-shaped support plate is hinged to the shoulder strap support.
3. The coal mine underground skeleton assistance equipment according to claim 2, characterized in that: The shoulder joint frame includes a connecting bracket and a joint guard plate. The top of the connecting bracket is set as a triangular groove and the bottom end is set as a U-shaped groove. The top of the triangular groove and the top of the U-shaped groove are set at an obtuse angle. The side plates of the triangular groove and the U-shaped groove are set integrally, and the outer side of one side of the U-shaped groove is an inverted L-notch; the joint guard plate is connected to the outer side of one side of the U-shaped groove and is limited by the inverted L-notch; the triangular groove of the connecting bracket is fixed to the bottom end of the V-shaped support plate, and the U-shaped groove is hinged to the joint connecting rod.
4. The coal mine underground skeleton assistance equipment according to claim 3, characterized in that: The joint connecting rod comprises an inner connecting rod and an outer connecting rod, the inner connecting rod and the outer connecting rod are connected with a gap in the middle; hinge holes are arranged on the inner connecting rod and the outer connecting rod, and are connected with two side plates of the U-shaped groove of the connecting bracket through a first pin shaft.
5. The coal mine underground skeleton assistance equipment according to claim 4, characterized in that: The torsion spring mechanism includes a connecting shaft, a rotating block, a first support plate and a second support plate, wherein the bottom end of the rotating block is provided with a bottom U-shaped notch, and the top end is provided with a top U-shaped notch, the bottom U-shaped notch and the top U-shaped notch are perpendicular to each other, the first support plate and the second support plate are arranged at intervals, are located in the top U-shaped notch and are fixed to both sides thereof, the first support plate and the second support plate are located on the inner side of the inner connecting rod and the outer connecting rod, and are connected by a second pin shaft; The top of the leg guard support plate is provided with a top connecting groove, the rotating block is embedded in the top connecting groove, the connecting shaft passes through both sides of the bottom U-shaped notch and is hinged to the top connecting groove, and the leg guard support plate can swing inwards and outwards.
6. The underground coal mine skeleton assistance equipment according to claim 4, characterized in that: A waist strap is arranged between the two bottom ends of the V-shaped supporting plate.
7. The coal mine underground skeleton assistance equipment according to claim 4, characterized in that: The thigh guard is arranged in a semi-elliptical shape and is provided with a pair of hollow long holes.
8. The coal mine underground skeleton assistance equipment according to claim 5, characterized in that: The bone support and the hip joint support are sleeved with buffer fabric.
9. The coal mine underground skeleton assistance equipment according to claim 5, characterized in that: A plastic steel wheel body is arranged between the first support plate and the second support plate, and the plastic steel wheel body is sleeved on the second pin shaft.