A chest support structure for an exoskeleton robot

Abstract

The present invention discloses a chest support structure for an exoskeleton robot, comprising an integrated chest support, a chest adapter and a chest support rod, wherein the chest adapter is installed at two end parts of the integrated chest support, one end of the chest support rod is installed on the chest adapter, and the other end can be connected to the user's hip, the integrated chest support comprises a support base plate, a rotating shaft group, a base, and an adjustment mechanism, the support base plate is hinged to the base through the rotating shaft group, the chest support rod is connected to the chest adapter through the adjustment mechanism, the chest adapter is hinged to the base, one end of the rotating shaft group has a joint end portion with an outer surface presenting a spherical contour, the joint end portion can be rotatably retained on the base, the joint end portion and the base form a spherical pair, the chest support structure for an exoskeleton robot has multi-directional degrees of freedom to fit the human body, is comfortable and convenient to use, and has reliable support.

Description

Technical Field

[0001] The invention relates to a chest supporting structure for an exoskeleton robot. Background Art

[0002] With the progress of social science and technology and the continuous improvement of industrial automation, people are gradually liberated from heavy physical labor, but in the process of cargo warehouse and loading in logistics, warehousing and other industries, it is still mainly completed by simple manual handling. Long-term work can easily cause workers to suffer from lumbar muscle strain and lower back pain. Recently, some wearable power-assisting devices have also appeared, which can be worn on the chest, shoulders and hips of the human body, providing a certain degree of power-assisting effect to relieve the load on the user's waist muscles during work.

[0003] At present, the chest support structure of the power-assisted exoskeleton robot mainly adopts the form of a transmission chest belt or support cover. Due to structural limitations, the chest support structure has poor support adaptability and is difficult to meet the requirements of different human chests. Wearing it will hinder normal walking and cause discomfort. In addition, the existing chest support structure has a rotational freedom that is difficult to meet the user's bending movements in multiple postures, and the split structure has caused problems such as poor structural performance. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide a chest support structure for an exoskeleton robot, which has multi-directional degrees of freedom to fit the human body, is comfortable and convenient to use, and provides reliable support.

[0005] The present invention proposes a chest support structure for an exoskeleton robot, comprising an integrated chest support, a chest adapter and a chest support rod, wherein the chest adapter is installed at both end portions of the integrated chest support, one end of the chest support rod is installed on the chest adapter, and the other end can be connected to the user's hip, the integrated chest support comprises a support base plate, a rotating shaft group, a base, and an adjustment mechanism, the support base plate is hinged to the base via the rotating shaft group, the chest support rod is connected to the chest adapter via the adjustment mechanism, the chest adapter is hinged to the base, one end of the rotating shaft group has a joining end portion with an outer surface presenting a spherical contour, the joining end portion can be rotatably retained on the base, and the joining end portion and the base form a spherical pair.

[0006] Furthermore, the rotating shaft group includes a chest rotating shaft, a rotating shaft copper sleeve, a rubber gasket, a base plate and a chest outer shell, the chest rotating shaft is fixedly installed in the middle of the supporting base plate, the rubber gasket passes through the chest rotating shaft and is arranged between the supporting base plate and the base plate, a spherical bearing is installed in the middle of the chest outer shell, the chest rotating shaft is connected to the spherical bearing through a fixing nut, a spherical pair is formed between the supporting base plate, the base plate and the chest outer shell, and the rotating shaft copper sleeve is sleeved on the chest rotating shaft and is located between the supporting base plate and the rubber gasket.

[0007] Furthermore, the number of the chest adapters is two and they are symmetrically arranged at two ends of the chest shell, and the chest adapter is hinged to the base plate and the chest shell through adapter hinge bolts.

[0008] Furthermore, a groove for the rubber gasket is provided in the middle of the base plate, and screw positioning holes corresponding to the threaded columns of the chest shell are provided at both end portions of the base plate.

[0009] Furthermore, a receiving groove is provided in a middle portion of a side of the chest shell away from the base plate, a sensor module is installed in the receiving groove, and the sensor module is in contact with the spherical pair.

[0010] Furthermore, it also includes a shell insert and a sensor fixing shell, the shell insert fixing cover is arranged on the side of the chest shell away from the base plate, the middle part of the shell insert is provided with an opening for placing the sensor module, and the sensor fixing shell fixing cover is arranged on the opening.

[0011] Furthermore, the adjustment mechanism includes an adjusting knob, a knob locating pin and a spring, the spring being sleeved on the knob locating pin, the knob locating pin being inserted from the mounting hole at the bottom of the chest adapter, the upper end of the knob locating pin being threaded, the knob locating pin passing through the limiting hole at the upper end of the chest adapter and being tightened with the adjusting knob, a boss being provided on the knob locating pin, the spring being located inside the chest adapter and limited between the boss and the limiting hole, a through hole being provided in the middle of the end of the chest adapter for horizontal insertion of the connecting portion of the chest support rod, and a plurality of position adjustment holes for inserting the knob locating pin being evenly spaced.

[0012] Furthermore, an elastic buffer pad is installed on the support base plate, and the elastic buffer pad can be elastically deformed to fit and support the user's chest.

[0013] Through the above scheme, the present invention has at least the following advantages: the chest support structure used on the exoskeleton robot has multi-directional freedom to fit the human body, is comfortable and convenient to use, has reliable support, and has a sensor module for collecting motion information during use, and has a wide range of applications.

[0014] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the chest support structure for an exoskeleton robot according to the present invention;

[0016] Figure 2 It is a schematic diagram of the structural decomposition of the chest support structure used for an exoskeleton robot according to the present invention;

[0017] Figure 3 It is a schematic diagram of the structure of the regulating mechanism in the present invention;

[0018] Among them: 1. Support base plate; 2. Rotating shaft group; 3. Base body; 4. Adjustment mechanism; 5. Chest support rod; 6. Chest adapter; 7. Elastic buffer pad; 8. Chest rotating shaft; 9. Rotating shaft copper sleeve; 10. Rubber gasket; 11. Base plate; 12. Adapter hinge bolt; 13. Chest shell; 14. Sensor module; 15. Shell insert; 16. Sensor fixing shell; 17. Pull button positioning pin; 18. Spring; 19. Spherical bearing; 20. Groove; 21. Screw positioning hole; 22. Opening; 23. Limit hole; 24. Boss; 25. Connecting part; 26. Through hole; 27. Position adjustment hole. DETAILED DESCRIPTION

[0019] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0020] Embodiment: A chest support structure for an exoskeleton robot comprises an integrated chest support, a chest adapter and a chest support rod, wherein the chest adapter is mounted on both end portions of the integrated chest support, one end of the chest support rod is mounted on the chest adapter, and the other end can be connected to the user's hip, the integrated chest support comprises a support base plate, a rotation axis group, a base, and an adjustment mechanism, the support base plate is hinged to the base via the rotation axis group, the chest support rod is connected to the chest adapter via the adjustment mechanism, the chest adapter is hinged to the base, one end of the rotation axis group has a joining end portion with an outer surface having a spherical contour, the joining end portion can be rotatably retained on the base, and the joining end portion and the base form a spherical pair.

[0021] The rotating shaft group includes a chest rotating shaft, a rotating shaft copper sleeve, a rubber gasket, a base plate and a chest shell. The chest rotating shaft is fixedly installed in the middle of the supporting base plate. The rubber gasket passes through the chest rotating shaft and is arranged between the supporting base plate and the base plate. A spherical bearing is installed in the middle of the chest shell. The chest rotating shaft is connected to the spherical bearing through a fixing nut. A spherical pair is formed between the supporting base plate, the base plate and the chest shell. The rotating shaft copper sleeve is sleeved on the chest rotating shaft and is located between the supporting base plate and the rubber gasket.

[0022] There are two chest adapters which are symmetrically arranged at two ends of the chest shell, and the chest adapter is hinged to the base plate and the chest shell through adapter hinge bolts.

[0023] A groove for the rubber gasket is provided in the middle of the base plate, and screw positioning holes corresponding to the threaded columns of the chest shell are provided at both ends of the base plate.

[0024] The chest shell is provided with a receiving groove in the middle part of one side away from the base plate, and a sensor module is installed in the receiving groove, and the sensor module is in contact with the spherical surface pair. The sensor module can detect the energy consumption and movement information of the user. The sensor module is not limited to being installed in the receiving groove of the chest shell.

[0025] It also includes a shell insert and a sensor fixing shell. The shell insert fixing cover is arranged on the side of the chest shell away from the base plate. The middle part of the shell insert is provided with an opening for placing the sensor module, and the sensor fixing shell fixing cover is arranged on the opening.

[0026] The adjustment mechanism includes an adjustment knob, a knob positioning pin and a spring. The spring is sleeved on the knob positioning pin. The knob positioning pin is inserted from the mounting hole at the bottom of the chest adapter. The upper end of the knob positioning pin has a thread. The knob positioning pin passes through the limiting hole at the upper end of the chest adapter and is tightened with the adjustment knob. A boss is provided on the knob positioning pin. The spring is located inside the chest adapter and is limited between the boss and the limiting hole. A through hole is provided in the middle of the end of the chest adapter for the horizontal insertion of the connecting part of the chest support rod. The connecting part of the chest support rod is evenly spaced and provided with a plurality of position adjustment holes for the knob positioning pin to be inserted. Manually pull up the adjustment knob to horizontally insert the chest support rod into the through hole of the chest adapter, select the position adjustment hole on the chest support rod, put down the adjustment knob, and complete the adjustment. The depth of the chest support rod inserted into the chest adapter can be adjusted according to the width of the user's upper body. The adjustment method of the chest support rod is not limited to knob adjustment, but can also be other adjustment methods.

[0027] The support base is provided with an elastic cushion, which can be elastically deformed to fit and support the chest of the user. The material of the elastic cushion includes but is not limited to elastic materials such as sponge and silica gel.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A chest support structure for an exoskeleton robot, characterized in that: The integrated chest support comprises an integrated chest support, a chest adapter and a chest support rod, wherein the chest adapter is installed at both end parts of the integrated chest support, one end of the chest support rod is installed on the chest adapter, and the other end can be connected to the user's hip, the integrated chest support comprises a support base plate, a rotation axis group, a base body, and an adjustment mechanism, the support base plate is hinged to the base body through the rotation axis group, the chest support rod is connected to the chest adapter through the adjustment mechanism, the chest adapter is hinged to the base body, one end of the rotation axis group has a joint end portion with a spherical outer surface, the joint end portion can be rotatably held on the base body, and the joint end portion and the base body form a spherical pair; The rotating shaft group includes a chest rotating shaft, a rotating shaft copper sleeve, a rubber gasket, a base plate and a chest shell, wherein the chest rotating shaft is fixedly installed in the middle of the supporting base plate, the rubber gasket passes through the chest rotating shaft and is arranged between the supporting base plate and the base plate, a spherical bearing is installed in the middle of the chest shell, the chest rotating shaft is connected to the spherical bearing through a fixing nut, a spherical pair is formed between the supporting base plate, the base plate and the chest shell, and the rotating shaft copper sleeve is sleeved on the chest rotating shaft and is located between the supporting base plate and the rubber gasket; The chest adapters are two and symmetrically arranged at the two ends of the chest shell, and the chest adapters are hinged to the base plate and the chest shell through adapter hinge bolts; A groove for the rubber gasket is provided in the middle of the base plate, and screw positioning holes corresponding to the threaded columns of the chest shell are provided at both ends of the base plate; A receiving groove is provided in the middle part of one side of the chest shell away from the base plate, a sensor module is installed in the receiving groove, and the sensor module is in contact with the spherical pair; It also includes a shell insert and a sensor fixing shell, wherein the shell insert fixing cover is arranged on a side of the chest shell away from the base plate, an opening for placing a sensor module is arranged in the middle part of the shell insert, and the sensor fixing shell fixing cover is arranged on the opening; The adjustment mechanism comprises an adjustment knob, a knob positioning pin and a spring, the spring being sleeved on the knob positioning pin, the knob positioning pin being inserted from the mounting hole at the bottom of the chest adapter, the upper end of the knob positioning pin being threaded, the knob positioning pin passing through the limiting hole at the upper end of the chest adapter and being screwed together with the adjustment knob, a boss being provided on the knob positioning pin, the spring being located inside the chest adapter and limited between the boss and the limiting hole, a through hole being provided in the middle of the end of the chest adapter for horizontal insertion of the connecting portion of the chest support rod, and a plurality of position adjustment holes for inserting the knob positioning pin being evenly spaced on the connecting portion of the chest support rod; An elastic buffer pad is installed on the support base plate, and the elastic buffer pad can be elastically deformed to fit and support the user's chest.

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