Active waist and upper limb integrated power-assisted exoskeleton

Abstract

The application discloses an active waist and upper limb integrated power-assisted exoskeleton, and relates to the technical field of exoskeleton devices, which can comprise a wearing module, a driving module and a control module.The wearing module can be worn on a human body and comprises a back wearing module, a waist wearing module and a leg wearing module connected together.The driving module comprises a leg driving module and an upper limb driving module.The waist wearing module is connected with the leg wearing module through the leg driving module, and the leg driving module can drive the leg wearing module to rotate.The upper limb driving module is installed on the back wearing module, and the upper limb driving module is connected with a carrying glove.The control module is connected with the driving module.The application can effectively improve the power-assisted efficiency on the human body in the carrying process, greatly reduce the damage of the waist and the upper limb of the human body, and further realize the effective power assistance of the waist and the upper limb.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of fruit and vegetable enzyme fermentation, in particular to an active waist and upper limb integrated power-assisted exoskeleton. BACKGROUND

[0002] At present, when goods or products need to be transported in most factories, transfer workshops, construction sites and the like, workers are often required to carry them. Long-term carrying not only causes damage to the human body, but also reduces work efficiency. With the increase of labor costs, the cost of carrying is increasing.

[0003] In the invention patent with the patent publication number CN201710709717.7, an upper limb power-assisted exoskeleton is disclosed, which can ensure the safe carrying of goods and greatly reduce the labor intensity of the arms during carrying. It has the advantages of low cost and convenient operation, but only the upper arm is assisted during the carrying of goods, and the damage to the waist of the worker during long-term work cannot be solved. At the same time, the invention is a rigid structure, and the compatibility with the human body structure is poor.

[0004] In the invention patent with the patent publication number CN201911083616.9, a waist power-assisted exoskeleton robot is disclosed, which can provide support during the bending of the human body, realize bending power assistance, and the components of the waist movement during walking and carrying will not interfere with the human body, but only the waist power is realized during the carrying process, and the power assistance to the upper limbs of the human body cannot be realized. Long-term work will still cause damage to the human arms.

[0005] Therefore, an active waist and upper limb integrated power-assisted exoskeleton is provided to solve the above problems existing in the prior art. SUMMARY

[0006] The purpose of the present application is to provide an active waist and upper limb integrated power-assisted exoskeleton to solve the above problems existing in the prior art, which can effectively improve the power assistance efficiency to the human body during carrying, greatly reduce the damage to the waist and upper limbs of the human body, and realize effective power assistance to the waist and upper limbs.

[0007] To achieve the above purpose, the present application provides the following scheme:

[0008] The present application provides an active waist and upper limb integrated power-assisted exoskeleton, which comprises:

[0009] The wearing module can be worn on the human body, and the wearing module comprises a back wearing module, a waist wearing module and a leg wearing module connected together;

[0010] The driving module comprises a leg driving module and an upper limb driving module, the waist wearing module is connected with the leg wearing module through the leg driving module, and the leg driving module can drive the leg wearing module to rotate; the upper limb driving module is installed on the back wearing module, and the upper limb driving module is connected with a carrying glove.

[0011] The control module is connected with the driving module.

[0012] Preferably, the waist wearing module comprises a waistband, the back wearing module comprises a back plate and two back straps, the bottom of the two back straps is connected with the left and right sides of the waistband respectively, the top of the two back straps is connected with the left and right sides of the top of the back plate respectively, and the bottom of the back plate is connected with the middle of the rear end of the waistband; the left and right sides of the waistband are provided with a leg connecting block, the two leg connecting blocks are connected with the leg wearing module through a leg driving module, and the leg wearing module comprises a leg connecting plate.

[0013] Preferably, the front end of the waistband is provided with a buckle.

[0014] Preferably, each leg driving module comprises a servo motor, the servo motor is installed on a motor connecting plate, the motor connecting plate is connected with the leg connecting block, the top of the leg connecting plate is connected with the servo motor, and the servo motor can drive the leg connecting plate to rotate.

[0015] Preferably, the leg connecting plate is also provided with a leg binding belt.

[0016] Preferably, the upper limb driving module comprises two servo motors, the two servo motors are installed on the back plate through a servo motor fixing plate, the output end of the servo motor is connected with a Bowden cable through a wire wheel, and the end, away from the servo motor, of the Bowden cable is connected with the carrying glove.

[0017] Preferably, the servo motor is also provided with a wire clamping block, the wire clamping block can clamp the Bowden cable; and a back strap fixing wire block is arranged at the position, close to the carrying glove, of the Bowden cable, and the back strap fixing wire block can be connected with the back strap.

[0018] Preferably, the driving module further comprises a lithium battery block, the lithium battery block is installed on the back plate, and lead blocks are arranged on the two sides of the lithium battery block.

[0019] Preferably, the control module comprises a core development board, the core development board is installed on the back plate, and the core development board is connected with an inertial measurement unit.

[0020] The present application has the following technical effects relative to the prior art:

[0021] In the present application, the active waist and upper limb power assisting integration form is adopted, so that the power assisting efficiency can be greatly realized, and the overall structure is more compact; in the present application, the Bowden wire transmission mode is adopted, so that the overall structure size is reduced, and the self-weight is reduced; and due to the flexible rope mode, the exoskeleton and the human body movement are more coordinated. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0023] Fig. 1 It is a back structure schematic diagram of the active waist and upper limb integrated power assisting exoskeleton of the present application.

[0024] Fig. 2 It is a structure schematic diagram of the driving module of the present application.

[0025] Fig. 3 It is a front structure schematic diagram of the active waist and upper limb integrated power assisting exoskeleton of the present application.

[0026] Among them, 1 is a driving module, 11 is a lithium battery block, 12 is a servo motor, 13 is a wire wheel, 14 is a servo motor fixing plate, 15 is a Bowden wire, 16 is a wire clamping block, 17 is a wire guide block, 18 is a back strap fixing wire block, 2 is a control module, 21 is a core development board, 3 is a wearing module, 31 is a leg connecting plate, 32 is a motor connecting plate, 33 is a leg connecting block, 34 is a back strap connecting block, 35 is a back plate, 36 is a carrying glove, 37 is a back strap, 38 is a waist strap, 39 is a buckle, and 310 is a leg strap. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application, and obviously, the described embodiments are only some embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0028] The purpose of the present application is to provide an active waist and upper limb integrated power assisting exoskeleton to solve the problems existing in the prior art, so as to effectively improve the power assisting efficiency of the human body during carrying, greatly reduce the damage of the waist and upper limbs of the human body, and further realize the effective power assisting of the waist and upper limbs.

[0029] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0030] Embodiment

[0031] The present application provides an active waist and upper limb integrated power-assisted exoskeleton, which comprises: Figs. 1-3 as shown, comprising:

[0032] A wearable module 3, which can be worn on the human body, comprises a back wearing module, a waist wearing module and a leg wearing module connected together;

[0033] A driving module 1, which comprises a leg driving module and an upper limb driving module, the waist wearing module is connected with the leg wearing module through the leg driving module, and the leg driving module can drive the leg wearing module to rotate; the upper limb driving module is installed on the back wearing module, and the upper limb driving module is connected with a carrying glove 36;

[0034] A control module 2, which is connected with the driving module 1.

[0035] In this embodiment, the driving module 1 is the main power output part to realize the assistance, and the driving module 1 realizes the corresponding action under the driving of the control module 2; the driving module 1 and the control module 2 are both connected with the wearable module 3 to realize the physical binding of the human body and the exoskeleton, and then realize the wearing function.

[0036] In this embodiment, the leg driving module mainly comprises a servo motor 10, the upper limb driving module mainly comprises a servo motor 12, a Bowden cable 15, a carrying glove 36, a back plate 35, a wire clamping block 16, a wire wheel 13, a back strap fixing wire block 18, etc., and the driving module 1 further comprises a lithium battery block 11.

[0037] The two pairs of servo motors 12 in the exoskeleton robot, which are the driving modules of the legs and upper limbs, are the power sources for the upper limbs and legs of the human body, and the pair of servo motors 12 that provides assistance to the upper limbs is symmetrical in structure, wherein the output end of the unilateral servo motor 12 is connected with the Bowden cable 15 through the wire wheel 13, the connecting end simultaneously clamps and fixes the Bowden cable 15 through the wire clamping block 16, the wire clamping block 16 is fixed on the servo motor 12, the Bowden cable 15 is guided out to the outside through the wire guide block 17 on the two sides of the lithium battery block 11, the wire guide block 17 can also fix the lithium battery block 11, the output end of the Bowden cable 15 is fixed through the fixing wire block 18 and the back strap 37, and the output end of the Bowden cable 15 is connected with the carrying glove 36; the arm assistance is realized through the glove during the carrying work of the human body, and the fixed end of the servo motor 12 is fixed on the back plate 35 through the servo motor fixing plate 14.

[0038] The servo motor 12 of the lower limbs is fixed through the motor connecting plate 32, the motor connecting plate 32 is fixed on the back plate 35 through the leg connecting block 33, and the output end of the servo motor 12 is assisted through the leg connecting plate 31, and the other end of the leg connecting plate 31 is connected with the leg through the leg strap 310 in the wearing part, so that the assistance to the leg and the assistance to the waist are realized during the working process.

[0039] In the embodiment, the assistance to the upper limbs and the legs can also be realized through the two pairs of servo motors 12 simultaneously, and the setting position of the servo motor 12 can be adjusted according to the specific work requirement.

[0040] In the embodiment, the wearing module 3 mainly includes the waist strap 38, the back strap 37 and the leg strap 310, wherein the upper side of the back strap 37 is connected with the back plate 35, the lower side is connected with the waist strap 38 through the back strap connecting block 34, the rear middle part of the waist strap 38 is connected with the back plate 35, and the front end realizes the closure of the waist strap 38 through the buckle 39, and the leg strap 310 is fixed on the leg connecting plate 31 to complete the binding of the leg connecting plate 31 with the leg.

[0041] In the embodiment, the control module 2 includes the core development board 21 and the inertial measurement unit, and is connected with the back plate 35, the inertial measurement unit, namely IMU, mainly realizes the information collection of the human body motion posture, transmits the collected data to the core development board 21, and controls the motor through the development board.

[0042] The principle and implementation mode of the present application are described by using specific examples in the present application, and the above embodiment is only used to help understand the method and core idea of the present application; meanwhile, according to the idea of the present application, the specific implementation mode and application range can be changed by the person skilled in the art. In conclusion, the content of the present description should not be understood as the limitation of the present application.

Claims

1. An active waist and upper limb integrated assistive exoskeleton, characterized in that: The utility model relates to a wearable robot, including: a wearable module capable of being worn on a human body, the wearable module including a back wearing module, a waist wearing module and a leg wearing module connected together; a drive module including a leg drive module and an upper limb drive module, the waist wearing module being connected with the leg wearing module through the leg drive module, the leg drive module being capable of driving the leg wearing module to rotate; the upper limb drive module being installed on the back wearing module, the upper limb drive module being connected with a carrying glove; a control module connected with the drive module; wherein the waist wearing module includes a waistband, the back wearing module including a back plate and two back straps, the bottom of the two back straps being connected with the left and right sides of the waistband respectively, the top of the two back straps being connected with the left and right sides of the top of the back plate respectively, the bottom of the back plate being connected with the middle of the rear end of the waistband; the left and right sides of the waistband are each provided with a leg connecting block, the two leg connecting blocks each being connected with the leg wearing module through a leg drive module, the leg wearing module including a leg connecting plate; each of the leg drive modules includes a servo motor, the servo motor being installed on a motor connecting plate, the motor connecting plate being connected with the leg connecting block; the top of the leg connecting plate being connected with the servo motor, the servo motor being capable of driving the leg connecting plate to rotate; the upper limb drive module including two servo motors, the two servo motors each being installed on the back plate through a servo motor fixing plate, the output end of the servo motor being connected with a Bowden cable through a wire wheel, the end of the Bowden cable away from the servo motor being connected with the carrying glove; the drive module further including a lithium battery block, the lithium battery block being installed on the back plate, the two sides of the lithium battery block being provided with wire blocks.

2. The active waist and upper limb integrated assistive exoskeleton according to claim 1, characterized in that: The front end of the waistband is provided with a buckle.

3. The active waist and upper limb integrated assistive exoskeleton according to claim 1, characterized in that: The leg connecting plate is further provided with a leg bandage.

4. The active waist and upper limb integrated assistive exoskeleton according to claim 1, characterized in that: The servo motor is further provided with a wire clamping block, the wire clamping block being capable of clamping the Bowden cable; the position of the Bowden cable close to the carrying glove being provided with a back strap fixing wire block, the back strap fixing wire block being capable of being connected with the back strap.

5. The active waist and upper limb integrated assistive exoskeleton according to claim 1, characterized in that: The control module includes a core development board, the core development board being installed on the back plate, the core development board being connected with an inertial measurement unit.

Images