Passive exoskeleton robot for elderly health and emergency rescue escape
By using high-strength, low-density materials and optimized structural design in passive exoskeleton robots, the problems of single functions and inconvenient wear are solved, and light and convenient multi-functional use and efficient escape support are achieved, which improves the elderly and trapped people. convenience and safety of life.
Patent Information
- Application Number
- CN202420551317.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-03-21
- Publication Date
- 2024-12-13
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing passive exoskeleton robot has a single function, a narrow audience, a large device quality, inconvenient wear, weak temperature bearing capacity during fire, lack of advanced functions, and poor comfort.
A passive exoskeleton robot for elderly health and emergency rescue escape was designed. It uses high-strength, low-density materials such as carbon fiber composite materials to optimize structural design, increase the ring-shaped fixed position, reduce weight and friction, and is equipped with a driving motor and sensor and fire protection devices, providing diverse functions and efficient escape support.
It realizes light, convenient, safe and efficient multi-functional use, solves the escape problems of the elderly and trapped people, improves market prospects and user experience, and provides a wide range of emergency rescue and convenience of daily life.
Smart Images
Figure CN222155582U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of passive exoskeleton robots, and more specifically, to a passive exoskeleton robot for elderly health and emergency rescue and escape. Background Art
[0002] The existing passive exoskeleton robots have relatively simple functions and can only meet the use of special scenarios. When users use passive exoskeleton robots, it is often inconvenient to wear them, and the functions are limited by the scene. In order to overcome the problems of the existing passive exoskeleton technology in narrow audience, large device weight, inconvenient to wear, weak heat bearing capacity during fire, lack of advanced functions, and comfort, this application proposes a passive exoskeleton emergency rescue robot suitable for multiple scenarios. Utility Model Content
[0003] An object of the present invention is to solve at least the above problems and to provide at least the advantages which will be described below.
[0004] Another object of the utility model is to provide a passive exoskeleton robot for elderly health and emergency rescue and escape.
[0005] In order to achieve these purposes and other advantages of the utility model, the following technical solutions are provided:
[0006] A passive exoskeleton robot for elderly health and emergency rescue and escape, comprising:
[0007] Two guard arms, both of which are arranged opposite to each other in a horizontal direction;
[0008] A back shell, comprising two back support rods, a support column and two reinforcement plates, wherein the two back support rods are detachably arranged on two guard arms in the vertical direction and are located on the same side, the support column is arranged in the vertical direction and is located between the two back support rods, and the two reinforcement plates are arranged at the upper and lower ends of the two back support rods in the horizontal direction and are located on one side of the two back support rods;
[0009] A waist and back support, comprising a back pad, an airbag and an equipment holder, wherein the back pad is arranged on the two back support rods and the support column and is located on the other side of the back support rod, the airbag is arranged between the back pad and the two back support rods, and the equipment holder comprises two straps pulled by the back shell to the lower part thereof, wherein a heat insulation part is arranged inside the airbag and the heat insulation part is wrapped with a fireproof cloth;
[0010] Two leg guards, each leg guard comprises a thigh support rod connected to the waist and back support through a hip joint, a calf support rod connected to the lower end of the thigh support rod through a knee joint, and a foot pedal connected to the lower end of the calf support rod through an ankle reinforcement joint, wherein each leg guard is provided with a heat absorbing part and a hook.
[0011] Preferably, the passive exoskeleton robot for elderly health and emergency rescue and escape further comprises:
[0012] The driving motor is arranged on the outside of the thigh support rod, and the first power switch of the driving motor is arranged on the inner surface of the foot pedal. When the first power switch is subjected to pressure, the driving motor drives the thigh support rod to be lifted to perform walking action.
[0013] Preferably, in the passive exoskeleton robot for elderly health and emergency rescue and escape, a second power switch is provided on the inner side of the knee joint.
[0014] Preferably, the passive exoskeleton robot for elderly health and emergency rescue and escape further comprises:
[0015] Two first leg fixers are arc-shaped, and one first leg fixer is respectively arranged on the two calf support rods;
[0016] Two second leg fixers are arc-shaped, and one second leg fixer is respectively arranged on the two thigh support rods;
[0017] Two first support rods, two ends of each first support rod are respectively connected to the first leg fixer and the second leg fixer on the same side, wherein the knee joint is located between the first leg fixer and the second leg fixer on the same side, and the knee joint is also connected to the first support rod on the same side;
[0018] Two second support rods, the lower end of each second support rod is respectively connected to the second leg fixer.
[0019] Preferably, in the passive exoskeleton robot for elderly health and emergency rescue and escape, the waist and back support is also equipped with:
[0020] A waist adjuster, the upper end of which is mounted on the lower end of the back shell, and the waist adjuster is arc-shaped;
[0021] A waist pad is installed below the waist adjuster, and both sides of the lower end of the waist pad are connected to the upper ends of the two second support rods through a hip joint respectively.
[0022] Preferably, in the passive exoskeleton robot for elderly health and emergency rescue and escape, the two arm guards respectively include a wrist joint, an elbow joint, a shoulder joint, a shoulder guard, an arm support rod, an arm fixer and a hand.
[0023] Preferably, in the passive exoskeleton robot for elderly health and emergency rescue and escape, force sensors are installed at the hands and elbow joints.
[0024] The utility model at least has the following beneficial effects:
[0025] The passive exoskeleton device of the utility model has the functions of emergency rescue and escape for special audiences, and also incorporates the functions of daily walking, climbing stairs, crossing obstacles, etc. It is light, convenient, safe and efficient, and solves the problems of trapped people being unable to escape during a fire and people with mobility impairments being unable to walk. It has a wide audience, brings great convenience to the lives of disadvantaged groups, and has broad market prospects.
[0026] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through research and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS
[0027] Figure 1 This is a schematic diagram of the overall structure of a passive exoskeleton robot used for elderly health and emergency rescue and escape in one of the schemes of the utility model.
[0028] Figure 2 This is a side structural schematic diagram of a passive exoskeleton robot used for elderly health and emergency rescue and escape in one of the schemes of the utility model.
[0029] Figure 3 This is a front structural schematic diagram of a passive exoskeleton robot used for elderly health and emergency rescue and escape in one of the schemes of the utility model.
[0030] Figure 4 The schematic diagram of the top view of the passive exoskeleton robot used for elderly health and emergency rescue and escape in one of the schemes of the utility model. DETAILED DESCRIPTION
[0031] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.
[0032] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.
[0033] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "set" should be understood in a broad sense. For example, it can be fixedly connected or set, or it can be detachably connected or set, or connected or set in one piece. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. The orientation or position relationship indicated by the terms "lateral", "longitudinal", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model.
[0034] In order to overcome the problems of passive exoskeleton in the prior art, such as narrow audience, large device weight, inconvenient to wear, weak heat bearing capacity in case of fire, lack of advanced functions, and lack of comfort, the utility model studies a passive exoskeleton device that is convenient for the elderly to wear, has advanced functions such as climbing stairs and escaping from fire, and provides comfort for the elderly, which has broad market prospects.
[0035] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present invention provides a passive exoskeleton robot for elderly health and emergency rescue and escape, comprising:
[0036] Two guard arms, both of which are arranged opposite to each other in a horizontal direction;
[0037] A back shell, comprising two back support rods 24, a support column 26 and two reinforcing plates (27, 28), wherein the two back support rods 24 are detachably arranged on two guard arms in the vertical direction and are located on the same side, the support column 26 is arranged in the vertical direction and is located between the two back support rods 24, and the two reinforcing plates (27, 28) are both arranged at the upper and lower ends of the two back support rods 24 in the horizontal direction and the two reinforcing plates (27, 28) are located on one side of the two back support rods 24;
[0038] A waist and back support, comprising a back pad 30, an airbag 29 and an equipment holder 17, wherein the back pad 30 is arranged on the two back support rods 24 and the support column 26 and is located on the other side of the back support rod 24, the airbag 29 is arranged between the back pad 30 and the two back support rods 24, the equipment holder 17 comprises two straps pulled to the lower part by the back shell, wherein the airbag 29 is provided with a heat insulation part; the waist and back support comprises the back shell. Preferably, the heat insulation part is composed of a high specific heat flexible solid material inside, and is wrapped with a layer of fireproof cloth made of heat insulation and flame retardant material outside.
[0039] Two leggings, each legging comprises a thigh support rod connected to the waist and back support through a hip joint 33, a calf support rod connected to the lower end of the thigh support rod through a knee joint 6, and a footrest 1 connected to the lower end of the calf support rod through an ankle reinforcement joint 2, wherein each legging is provided with a heat absorbing part (12, 13). Preferably, the heat absorbing part is made of a special high specific heat absorbing material, blue ice.
[0040] In the above scheme, as a preference, it also includes:
[0041] The driving motor is arranged on the outside of the thigh support rod, and the first power switch of the driving motor is arranged on the inner surface of the foot pedal 1. When the first power switch is subjected to pressure, the driving motor drives the thigh support rod to be lifted to perform walking action.
[0042] In the above scheme, as a preference, a second power switch is provided on the inner side of the knee joint 6. It can be arranged as required that when the knee is bent and touches the second power switch, the drive motor also enters a working or shut-down state.
[0043] In one solution of the present invention, preferably, it also includes:
[0044] Two first leg fixers 3, which are arc-shaped, and one first leg fixer 3 is respectively provided on the two calf support rods;
[0045] Two second leg fixers 7, which are arc-shaped, and one second leg fixer 7 is respectively provided on the two thigh support rods;
[0046] Two first support rods 4, both ends of each first support rod 4 are respectively connected to the first leg fixer 3 and the second leg fixer 7 on the same side, wherein the knee joint 6 is located between the first leg fixer 3 and the second leg fixer 7 on the same side, and the knee joint 6 is also connected to the first support rod 4 on the same side;
[0047] Two second support rods 8 , the lower end of each second support rod 8 is respectively connected to the second leg fixer 7 .
[0048] In the above scheme, as a preference, the waist and back support is also equipped with:
[0049] A waist adjuster 16, the upper end of which is mounted on the lower end of the back shell, and the waist adjuster 16 is arc-shaped;
[0050] The waist pad 9 is installed below the waist adjuster 16 , and both sides of the lower end of the waist pad 9 are connected to the upper ends of the two second support rods 8 through the hip joints 33 respectively.
[0051] In one of the schemes of the utility model, preferably, the two arm guards respectively include wrist joints (20, 21), elbow joints (22, 23), shoulder joints 25, shoulder guards, arm support rods (31, 32), arm fixers (18, 19) and hands (20, 21).
[0052] In the above scheme, preferably, force sensors are installed at the hands (20, 21) and the elbow joints (22, 23).
[0053] In one solution of the present invention, preferably, the arm guard, the back shell, the waist and back support and the leg guard are all made of carbon fiber composite materials.
[0054] The technical solution adopted by the utility model to solve its technical problems is: to improve the lightweight and durability of materials, and use high-strength, low-density materials, such as carbon fiber composite materials, to reduce the weight of the device and improve the wearing comfort. Passive exoskeleton devices are usually made of metal or other solid materials and are heavy. For the elderly, wearing such devices for a long time may cause discomfort and even increase their fatigue. In addition, the inappropriate shape of the exoskeleton device may reduce the elderly's willingness to use it. Therefore, we propose a new solution: optimize the structural design of the exoskeleton device, fix the wearing position of the elderly by adding a ring structure, make it convenient for the elderly to wear it by themselves, reduce redundant parts and connectors, reduce the weight of the device itself, improve the mechanical efficiency and human adaptability of the device, make it more ergonomic, and solve the problem of inconvenient wearing and comfort for the elderly. In addition to providing basic auxiliary functions, such as enhancing strength and balance. In addition, in an emergency, the device is assembled using a variety of connection methods, using gears to reduce the friction caused by its own parts, and self-starting more quickly, providing more diverse use functions such as climbing stairs, crossing narrow passages or jumping over obstacles.
[0055] In terms of fire escape, the utility model uses passive exoskeleton technology to provide power and support to the human body through a mechanical structure to help trapped people. The exoskeleton equipment is equipped with advanced autonomous navigation and sensing systems, which can monitor the surrounding environment and human body status in real time, and provide all-round escape and rescue support. Through technologies such as laser radar and infrared sensors, key indicators such as temperature and smoke concentration in the fire area are detected, and the best path planning is provided for escapees. In addition, the utility model equipment has a powerful power system to provide escapees with sufficient power and speed to help them escape from the fire scene quickly and safely. At the same time, the equipment optimizes load balance and walking stability to adapt to complex fire escape environments and avoid falling into unstable or dangerous situations. The passive exoskeleton equipment of the utility model adopts high-temperature refractory materials to protect escapees from harm from the heat source of the fire. The utility model also considers equipping itself with fire protection devices, and matching them with small fire extinguishers to deal with possible fire hazards.
[0056] At the same time, in order to improve the operability and user experience of the exoskeleton device, an interactive interface can be introduced to allow the wearer to interact with the device, communicate and control the exoskeleton through voice or other means, add intelligent control, use sensors and algorithms, realize real-time monitoring and adjustment of the user's motion status, provide personalized auxiliary force and support, and improve the wearing experience.
[0057] In order to improve practicality, the passive exoskeleton should be easy to store and disassemble. The utility model adopts a detachable design, which is convenient for disassembly and storage. At the same time, a special user guide can also be provided to inform users how to correctly use the passive exoskeleton device.
[0058] like Figure 1 , Figure 2 , Figure 3 and, Figure 4 As shown, the utility model provides a passive exoskeleton robot for elderly health and emergency rescue escape, including:
[0059] A passive exoskeleton robot with a detachable and integrated emergency rescue escape equipment system, which is usually composed of multiple parts, including left and right leg guards, waist and back support, left and right arm guards, and heat absorbing parts (12, 13) (special high specific heat absorbing material blue ice), hooks (14, 15), thigh and calf support rods (10, 11), leg fixers (3, 7), a first support rod 4 and a second support rod 8, a knee pad (5), two hip joints 33, and two knee joints 6. The back support is provided with a waist adjuster 16, a waist pad 9, a back pad 30, an equipment fixer 17, a reinforcing plate (27, 28), a back support rod 24, a support column 26, and an airbag 29. The left and right arm guards include two wrist joints (2, 21), two elbow joints (22, 23), two shoulder joints 25, shoulder guards, arm support rods (31, 32), arm fixers (18, 19), and hands (20, 21).
[0060] The leg guard is connected to the waist and back support and the first support rod through a spherical hip joint 33 from the upper end, connected to the thigh and calf support rods (10, 11) through a knee joint (6), and the ankle reinforcement joint 2 connects the calf support rod and the foot pedal 1; a leg fixer (3, 7) is installed in the center of each thigh and calf support rod to adjust and fix it according to personal needs.
[0061] The back pad 30 is a plate-shaped back pad that mainly bears the weight of the trunk and the back waist. The back support is composed of a reinforcing plate (27, 28), a back support rod 24, and a support column 26 to form an outer shell, and the inner side is filled with the back pad 30 and the airbag 29; two shoulder straps are pulled out from the back outer shell and coupled with snaps at the waist and hips to form an equipment fixer 17; the waist adjuster 16 is located at the waist and connected to the back pad 30.
[0062] The airbag 29 installed at the waist and back position adopts a heat-absorbing part (12, 13) to reduce the friction caused by its own parts and perform active heat insulation. The interior is made of high specific heat flexible solid material, and the exterior is wrapped with a layer of fireproof cloth made of heat-insulating and flame-retardant material. To prevent falling off and displacement, it is fixed to the inner liner with hooks (14, 15) and Velcro. Carbon fiber composite materials are used as a whole to reduce the weight of the device and improve wearing comfort. First, the two straps in the skeleton structure are pulled out from the back shell and are made of high-strength materials, such as carbon fiber composite materials, to provide sufficient support and stability. The back support rod 24 of the structural support part is made of comfortable and strong materials to fix the exoskeleton device and withstand the force generated by human body movement. It can provide sufficient support and protection to the human body to prevent damage caused by the movement of the exoskeleton device.
[0063] In the joint design, the hip joint 33, knee joint 6, wrist joint (20, 21), and elbow joint (22, 23) adopt a retractable and flexible ring design to simulate the range of motion of human natural joints and ensure good activity performance. We have equipped sensors and control systems in the back panel, equipped with sensors to monitor human movement and posture in real time, and transmit data to the control system. The control system analyzes these data through algorithms and makes corresponding feedback to achieve the device's auxiliary and enhanced functions for human movement. In the implementation of the upper limb passive exoskeleton device, force sensing technology is of particular concern to us. Force sensors are installed at the joints of the hands (20, 21) and the elbow joints (22, 23) of the arms, which can sense the intention and strength of the human body, thereby achieving precise control of the hands and arms. Equipped with a motor system, it recognizes and analyzes the intention of human movement through intelligent algorithms, and provides corresponding force support to help the human body complete specific movements or reduce muscle fatigue. The skeleton structure 24, 26, 27, 28, 30 of the upper limb exoskeleton device is designed with lightweight materials to improve the comfort and mobility of the wearer.
[0064] The backboard provides stability support and reduces trunk discomfort by adjusting and fixing the position of the trunk. It is equipped with a sensor system that can monitor the posture of the trunk in real time and provide guidance and adjustment through the control system when necessary to maintain the correct posture. The control unit controls the movement mode and strength of the exoskeleton device through algorithms and logic based on the information provided by the sensor. It can analyze the sensing signal in real time, generate corresponding instructions, and transmit the instructions to the actuator. The actuator is the power source of the exoskeleton device and controls the movement of the exoskeleton structure by driving the motor. The actuator can adjust the angle and strength of the exoskeleton according to the instructions of the control unit to achieve the purpose of helping the human body to move. In the passive hand exoskeleton device, flexible joint design and sensor technology are used to assist and enhance the movement of the fingers and wrists. At the same time, it is also equipped with a force sensor and feedback system that can sense and feedback the strength and touch of the hand to provide a more realistic tactile experience. The power system provides the required power for the exoskeleton device. Batteries or other rechargeable power sources can keep the exoskeleton device running for a long time, ensuring that it provides lasting auxiliary support for the human body.
[0065] The passive exoskeleton device can monitor and assist in controlling human movement through the coordinated work of sensors, control units and actuators. This device can help disabled people regain their mobility, reduce their workload, and play a positive role in rehabilitation treatment and daily life.
[0066] The number of devices and processing scales described here are used to simplify the description of the utility model. Applications, modifications and variations of the utility model are obvious to those skilled in the art.
[0067] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.
Claims
1. A passive exoskeleton robot for elderly health and emergency rescue escape, characterized in that: include: Two guard arms, both of which are arranged opposite to each other in a horizontal direction; A back shell, comprising two back support rods, a support column and two reinforcement plates, wherein the two back support rods are detachably arranged on two guard arms in the vertical direction and are located on the same side, the support column is arranged in the vertical direction and is located between the two back support rods, and the two reinforcement plates are arranged at the upper and lower ends of the two back support rods in the horizontal direction and are located on one side of the two back support rods; A waist and back support, comprising a back pad, an airbag and an equipment holder, wherein the back pad is arranged on the two back support rods and the support column and is located on the other side of the back support rod, the airbag is arranged between the back pad and the two back support rods, and the equipment holder comprises two straps pulled by the back shell to the lower part thereof, wherein a heat insulation part is arranged inside the airbag and the heat insulation part is wrapped with a fireproof cloth; Two leg guards, each leg guard comprises a thigh support rod connected to the waist and back support through a hip joint, a calf support rod connected to the lower end of the thigh support rod through a knee joint, and a foot pedal connected to the lower end of the calf support rod through an ankle reinforcement joint, wherein each leg guard is provided with a heat absorbing part and a hook.
2. The passive exoskeleton robot for elderly health and emergency rescue and escape as claimed in claim 1, characterized in that: Also includes: The driving motor is arranged on the outside of the thigh support rod, and the first power switch of the driving motor is arranged on the inner surface of the foot pedal. When the first power switch is subjected to pressure, the driving motor drives the thigh support rod to be lifted to perform walking action.
3. The passive exoskeleton robot for elderly health and emergency rescue and escape as claimed in claim 2, characterized in that: A second power switch is arranged on the inner side of the knee joint.
4. The passive exoskeleton robot for elderly health and emergency rescue and escape as claimed in claim 1, characterized in that: Also includes: Two first leg fixers are arc-shaped, and one first leg fixer is respectively arranged on the two calf support rods; Two second leg fixers are arc-shaped, and one second leg fixer is respectively arranged on the two thigh support rods; Two first support rods, two ends of each first support rod are respectively connected to the first leg fixer and the second leg fixer on the same side, wherein the knee joint is located between the first leg fixer and the second leg fixer on the same side, and the knee joint is also connected to the first support rod on the same side; Two second support rods, the lower end of each second support rod is respectively connected to the second leg fixer.
5. The passive exoskeleton robot for elderly health and emergency rescue and escape as claimed in claim 4, characterized in that: The waist and back support is also equipped with: A waist adjuster, the upper end of which is mounted on the lower end of the back shell, and the waist adjuster is arc-shaped; A waist pad is installed below the waist adjuster, and both sides of the lower end of the waist pad are connected to the upper ends of the two second support rods through a hip joint respectively.
6. The passive exoskeleton robot for elderly health and emergency rescue and escape as claimed in claim 1, characterized in that: The two arm guards respectively include a wrist joint, an elbow joint, a shoulder joint, a shoulder guard, an arm support rod, an arm fixer and a hand.
7. The passive exoskeleton robot for elderly health and emergency rescue and escape as claimed in claim 6, characterized in that: Force sensors are installed at the hand and the elbow joint.