Bending Assist Exoskeleton Device

Abstract

The present invention discloses a bending-assisting exoskeleton device, including an abduction connector, an upper bracket, a lower bracket, an energy storage device, a bracket and a fixing frame. The upper bracket is rotatably connected to the abduction connector via a first axis, and the lower bracket is rotatably connected to the upper bracket via a second axis; the end of the lower bracket away from the second axis is fixed to the fixing frame; the energy storage device is rotatably connected to the upper bracket via a third axis, and the energy storage device is provided with a telescopic portion; the bracket is fixed to the fixing frame, and when the energy storage device swings around the third axis, its telescopic portion is disengaged, freely contacts, and compressively contacts the bracket. The bending-assisting exoskeleton device of the present invention contacts the wearer through a waist belt and thigh bindings, generates a torque with the hip joint as the axis to assist, and reduces the waist muscle strength when the wearer bends forward at the waist; at the same time, it assists when the wearer's trunk bends beyond a predetermined angle. When the trunk bends within a predetermined angle, the exoskeleton equipment does not produce an assisting effect, thereby enabling the wearer to move without restraint.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a bending assistance exoskeleton device. Background Art

[0002] In the field of exoskeletons, there are some cases of bending assistance devices, such as US.6436065, US.5951591, etc. Most of the existing bending assistance devices use passive spring resistance to generate torque between the wearer's torso and legs to reduce spinal damage to the wearer. However, the existing bending assistance devices do not comprehensively consider the assistance and non-assistance situations. When assistance is not needed, it hinders or inhibits human movement, causing discomfort. Summary of the invention

[0003] The present invention aims to provide a bending-assisting exoskeleton device that does not interfere with the normal movement of the human body in the non-assisted stage. The device contacts the wearer through a waist belt and thigh bindings, generates a torque with the hip joint as the axis to assist, and reduces the waist muscle strength when the wearer bends forward at the waist; at the same time, it assists when the wearer's torso bends over a predetermined angle. When the torso bends over a predetermined angle, the exoskeleton equipment does not produce an assisting effect, thereby allowing the wearer to move without restraint.

[0004] In order to solve the above technical problems, the present invention provides a bending-assisting exoskeleton device, which is installed on the user's waist, and includes an abduction connector, an upper bracket, a lower bracket, an energy accumulator, a bracket and a fixed frame. The abduction connector is installed on the user's waist, the upper bracket is rotatably connected to the abduction connector via a first axis, and the lower bracket is rotatably connected to the upper bracket via a second axis, and the extension directions of the first axis and the second axis are perpendicular; the end of the lower bracket away from the second axis is fixed to the fixed frame; the energy accumulator is rotatably connected to the upper bracket via a third axis, and the extension directions of the third axis and the second axis are parallel, and the energy accumulator is provided with a telescopic part; the bracket is fixed to the fixed frame, and when the energy accumulator swings around the third axis, its telescopic part disengages, freely contacts, and compressively contacts the bracket, and when the telescopic part compresses and contacts the bracket, the energy accumulator stores energy and force.

[0005] In a preferred embodiment of the present invention, the top of the bracket further includes a first arc surface and a second arc surface connected in sequence, the centers of the first arc surface and the second arc surface are both located on the side close to the third axis, and the radius of the first arc surface is smaller than the radius of the second arc surface; the telescopic part compresses and contacts the bracket when it swings on the first arc surface, and detaches from the bracket when it swings on the second arc surface, and the telescopic part swings to the connection between the first arc surface and the second arc surface to freely contact the bracket.

[0006] In a preferred embodiment of the present invention, the top of the bracket further includes a connecting arc surface, the first arc surface and the second arc surface are connected by the connecting arc surface, the center of the connecting arc surface is located on the side close to the third axis, the radius of the connecting arc surface is larger than the radius of the first arc surface and smaller than the radius of the second arc surface, and the telescopic part freely contacts the bracket when it swings to the connecting arc surface.

[0007] In a preferred embodiment of the present invention, the telescopic portion further comprises a circular arc convex portion, and the telescopic portion contacts the first circular arc surface through the circular arc convex portion.

[0008] In a preferred embodiment of the present invention, the first arc surface, the connecting arc surface and the third arc surface are further provided with concave and convex parts.

[0009] In a preferred embodiment of the present invention, the third shaft further rotates under the drive of a power source.

[0010] In a preferred embodiment of the present invention, an angle sensor is further installed on the third axis.

[0011] In a preferred embodiment of the present invention, the abduction connector is further fixed on the hip connector, the hip connector is connected to the waist belt, the bending assistance exoskeleton device is tied to the user's waist through the waist belt; and the fixing frame is tied to the user's thigh through a binding piece.

[0012] In a preferred embodiment of the present invention, the waist belt is further provided with a first slot and a second slot located near the hip connector, the first slot and the second slot both extend horizontally and are arranged in upper and lower positions; the hip connector is provided with a third slot extending horizontally and a fourth slot extending vertically; the length adjuster of the waist belt is provided with a fifth slot; the binding is provided with a sixth slot and a seventh slot both extending horizontally; and the fixing frame is provided with an eighth slot extending vertically.

[0013] In a preferred embodiment of the present invention, it further includes using the first binding belt to pass through the first slot, wrap around the shoulders, and then pass through the third slot, using the second binding belt to pass through the fourth slot, wrap around the waist belt, and then pass through, using the third binding belt to pass through the fifth slot, and then pass through the sixth slot, using the fourth binding belt to pass through the eighth slot, and then pass through the seventh slot, using the fifth binding belt to pass through the second slot, and be pulled to the inner thigh through the fourth binding belt to form an "8" shape binding with the third binding belt; the user's legs are bound symmetrically with the central axis of the human body as the center.

[0014] Beneficial effects of the present invention: The bending-assisting exoskeleton device of the present invention contacts the wearer through a waist belt and thigh bindings, generates a torque with the hip joint as the axis to assist, and reduces the waist muscle strength when the wearer bends forward at the waist; at the same time, it assists when the wearer's torso bends over a predetermined angle. When the torso does not bend over a predetermined angle, the exoskeleton equipment does not produce an assisting effect, thereby enabling the wearer to move without constraints (walking, running, sitting, etc.). BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the structure of the exoskeleton in a preferred embodiment of the present invention when worn in an upright state;

[0016] Figure 2 is a schematic diagram of the structure of an exoskeleton tied between the waist and thigh of a human body in a preferred embodiment of the present invention;

[0017] Figure 3 It is a diagram of the force state of the human body when assisting after the exoskeleton is removed;

[0018] Figure 4 is a side view of the exoskeleton in a non-power-assisted state in a preferred embodiment of the present invention;

[0019] Figure 5 is a side view of the exoskeleton in a preferred embodiment of the present invention when in a critical state between power-assisted and non-power-assisted states;

[0020] Figure 6 It is a side view of the exoskeleton in the power-assisted state in the preferred embodiment of the present invention.

[0021] Explanation of the numbers in the figure: 1-human trunk, 3-thigh;

[0022] 2- abduction connector, 4- upper bracket, 6- lower bracket, 8- energy accumulator, 10- bracket, 12- fixed frame, 14- first axis, 16- second axis, 18- third axis, 20- telescopic part, 22- first arc surface, 24- second arc surface, 26- connecting arc surface, 28- arc convex part, 30- hip connector, 31- length adjuster, 32- binding part, 34- first slot, 36- second slot, 38- third slot, 40- fourth slot, 42- fifth slot, 44- sixth slot, 46- seventh slot, 48- eighth slot, 5- waist belt. DETAILED DESCRIPTION

[0023] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0024] Example

[0025] Reference Figure 1-6 As shown, this embodiment discloses a bending-assisting exoskeleton device, including an abduction connector 2 , an upper bracket 4 , a lower bracket 6 , an energy storage device 8 , a bracket 10 and a fixing bracket 12 . The abduction connector 2 is fixed on the hip connector 30, the hip connector 30 is connected to the waist belt 50, and the bending assistance exoskeleton device is tied to the waist of the user (or wearer) through the waist belt 50; the upper bracket 4 is rotatably connected to the abduction connector 2 through the first axis 14, and the lower bracket 6 is rotatably connected to the upper bracket 4 through the second axis 16, and the extension directions of the first axis 14 and the second axis 16 are perpendicular to each other; the end of the lower bracket 6 away from the second axis 16 is fixed to the fixing frame 12, and the fixing frame 12 is tied to the thigh of the user (or wearer) through the binding member 32; the upper bracket 4 is rotatably connected to the abduction connector 2 through the first axis 14, providing a first degree of rotational freedom, so that the exoskeleton can follow the abduction or adduction of the human thigh; the lower bracket 6 is rotatably connected to the upper bracket 4 through the second axis 16, providing a second degree of rotational freedom, so that the exoskeleton can follow the human thigh to swing in the forward or backward direction. The fixing frame 12 is tied to the thigh of the user (or wearer) through the tie 32, so that the exoskeleton can move with the human thigh. The upper bracket 4 and the lower bracket 6 cooperate to achieve flexion and extension of the exoskeleton and the thigh around the rotation center of the hip joint.

[0026] like Figure 1 As shown, the energy accumulator 8 is rotatably connected to the upper bracket 4 through the third axis 18, and the extension directions of the third axis 18 and the second axis 16 are parallel. The energy accumulator 8 is provided with a telescopic part 20; the bracket 10 is fixed on the fixing frame 12, and when the energy accumulator 8 swings around the third axis 18, its telescopic part 20 is separated, freely contacted, and compressed and contacted with the bracket 10. When the telescopic part 20 compresses and contacts the bracket 10, the energy accumulator 8 acts to store energy and accumulate power, and when the telescopic part 20 is separated and freely contacted with the bracket 10, the energy accumulator 8 does not store energy and accumulate power. In other words, when the wearer's torso bends over a predetermined angle, the telescopic part 20 compresses and contacts the bracket 10, the energy accumulator 8 stores energy and accumulates power, and the bending-assisting exoskeleton device plays an assisting role; when the torso bends over a predetermined angle, the telescopic part 20 is separated and freely contacted with the bracket 10, and the bending-assisting exoskeleton equipment does not produce an assisting effect, thereby enabling the wearer to perform unconstrained movements (walking, running, sitting, etc.). This solves the problem of the bending-assisted exoskeleton device not interfering with the normal movement of the human body during the non-assisted phase.

[0027] Specifically, the top of the bracket 10 has a first arc surface 22 and a second arc surface 24 connected in sequence, and the centers of the first arc surface 22 and the second arc surface 24 are both located on a side close to the third axis 18. Figure 4As shown, the first arc surface 22 is on a circle with the axis position of the second axis as the center O1 and Rb as the radius, and the second arc surface 24 is on a circle with the axis position of the third axis as the center O2 and Ra as the radius. When the human body wears the exoskeleton device in an upright state, the center O1 and the center O2 are on the same straight line in the vertical direction. When the telescopic part 20 is in a free extension state, the length of the energy storage device 8 is L. Since Rb<L<Ra, the relationship between the energy storage device 8 and the bracket 10 during the swinging process around the third axis 18 is as follows:

[0028] (1) Figure 6 As shown, when the energy accumulator 8 swings toward the first arc surface 22 of the bracket 10, due to Rb<L, the telescopic part 20 is compressed to contact the bracket 10, the telescopic part 20 is compressed, the energy accumulator 8 stores energy and force, and the bending assist exoskeleton device plays an assisting role.

[0029] (2) Figure 4 As shown, when the energy storage device 8 swings toward the second arc surface 24 of the bracket 10, L<Ra, the telescopic portion 20 is separated from the bracket 10, and the bending assisting exoskeleton equipment does not produce an assisting effect.

[0030] (3) Figure 5 As shown, when the energy storage device 8 swings to the point where the telescopic portion 20 is located at the connection between the first arc surface 22 and the second arc surface 24, the telescopic portion 20 freely contacts the bracket 10, and the telescopic portion 20 contacts the bracket 10 but is not compressed. At this time, the bending assistance exoskeleton equipment does not produce an assistance effect.

[0031] It should be noted here that after the telescopic part 20 freely contacts the bracket 10, as the energy accumulator 8 continues to swing toward the first arc surface 22, the telescopic part 20 will follow and move to the first arc surface 22 until it finds a balanced position. After finding the balanced position, the telescopic part 20 will no longer follow the swing of the energy accumulator 8 and change the contact position with the first arc surface 22.

[0032] Furthermore, the top of the bracket 10 also has a connecting arc surface 26, the first arc surface 22 and the second arc surface 24 are connected by the connecting arc surface 26, the center of the connecting arc surface 26 is located on the side close to the third axis 18, the radius of the connecting arc surface 26 is larger than the radius of the first arc surface 22 and smaller than the radius of the second arc surface 24, and the telescopic part 20 freely contacts the bracket 10 when swinging to the connecting arc surface 26. With this design, the telescopic part 20 freely contacts the bracket 10 within the surface area formed by the connecting arc surface 26, so that the telescopic part 20 can freely contact the bracket 10 smoothly.

[0033] The telescopic portion has an arc convex portion 28, and the telescopic portion 28 contacts the first arc surface 22 through the arc convex portion. The arc convex portion 28 cooperates with the concave second arc surface 24, so that the telescopic portion 28 and the first arc surface 22 can be in closer contact.

[0034] The first arc surface 22, the connecting arc surface 26 and the third arc surface are provided with concave and convex parts, which can increase the contact friction force.

[0035] The third shaft 18 rotates under the drive of a power source, and the power source is preferably a motor, and an angle sensor is installed on the third shaft 18. With the help of the motor and the angle sensor, the energy storage device can rotate according to the gait of the human body and the need for assistance.

[0036] The above-mentioned bending assistance exoskeleton device is respectively tied to the waist and thigh of the user through a belt and a binding piece. Its specific structure and implementation process are as follows:

[0037] The waist belt 50 is provided with a first slot 34 and a second slot 36 at a position close to the hip connector 30, and the first slot 34 and the second slot 36 are both extended horizontally and arranged in upper and lower positions; the hip connector 30 is provided with a third slot 38 extending horizontally and a fourth slot 40 extending vertically; the length adjuster 31 of the waist belt 50 is provided with a fifth slot 42; the binding member 32 is provided with a sixth slot 44 and a seventh slot 46 both extending horizontally; the fixing frame 12 is provided with an eighth slot 48 extending vertically. Use the first binding belt to pass through the first slot 34, wrap around the shoulders, and then pass out from the third slot 38; use the second binding belt to pass through the fourth slot 40, wrap around the waist belt 50, and then pass out; use the third binding belt to pass through the fifth slot 42, and then pass out from the sixth slot 44; use the fourth binding belt to pass through the eighth slot 48, and then pass out from the seventh slot 46; use the fifth binding belt to pass through the second slot 36, be pulled to the inner thigh through the fourth binding belt, and form an "8" shape binding with the third binding belt; the user's legs are tied symmetrically with the central axis of the human body as the center.

[0038] As described above, the binding method of the external power-assisted exoskeleton device in the present invention is divided into two parts, the upper part uses double shoulder straps to evenly distribute the equipment and the total weight to the shoulders, reducing the weight on the waist; the lower part adopts an "8"-shaped binding, which is more stable and effective.

[0039] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A bending assistance exoskeleton device, installed on the user's waist, characterized in that: It comprises an abduction connector, an upper bracket, a lower bracket, an energy accumulator, a bracket and a fixing frame, wherein the abduction connector is installed on the waist of the user, the upper bracket is rotatably connected to the abduction connector via a first axis, the lower bracket is rotatably connected to the upper bracket via a second axis, and the extension directions of the first axis and the second axis are perpendicular; the end of the lower bracket away from the second axis is fixed to the fixing frame; the energy accumulator is rotatably connected to the upper bracket via a third axis, and the extension directions of the third axis and the second axis are parallel, and a telescopic part is provided on the energy accumulator; the bracket is fixed on the fixing frame, and when the energy accumulator swings around the third axis, its telescopic part is separated from, freely in contact with, or compressively in contact with the bracket, and when the telescopic part compresses and contacts the bracket, the energy accumulator stores energy and force; The top of the bracket has a first arc surface and a second arc surface connected in sequence, the centers of the first arc surface and the second arc surface are both located on a side close to the third axis, and the radius of the first arc surface is smaller than the radius of the second arc surface; the telescopic part compresses and contacts the bracket when swinging on the first arc surface, and detaches from the bracket when swinging on the second arc surface, and the telescopic part swings to the connection between the first arc surface and the second arc surface to freely contact the bracket; The third shaft rotates under the driving of the power source.

2. The bending assistance exoskeleton device according to claim 1, characterized in that: The top of the bracket also has a connecting arc surface, and the first arc surface and the second arc surface are connected by the connecting arc surface. The center of the connecting arc surface is located on the side close to the third axis. The radius of the connecting arc surface is larger than the radius of the first arc surface and smaller than the radius of the second arc surface. When the telescopic part swings to the connecting arc surface, it freely contacts the bracket.

3. The bending assistance exoskeleton device according to claim 1 or 2, characterized in that: The telescopic portion has an arcuate convex portion, and the telescopic portion contacts the first arcuate surface through the arcuate convex portion.

4. The bending assistance exoskeleton device according to claim 2, characterized in that: The first arc surface, the connecting arc surface and the second arc surface are provided with concave and convex parts.

5. The bending assistance exoskeleton device according to claim 1, characterized in that: An angle sensor is installed on the third shaft.

6. The bending assistance exoskeleton device according to claim 1, characterized in that: The abduction connector is fixed on the hip connector, the hip connector is connected to the waist belt, and the bending assistance exoskeleton device is tied to the user's waist through the waist belt; the fixing frame is tied to the user's thigh through a binding piece.

7. The bending assistance exoskeleton device according to claim 6, characterized in that: The waist belt is provided with a first slot and a second slot located near the hip connector, the first slot and the second slot both extend horizontally and are arranged in upper and lower positions; the hip connector is provided with a third slot extending horizontally and a fourth slot extending vertically; the length adjuster of the waist belt is provided with a fifth slot; the binding is provided with a sixth slot and a seventh slot both extending horizontally; the fixing frame is provided with an eighth slot extending vertically.

8. The bending assistance exoskeleton device according to claim 7, characterized in that: Use the first binding belt to pass through the first slot, wrap around the shoulders, and then pass out from the third slot; use the second binding belt to pass through the fourth slot, wrap around the waist belt, and then pass out; use the third binding belt to pass through the fifth slot, and then pass out from the sixth slot; use the fourth binding belt to pass through the eighth slot, and then pass out from the seventh slot; use the fifth binding belt to pass through the second slot, pull to the inner side of the thigh through the fourth binding belt, and form an "8" shape binding with the third binding belt; the user's legs are tied symmetrically with the central axis of the human body as the center.

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