A wearable flexible follow-up power-assisted exoskeleton auxiliary device

Abstract

A wearable flexible follow-up power-assisted exoskeleton auxiliary device includes a backboard, a back box, a back box flip assembly, a hip joint assembly, a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly, a foot fitting assembly and a seat support rod; a back box flip assembly is arranged on the top of the backboard, the back box is arranged on one side of the backboard, and the other side of the backboard fits the human body; two hip joint assemblies are installed symmetrically below the backboard, and each hip joint assembly is sequentially connected to a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly and a foot fitting assembly; a seat support rod is arranged on the foot fitting assembly, and when the calf assembly is close to the thigh assembly, the seat support rod can be pressed against the thigh assembly to form an invisible seat. When the seat support rod of the present invention is opened to the maximum position, the upper end of the support rod can fit with the seat support hole on the thigh board provided with the thigh assembly as described above, forming a seat that allows the user to squat.

Description

Technical Field

[0001] The invention patent belongs to the field of exoskeleton assistive devices, and specifically relates to a wearable flexible follow-up power-assisted exoskeleton assistive device. Background Art

[0002] Special workers, such as doctors and soldiers, need to work continuously under high intensity. Due to insufficient medical resources, lack of medical staff, and inability to provide medical equipment in a timely manner, special workers need to work continuously for long periods of time, which is a great test of their physical strength. In addition, some jobs can only be restricted to a fixed area and cannot be moved for a long time. In the long run, physical overdraft will greatly affect work efficiency. Existing wearable devices are only for the legs. Special workers often need to carry a lot of equipment or instruments. Existing equipment cannot adapt to the high-intensity and long-term work of special workers and the need to carry equipment. Summary of the invention

[0003] The purpose of the present invention is to provide a wearable flexible follow-up power-assisted exoskeleton auxiliary device to solve the problem that the existing equipment cannot adapt to the scenarios where special personnel work for a long time with high intensity and carry the equipment.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A wearable flexible follow-up power-assisted exoskeleton auxiliary device comprises a back plate, a back box, a back box flipping assembly, a hip joint assembly, a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly, a foot fitting assembly and a seat support rod; a back box flipping assembly is arranged on the top of the back plate, the back box is arranged on one side of the back plate, and the other side of the back plate fits the human body; two hip joint assemblies are installed symmetrically below the back plate, and each hip joint assembly is connected with a thigh assembly, a knee joint assembly, a calf assembly, an ankle joint assembly and a foot fitting assembly in sequence; a seat support rod is arranged on the foot fitting assembly, and when the calf assembly is close to the thigh assembly, the seat support rod can be pressed against the thigh assembly to form an invisible seat.

[0006] Furthermore, the hip joint assembly includes a hip joint connection bracket and a hip joint connection spring; one end of the hip joint connection bracket is fixed to the back plate, and the other end is hinged to the thigh assembly; the hip joint connection spring is arranged between the thigh assembly and the hip joint connection bracket.

[0007] Furthermore, the thigh component includes a thigh support plate and a thigh fixing plate; one end of the thigh support plate is connected to the hip joint connecting bracket of the hip joint component, and the other end is hinged to the calf component; the thigh fixing plate is fixedly arranged on the inner side of the thigh support plate.

[0008] Furthermore, a positioning groove is provided on the thigh fixing plate, and the seat support rod is pressed into the positioning groove.

[0009] Furthermore, the calf assembly includes a calf support plate and a calf fixing plate, the thigh support plate is hinged at one end of the calf support plate, the other end of the calf support plate is hinged to the foot fitting assembly, and the calf fixing plate is fixedly arranged on the inner side of the calf support plate.

[0010] Furthermore, a knee joint assembly is provided at the hinge of the thigh support plate and the calf support plate, and the knee joint assembly includes a spring mounting plate and a knee joint connecting spring. The spring mounting plate is cross-hinged at the hinge of the thigh support plate and the calf support plate, and knee joint connecting springs are installed between both ends of the spring mounting plate and the thigh support plate, and between both ends of the spring mounting plate and the calf support plate.

[0011] Furthermore, the ankle joint assembly includes a telescopic rod and an ankle joint spring, the telescopic rod is arranged between the calf support plate and the foot fitting assembly, and the ankle joint spring is arranged between the telescopic rod and the pedal.

[0012] Furthermore, the foot fitting component includes an upper pedal, a flexible foot spring pad, a lower pedal, a toe ring and a heel ring; the flexible foot spring pad is located between the upper pedal and the lower pedal, the toe ring is arranged at the front end of the upper pedal, the heel ring is arranged at the rear end of the upper pedal, and the seat support rod is arranged at the rear of the heel ring.

[0013] Furthermore, the back box flipping assembly includes a back panel slide, a back box frame, a back box flipping pulley set and a connecting rod; the back panel slide is arranged on the back panel, the back box frame is arranged at the bottom of the back panel, the back box flipping pulley set is symmetrically arranged on the top of the back panel, one end of the connecting rod is connected to the back box flipping pulley set, and the other end is hinged at both ends of the back box, and the contact surface between the back box and the back panel is stuck in the back panel slide; a shoulder strap is arranged on the back box.

[0014] Furthermore, the back box includes an upper back box and a lower back box, the upper back box and the lower back box are connected by hinges, and a test tube rack is arranged in the lower back box.

[0015] Compared with the prior art, the present invention has the following technical effects:

[0016] The wearable flexible follow-up power-assisted exoskeleton auxiliary equipment of the present invention adopts an exoskeleton constructed on the basis of human biomechanics, a bone-muscle-joint model, which fits the walking posture of a person and allows free walking, and realizes the movement amplitude following the walking of the human body, making it comfortable and convenient for the user to wear. The back box slides to the top of the shoulder strap through a slide and can be flipped in front of the body through a pulley set. Both the upper and lower back boxes can be opened through door panels arranged on both sides, so that the user can work alone when a single person needs emergency special operations, as well as the storage and storage of sampling test tubes.

[0017] When the seat support rod of the present invention is opened to the maximum position, the upper end of the support rod can fit with the seat support hole on the thigh plate provided with the thigh assembly as described above, forming a seat that allows the user to squat. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of a specific embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;

[0019] Figure 2 It is a schematic diagram of the front and side structure of a specific embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;

[0020] Figure 3 This is a schematic diagram of the structure of a back plate assembly of a specific embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;

[0021] Figure 4 A schematic diagram of a flexibly rotatable knee joint and a flexibly rotatable ankle joint assembly of a specific embodiment of a wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention;

[0022] Figure 5 This is a schematic diagram of the structure of the back box in the open state of a specific embodiment of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention.

[0023] Figure 6 This is a schematic diagram of a specific implementation mode of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention with the back box flipped to the front of the body.

[0024] Figure 7 This is a schematic diagram of a squatting state of a specific implementation mode of the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present invention.

[0025] The markings in the accompanying drawings are: 1. backboard; 2. hip joint assembly; 3. thigh assembly; 4. knee joint assembly; 5. calf assembly; 6. ankle joint assembly; 7. thigh fixing plate; 8. foot fitting assembly; 9. shoulder strap; 10. backboard slide; 11. upper back box; 12. lower back box; 13. back box flip pulley set; 14. flexible hem; 15. hip joint connecting bracket; 16. hip joint connecting spring; 17. knee joint connecting spring; 18. thigh support plate; 19. spring mounting plate; 20. joint spring; 21. calf support plate; 22. telescopic push rod; 23. upper pedal; 24. foot fitting spring pad; 25. lower pedal; 26. toe ring; 27. heel ring; 28. seat support rod; 29. ​​back box rack; 30. hinge; 31. test tube rack; 32. ankle joint spring. DETAILED DESCRIPTION

[0026] This specific embodiment is a wearable flexible follow-up power-assisted exoskeleton auxiliary device, and its three-dimensional structural schematic diagram is as follows Figure 1 As shown, the side structure diagram is as follows Figure 2 As shown, the backplane diagram is as follows Figure 3 As shown, the schematic diagram of the flexibly rotatable knee joint and the flexibly rotatable ankle joint assembly is as shown Figure 4 As shown, the schematic diagram of the structure of the medicine box in the open state is as follows Figure 5 As shown, the schematic diagram of the state where the medicine box is turned over to the front is as follows Figure 6 The squatting state diagram is shown in Figure 7 As shown, the exoskeleton auxiliary device includes a backboard 1, a flexibly rotatable hip joint component 2 symmetrically installed on the front side of the lower end of the backboard 1, a flexibly rotatable knee joint component 4 placed on the flexibly rotatable hip joint component, a flexibly rotatable ankle joint component 6 arranged below the flexibly rotatable knee joint component, a back box frame 29 arranged on the rear side of the backboard 1, and a back box 11, 12 arranged on the back box frame 29, a thigh component 3 is arranged between the flexibly rotatable hip joint component 2 and the flexibly rotatable knee joint component, a calf component 5 is arranged between the flexibly rotatable knee joint component 4 and the flexibly rotatable ankle joint component 6, a thigh support plate 18 and a thigh fixing plate (seat support plate) 7 are arranged on the thigh component 3, a calf support plate 21 and a telescopic rod 22 are arranged on the calf component 5, a backboard slide 10 is arranged on the rear side of the backboard 1, which can be matched with the back box frame 29, and a seat support rod 28 is arranged behind the heel ring 27 on the foot fitting component 8.

[0027] With respect to this specific embodiment, the thigh fixing plate (seat support plate) is designed to be fixed with a strap buckle to enhance the user's comfort, while also enhancing the stability of the equipment when worn.

[0028] Among them, a flexible hem 14 is installed at the lower end of the back plate 1, and a shoulder strap 9 is symmetrically connected to the upper side of the front end of the back plate 1. The flexible hem 14 blocks the waist of the user to prevent the bottom of the back box 11, 12 from pressing against the user's back waist and continuously applying force during walking, causing compression damage. At the same time, the flexibly rotatable hip joint component 2 includes a hip joint connection bracket 15 and a hip joint connection spring 16. The hip joint connection bracket 15 is installed between the thigh component 3 and the back plate 1, and the hip joint connection spring 16 is installed between the thigh component 3 and the bracket 15. The thigh component 3 includes a thigh support plate 18. The flexibly rotatable knee joint component 4 includes a spring mounting plate 19 and a knee joint connection spring 17. The calf component 5 includes a calf support plate 21. The spring mounting plate 19 is installed between the thigh support plate 18 and the calf support plate 21. The knee joint connection spring 17 is installed between the spring mounting plate 19 and the thigh support plate 18 and between the spring mounting plate 19 and the calf support plate 21. The hip joint connection spring 16 allows the flexibly rotatable hip joint assembly 2 to reduce the force of the hip joint when the user walks and lifts the hip and swings the hip, which plays a buffering role, making the walking posture more natural and smooth. The knee joint connection spring 20 forms three groups of cross-shaped triangle structures on the spring mounting plate 19, which has an elastic protection effect on the flexibly rotatable knee joint assembly 4 of the exoskeleton, so that the user will not cause damage to the knee and meniscus due to the excessive weight of the exoskeleton, and can effectively reduce the reaction force of the foot landing when walking. In addition, the flexibly rotatable ankle joint assembly 6 includes a telescopic rod 22 and an ankle joint spring 32. The telescopic rod 22 is arranged between the calf support plate 21 and the foot fitting assembly 8, and the ankle joint spring 32 is arranged between the telescopic rod 22 and the upper pedal 23. The foot fitting assembly 8 is composed of an upper pedal 23, a foot flexible spring pad 24, a lower pedal 25, a toe ring 26, and a heel ring 27. The flexible foot spring pad 24 is located between the upper pedal 23 and the lower pedal 25. The toe ring 26 is arranged at the front end of the upper pedal 23, and the heel ring 27 is arranged at the rear end of the upper pedal 23 to buckle the user's foot to prevent it from falling off. Finally, a seat support rod 28 is arranged at the rear of the heel ring 27, and the seat support rod 28 can be matched with the thigh fixing plate 7 to support the user to squat stably.

[0029] When using the wearable flexible follow-up power-assisted exoskeleton auxiliary device of the present technical solution, the user's back box 11, 12 is installed on the back plate 1 through the back box frame 29, and then the exoskeleton is put on, the straps 9 are placed on the user's shoulders to make the back plate 1 fit with the user's back, the feet pass through the toe ring 26 to make the foot fitting component 8 fit with the user's sole, and then the straps set on the thigh fixing plate 7 are tightened, and the calf component 5 is fixed to the calf, and the exoskeleton can fit closely with the user. The flexibly rotatable hip joint component 2, the flexibly rotatable knee joint component 4, and the flexibly rotatable ankle joint component 6 are connected to each other to form a bone-muscle-joint model, and the activities between the joints can be buffered by the springs. When the person walks, the exoskeleton can be driven to reduce the pressure on the joints, and the user can walk more naturally and lightly. When arriving at the working area, the seat support rod 28 set at the rear end of the heel ring 27 is unfolded and fits with the thigh fixing plate (seat support plate) 7 to form an invisible seat for the user to squat and save physical strength. The back boxes 11 and 12 are slid out of the slideway 10 behind the back plate, and then the back boxes 11 and 12 are flipped in front of the body through the back box flip pulley set 13. Then the baffles on both sides of the upper back box are opened to slide along the inner slideway of the back box until it is parallel to the box surface, so that it can be used as an unfolded nucleic acid detection table. After the table is unfolded, the monitoring tools of the upper and lower back boxes can be taken out and placed on the table for nucleic acid detection. After putting the test reagents back, close the table, put away the seat support rod 28, flip the back boxes 11 and 12 back through the back box flip pulley set 13, and then fix them on the back plate 1 through the slideway 10.

[0030] When using the wearable flexible follow-up assisted exoskeleton auxiliary device of the present technical solution, the user installs the medicine box on the backboard through the slide, and then wears the exoskeleton on the body. The bone-muscle-joint model formed by the flexible rotation of the hip joint component, the flexible rotation of the knee joint component and the flexible rotation of the ankle joint component is connected to form a skeletal-muscle-joint model to fit the walking posture of the person and walk freely. After reaching the work area, the seat support rod provided on the foot fitting component is matched with the seat support hole provided on the thigh component to form a seat that allows people to squat. The back box is slid to the position where it is detached from the slide through the backboard slide, and the pulley group connected to the two sides of the back box on the strap is used to turn the back box to the front of the body. Then the baffles on both sides of the back box can slide to a position parallel to the box surface through the slide as a table board that can be used during nucleic acid testing. When the table board is opened, the test personnel can easily take out the testing tools in the box. The lower half of the back box can be fixed to the bottom of the upper half using the slide, and a nucleic acid test tube collection plate is provided in the lower half. It is taken out for testing when needed. When one plate is used up, the full back box in the lower half can be directly replaced. When the inspection is finished, close the baffles on both sides, flip the back box back to the back through the pulley set, and slide the back box back into the slideway to fix the back box on the back plate.

[0031] Preferably, a slideway for fixing the back box is arranged on the rear side of the back plate, and a protective pad made of a flexible material is installed at the lower end of the back plate. The protective pad is installed at the lower back of the user to prevent the bottom of the medicine box from pressing against the lower back of the user and exerting continuous force during walking, causing squeezing damage.

[0032] Preferably, shoulder straps are symmetrically arranged on the upper side of the front end of the back panel, fixed pulleys are installed above the shoulder straps, and fixed pulleys are arranged on both sides of the back box. The above two groups of pulleys constitute a pulley group, which can make the back box flip over to the front of the body.

[0033] Preferably, the flexibly rotatable hip joint assembly comprises a bracket and a joint spring, wherein the bracket is installed between the thigh assembly and the back plate, and the joint spring is installed between the thigh assembly and the bracket. The joint spring allows the flexibly rotatable hip joint assembly to buffer and move more smoothly during the rotational movement.

[0034] Preferably, the thigh assembly includes a thigh plate, the flexibly rotatable knee joint assembly includes a spring mounting plate and a joint spring, the calf assembly includes a calf plate, the spring mounting plate is mounted between the thigh plate and the calf plate, and joint springs are mounted between the spring mounting plate and the thigh plate and between the spring mounting plate and the calf plate. The joint springs form three groups of cross-triangular structures on the spring mounting plate, which have an elastic protective effect on the flexible knee joint assembly of the exoskeleton and reduce the recoil force of the foot landing when walking.

[0035] Preferably, the flexibly rotatable ankle joint assembly comprises an ankle joint shaft, a control push rod, a pedal and a joint spring, wherein the ankle joint shaft is installed between the lower end of the calf plate and the pedal, a control push rod is installed between the outer side of the calf plate and the ankle joint shaft, and a joint spring is installed between the ankle joint shaft and the pedal. The flexibly rotatable ankle joint assembly plays a role of buffering force during the vertical rotation of the pedal along the ankle joint shaft through the joint spring.

[0036] Preferably, a toe fixing collar is installed on the front side of the upper pedal end, and a heel fixing collar is installed on the rear side of the upper pedal end. The toe fixing collar and the heel fixing collar are used to fix the user's foot, and have a buckle and tightening structure to prevent falling off.

[0037] Preferably, a flexibly rotatable seat support rod is provided at the rear side of the heel fixing ring of the foot fitting assembly, and the support rod can be flexibly opened and closed to a limited position. When the seat support rod is not in use, the support rod can be closed to fit the calf.

[0038] Preferably, when the seat support rod is opened to the maximum position, the upper end of the support rod can fit into the seat support hole on the thigh plate provided with the thigh assembly described above, forming a seat that allows the user to squat.

Claims

1. A wearable flexible follow-up power-assisted exoskeleton auxiliary device, characterized in that: The invention comprises a back panel (1), a back box, a back box flip assembly, a hip joint assembly (2), a thigh assembly (3), a knee joint assembly (4), a calf assembly (5), an ankle joint assembly (6), a foot fitting assembly (8) and a seat support rod (28); a back box flip assembly is arranged on the top of the back panel (1); the back box is arranged on one side of the back panel (1), and the other side of the back panel (1) fits the human body; two hip joint assemblies (2) are symmetrically installed below the back panel (1); each hip joint assembly (2) is connected in sequence to a thigh assembly (3), a knee joint assembly (4), a calf assembly (5), an ankle joint assembly (6) and a foot fitting assembly (8); a seat support rod (28) is arranged on the foot fitting assembly (8); when the calf assembly (5) is close to the thigh assembly (3), the seat support rod (28) can be pressed against the thigh assembly (3) to form an invisible seat; The thigh component (3) comprises a thigh support plate (18) and a thigh fixing plate (7); one end of the thigh support plate (18) is connected to the hip joint connecting bracket (15) of the hip joint component (2), and the other end is hinged to the calf component (5); the thigh fixing plate (7) is fixedly arranged on the inner side of the thigh support plate (18); A positioning groove is provided on the thigh fixing plate (7), and the seat support rod (28) is supported in the positioning groove; The back box flip assembly comprises a back plate slide (10), a back box frame (29), a back box flip pulley block (13) and a connecting rod; the back plate slide (10) is arranged on the back plate (1), the back box frame (29) is arranged at the bottom of the back plate (1), the back box flip pulley block (13) is symmetrically arranged on the top of the back plate (1), one end of the connecting rod is connected to the back box flip pulley block (13), and the other end is hinged to the two ends of the back box, and the contact surface between the back box and the back plate (1) is stuck in the back plate slide (10); a shoulder strap (9) is arranged on the back box; The back box comprises an upper back box (11) and a lower back box (12); the upper back box (11) and the lower back box (12) are connected via a hinge (30); and a test tube rack (31) is arranged in the lower back box (12).

2. The wearable flexible follow-up power-assisted exoskeleton auxiliary device according to claim 1 is characterized in that: The hip joint component (2) comprises a hip joint connection bracket (15) and a hip joint connection spring (16); one end of the hip joint connection bracket (15) is fixed to the back plate (1), and the other end is hinged to the thigh component (3); the hip joint connection spring (16) is arranged between the thigh component (3) and the hip joint connection bracket (15).

3. The wearable flexible follow-up power-assisted exoskeleton auxiliary device according to claim 1 is characterized in that: The calf assembly (5) comprises a calf support plate (21) and a calf fixing plate, the thigh support plate (18) is hinged to one end of the calf support plate (21), the other end of the calf support plate (21) is hinged to the foot fitting assembly (8), and the calf fixing plate is fixedly arranged on the inner side of the calf support plate (21).

4. The wearable flexible follow-up power-assisted exoskeleton auxiliary device according to claim 3 is characterized in that: A knee joint assembly (4) is provided at the hinge of the thigh support plate (18) and the calf support plate (21), and the knee joint assembly (4) comprises a spring mounting plate (19) and a knee joint connecting spring (17). The spring mounting plate (19) is cross-hinged at the hinge of the thigh support plate (18) and the calf support plate (21), and knee joint connecting springs (17) are installed between the two ends of the spring mounting plate (19) and the thigh support plate (18), and between the two ends of the spring mounting plate (19) and the calf support plate (21).

5. The wearable flexible follow-up power-assisted exoskeleton auxiliary device according to claim 4 is characterized in that: The ankle joint assembly (6) comprises a telescopic rod (22) and an ankle joint spring (32); the telescopic rod (22) is arranged between the calf support plate (21) and the foot fitting assembly (8); and the ankle joint spring (32) is arranged between the telescopic rod (22) and the upper pedal (23).

6. The wearable flexible follow-up power-assisted exoskeleton auxiliary device according to claim 1, characterized in that: The foot fitting assembly (8) comprises an upper pedal (23), a foot flexible spring pad (24), a lower pedal (25), a toe ring (26) and a heel ring (27); the foot flexible spring pad (24) is located between the upper pedal (23) and the lower pedal (25); the toe ring (26) is arranged at the front end of the upper pedal (23); the heel ring (27) is arranged at the rear end of the upper pedal (23); and the seat support rod (28) is arranged at the rear of the heel ring (27).

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