Wearable auxiliary construction exoskeleton robot

Abstract

The invention discloses a wearable auxiliary construction exoskeleton robot, and relates to the technical field of exoskeleton robots, the wearable auxiliary construction exoskeleton robot comprises an exoskeleton assembly main body, the exoskeleton assembly main body comprises a seat stand, two groups of placing grooves are formed in the seat stand, a backrest plate is mounted on one surface, far away from openings of the placing grooves, of the seat stand, and driving boxes are mounted on two side surfaces of the seat stand respectively; a driving plate is installed at the bottom of the driving box, a lower limb shell is installed at the bottom of the driving plate, an arch supporting assembly is installed in the lower limb shell, a back supporting assembly is installed on the face, close to the containing groove, of the backrest plate, a controller and a storage battery are installed at the bottom of the seat stand, and the controller is connected with the driving box and the back supporting assembly. Therefore, when the device is used, the device can be automatically adjusted according to the leg swinging amplitude of a wearer, the robot is more attached to a user, meanwhile, the back of the user can be supported through the back supporting assembly, and the arch of the user can be supported through the arch supporting assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, and in particular to a wearable auxiliary construction exoskeleton robot. Background Art

[0002] An exoskeleton robot is an intelligent mechanical structure worn on the outside of the user's body. It can combine the human body's senses, thinking, and movement with the machine's perception system, intelligent processing center, and control execution system, thereby improving the human body's physical functions and physical fitness. In essence, it is a wearable robot that can achieve human-machine integration. Currently, after users wear exoskeleton robots, they can provide users with auxiliary services such as rehabilitation training and exercise assistance; A small number of exoskeleton robots can assist construction workers in construction. Construction workers may need to work at high altitudes, so they need to ensure their own safety. At the same time, the construction site is messy and large, and construction workers need to work for long hours, so exoskeleton robots are needed to ensure the safety of construction workers and reduce their fatigue. Summary of the Invention

[0003] The purpose of the present invention is to provide a wearable auxiliary construction exoskeleton robot to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wearable auxiliary construction exoskeleton robot, comprising an exoskeleton assembly body, the exoskeleton assembly body comprising a base, two sets of placement slots are provided on the base, a backrest board is installed on the side of the base away from the opening of the placement slot, a drive box is installed on both sides of the base, a drive board is installed at the bottom of the drive box, a lower limb shell is installed at the bottom of the drive board, an arch support assembly is installed inside the lower limb shell, a back support assembly is installed on the side of the backrest board close to the placement slot, a controller and a battery are installed at the bottom of the base, and the controller is connected to the drive box and the back support assembly respectively.

[0005] Furthermore, a groove is provided in the middle of the backrest board, and the back support assembly is installed inside the groove. The back support assembly includes a rubber belt and multiple groups of extension cylinders. The rubber belt is installed at the opening of the groove, and multiple groups of extension cylinders are respectively installed inside the groove. The output ends of multiple groups of extension cylinders are respectively in contact with the rubber belt. Multiple groups of pressure sensing plates are installed on the contact side of the rubber belt and the extension cylinder. Multiple groups of extension cylinders are respectively in contact with the pressure sensing plates. The extension cylinders and pressure sensing plates are respectively connected to the controller.

[0006] Furthermore, the arch support assembly includes a storage bin, the upper layer of the storage bin is made of rubber, the lower layer of the storage bin is made of plastic, and gallium metal is provided inside the storage bin, which occupies 30% of the total capacity of the storage bin.

[0007] Furthermore, two groups of driving motors are installed on the side of the two driving boxes away from the base, and a driving gear is installed at the output end of the driving motor. A slot is provided at the bottom of the driving box, and an adjusting cylinder and a transmission rod are installed inside the driving box. The fixing surface of the adjusting cylinder is connected to the transmission rod, and multiple groups of driven gears with different teeth are installed at the output end of the adjusting cylinder. The driving gear can be matched with each group of driven gears respectively. The bottom of the transmission rod is connected to the driving plate, and the driving plate can swing in the slot. A limiting slot is provided at the bottom of the driving plate, and a limiting block is installed inside the limiting slot, and a lower limb shell is installed on the limiting block.

[0008] Furthermore, when one group of the driving motors is working, the other group of the driving motors will stop working.

[0009] Furthermore, two groups of transmitting blocks, two groups of receiving blocks and multiple groups of springs are installed inside the driving box, the two groups of transmitting blocks are respectively connected to the inner wall of the driving box, the two groups of receiving blocks are respectively connected to the two side surfaces of the driving plate, springs are respectively installed between the transmitting blocks and the receiving blocks, and the transmitting blocks and the receiving blocks are respectively connected to the controller; One end of the remaining springs is connected to the inner wall of the driving box, and the other end is connected to the driving plate.

[0010] Furthermore, when the two groups of receiving blocks receive the electrical signals faster: the motor is adjusted to connect the group of driven gears with fewer teeth to the driving gear; When the two groups of receiving blocks receive the electrical signals slowly, the regulating motor will regulate the group of driven gears with more teeth to be connected to the driving gear.

[0011] Furthermore, a bearing is installed above the lower limb shell, and the bearing is connected to the limit block. Multiple sets of binding straps can be installed on the lower limb, and the arch support assembly is installed on the inner bottom surface of the lower limb shell.

[0012] Furthermore, the placement slots are each internally installed with a limit plate, the limit plate is located inside the base, and the base is internally installed with multiple sets of springs, the other ends of the springs are respectively connected to the limit plates; When the limiting plate is subjected to pressure, the limiting plate will enter the placement groove.

[0013] Furthermore, a plurality of installation boxes are installed on the backrest board, safety belts are installed in the installation boxes respectively, and limit boxes are installed at the front end and both sides of the seat platform respectively, and the output end of the safety belt can be connected to the limit box.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. When the device is in use, it can automatically adjust the swing amplitude of the driving plate according to the swing amplitude of the wearer's legs, so as to match the user, assist the user in walking, and reduce the user's energy consumption. Therefore, it can not only cooperate with construction workers, but also help patients to perform rehabilitation exercises; 2. When construction workers are working at height, they can sit on the seat platform, and the lower limb shell will be adjusted on the drive plate to make the workers' legs more comfortable. At this time, the construction workers' backs will contact the back support component, which can support the construction workers' backs, reduce the pressure on the construction workers' backs, and have the effect of familiarizing the meridians; 3. When the user wears the lower limb shell of the device and the sole of the foot steps on the arch support assembly, the arch of the user's foot can be supported by the arch support assembly, which can effectively correct and support the user's arch of the foot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the axonometric structure of the present invention; Figure 2 It is a schematic diagram of the structure inside the seat platform of the present invention; Figure 3 It is a structural schematic diagram of the back side of the seat platform of the present invention; Figure 4 This is a schematic structural diagram of the inner wall of the drive box of the present invention; Figure 5 This is a schematic structural diagram of a cross-section of the drive box of the present invention; Figure 6 This is a schematic diagram of the axonometric structure of the lower limb shell of the present invention; Figure 7 is a schematic structural diagram of the back support assembly of the present invention; Figure 8 For the present invention Figure 1 A in the middle is an enlarged schematic diagram; Figure 9 For the present invention Figure 6 Enlarged schematic diagram of point B in the middle.

[0016] In the figure: 1. Exoskeleton assembly body; 11. Base; 111. Placement slot; 12. Backrest; 121. Groove; 13. Controller; 14. Battery; 15. Limit plate; 16. Installation box; 161. Safety belt; 17. Limit box; 2. Drive box; 21. Drive plate; 211. Limit slot; 212. Limit block; 22. Drive motor; 221. Driving gear; 23. Adjusting cylinder; 231. Driven gear; 24. Transmission rod; 25. Transmitter block; 26. Receiving block; 3. Lower limb shell; 31. Bearing; 32. Binding strap; 4. Arch support assembly; 41. Storage compartment; 5. Back support assembly; 51. Rubber belt; 52. Extension cylinder; 53. Pressure sensing plate. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] Example: Figures 1-9 As shown, the present invention provides a wearable auxiliary construction exoskeleton robot technical solution, including an exoskeleton assembly body 1, the exoskeleton assembly body 1 includes a base 11, the base 11 is provided with two groups of placement slots 111, the base 11 is installed with a backrest board 12 on one side away from the opening of the placement slots 111, the base 11 is respectively installed with a drive box 2 on both sides, the drive box 2 is installed with a drive plate 21 at the bottom, the drive plate 21 is installed with a lower limb shell 3 at the bottom, the lower limb shell 3 is installed with an arch support assembly 4, the backrest board 12 is installed with a back support assembly 5 on the side close to the placement slots 111, the base 11 is respectively installed with a controller 13 and a battery 14, the controller 13 is connected to the drive box 2 and the back support assembly 5 respectively; When the device is in use, the worker first needs to wear the device on his body. When walking, the drive box 2 will automatically adjust the swing angle according to the current leg swing angle and assist the worker in walking. In order to relieve the worker's back, the back support component 5 of the device can relieve the worker's back. At the same time, the arch support component 4 located on the sole of the worker's foot can support the worker's arch, thereby preventing the arch from deforming even if the worker walks for a long time. At the same time, the device can be used for workers to sit when necessary, so that the workers can rest. When the device is used at high altitude, the device is limited by safety measures such as external ropes. At this time, the worker can sit on the seat 11, and the lower limb shell 3 will be adjusted on the drive plate 21 to make the worker's legs more comfortable.

[0019] like Figure 1 and Figure 7 As shown, in this embodiment, specifically, a groove 121 is opened in the middle of the backrest board 12, and the back support assembly 5 is installed inside the groove 121. The back support assembly 5 includes a rubber belt 51 and multiple groups of extension cylinders 52. The rubber belt 51 is installed at the opening of the groove 121. Multiple groups of the extension cylinders 52 are respectively installed in the groove 121. The output ends of the multiple groups of the extension cylinders 52 are respectively in contact with the rubber belt 51. Multiple groups of pressure sensing plates 53 are installed on the contact surface of the rubber belt 51 and the extension cylinder 52. Multiple groups of the extension cylinders 52 are respectively in contact with the pressure sensing plates 53. The extension cylinders 52 and the pressure sensing plates are respectively connected to the controller 13. When in use, the backrest support assembly of the device can support the back of the staff. During specific use, the rubber belt 51 can be pushed by the extension cylinder 52. When the staff's back contacts one side of the rubber belt 51, the staff's own weight will squeeze the pressure sensing plate 53. Because the pressure sensing plate 53 will be squeezed by the staff and the extension cylinder 52, when the value of the pressure sensing plate 53 in an area of ​​the rubber belt 51 is small, the extension cylinder 52 will push the rubber belt 51 in the corresponding area, so that the backrest support assembly can support the back. When the value of the pressure sensing plate 53 is large, the extension cylinder 52 will contract accordingly to reduce the pressure on the pressure sensing plate 53 in a certain area.

[0020] like Figure 1 、 Figure 6 and Figure 9 As shown, in this embodiment, specifically, the arch support assembly 4 includes a storage bin 41, the upper layer of the storage bin 41 is made of rubber, the lower layer of the storage bin 41 is made of plastic, and gallium metal is provided inside the storage bin 41, and the gallium metal occupies 30% of the total capacity of the storage bin 41; When the temperature of the human arch is ≥29.76℃: Gallium metal will slowly melt into liquid and adapt to the shape of the human arch; When the temperature of the human arch is less than 29.76℃: Gallium metal will remain in solid state; The arch support component 4 of the device can support the arch of the staff member's foot and prevent the arch from changing direction. During specific use, when the staff member's foot steps on the arch support component 4, when the temperature of the human foot reaches 29.76°C or above, the gallium metal inside the storage bin 41 will slowly melt, and the melted gallium metal will fill the missing part of the staff member's arch under the pressure of the foot, thereby supporting the staff member's arch. When the device is idle, the liquid gallium metal will slowly solidify due to the decrease in temperature. Due to the characteristics of gallium metal, it will not corrode plastic and rubber. At the same time, because the upper layer of the storage bin 41 is rubber, when the human foot steps on the storage bin 41, the storage bin 41 will be squeezed by the foot. The soft rubber can make the foot more comfortable. The gallium metal occupies 30% of the total capacity of the storage bin 41, mainly to prevent excessive gallium metal from raising the arch of the foot.

[0021] like Figure 1-5 and Figure 8 As shown, in this embodiment, specifically, two groups of driving motors 22 are installed on one side of the two driving boxes 2 away from the base 11, and a driving gear 221 is installed at the output end of the driving motor 22. A slot is provided at the bottom of the driving box 2, and an adjusting cylinder 23 and a transmission rod 24 are installed inside the driving box 2. The fixing surface of the adjusting cylinder 23 is connected to the transmission rod 24, and a plurality of groups of driven gears 231 with different teeth are installed at the output end of the adjusting cylinder 23. The driving gear 221 can respectively cooperate with each group of driven gears 231, and the bottom of the transmission rod 24 is connected to the driving plate 21, and the driving plate 21 can swing in the slot. A limiting slot 211 is provided at the bottom of the driving plate 21, and a limiting block 212 is installed inside the limiting slot 211, and a lower limb shell 3 is installed on the limiting block 212; When the staff swings their legs with a large amplitude, the adjusting cylinder 23 will push a group of driven gears 231 with more serrations to engage with the driving gear 221, thereby increasing the auxiliary swing amplitude of the device, thereby just assisting the staff in using it.

[0022] like Figure 1-5As shown, in this embodiment, specifically, when one group of the drive motors 22 is working, the other group of the drive motors 22 will stop working; In order to prevent excessive consumption, when one set of drive motors 22 of the device rotates, the other set will stop rotating. When one set of drive motors 22 of the device rotates forward, the other set of drive motors 22 will rotate reversely, thereby realizing the left and right swing of the drive plate 21.

[0023] like Figure 5 As shown, in this embodiment, specifically, two groups of transmitting blocks 25, two groups of receiving blocks 26 and multiple groups of springs are installed inside the driving box 2, the two groups of transmitting blocks 25 are respectively connected to the inner wall of the driving box 2, the two groups of receiving blocks 26 are respectively connected to the two side surfaces of the driving plate 21, and springs are respectively installed between the transmitting blocks 25 and the receiving blocks 26, and the transmitting blocks 25 and the receiving blocks 26 are respectively connected to the controller 13; One end of the remaining spring is connected to the inner wall of the drive box 2, and the other end is connected to the drive plate 21; The controller 13 can monitor the electrical signal transmitted from the transmitting block 25 to the receiving block 26 in real time. When the driving rod swings, the distance between a group of transmitting blocks 25 and the receiving block 26 will be lengthened, and the time taken for the transmitting block 25 to transmit the electrical signal to the receiving block 26 will also be lengthened. According to the time taken for the two groups of transmitting blocks 25 and the receiving block 26 to transmit the electrical signal, the gear position of the device can be adjusted, and the swing amplitude of the driving plate 21 can be adjusted, so that the staff can use the device more comfortably and easily. The remaining springs can assist the swinging of the driving plate 21 when in use, so that the staff can save more effort when walking.

[0024] like Figure 5 As shown, in this embodiment, specifically, when the time for the two groups of receiving blocks 26 to receive the electrical signals is faster: the motor is adjusted to connect the group of driven gears 231 with fewer teeth to the driving gear 221; When the two groups of receiving blocks 26 receive the electrical signals slowly, the regulating motor will adjust the driven gear 231 with more teeth to connect with the driving gear 221. Thus, when the device is in use, when the electrical signal transmitted between the transmitting block 25 and the receiving block 26 is long, it means that the current distance between the transmitting block 25 and the receiving block 26 is large, and it also shows that the swing amplitude of the driving plate 21 is large; When the electrical signal transmitted between the transmitting block 25 and the receiving block 26 is shorter, it means that the current distance between the transmitting block 25 and the receiving block 26 is smaller, and it also shows that the swing amplitude of the driving plate 21 is smaller. Then, the controller 13 can make corresponding adjustments to the equipment in the driving box 2 to cooperate with the staff.

[0025] like Figure 1 and Figure 6 As shown, in this embodiment, specifically, a bearing 31 is installed above the lower limb shell 3, and the bearing 31 is connected to the limit block 212. Multiple sets of binding belts 32 can be installed on the lower limb, and the arch support assembly 4 is installed on the inner bottom surface of the lower limb shell 3; When the lower limb shell 3 is in use, it needs to be connected to the limit block 212 through the bearing 31, and then the lower limb shell 3 is connected to the driving plate 21 together, and the multiple sets of binding straps 32 on the lower limb shell 3 can fix the leg and the lower limb shell 3 together.

[0026] like Figure 1-2 As shown, in this embodiment, specifically, a limit plate 15 is installed inside the placement groove 111, and the limit plate 15 is located inside the base 11. A plurality of springs are installed inside the base 11, and the other ends of the springs are connected to the limit plates 15 respectively; When the limiting plate 15 is subjected to pressure, the limiting plate 15 will enter the placement groove 111; When the worker stands, the limit plate 15 will be squeezed by the human body, so that the limit plate 15 is squeezed into the placement groove 111. When the worker works at high altitude and sits on the seat 11, the thigh part will not squeeze the limit plate 15, and the spring in the seat 11 will reset, thereby pushing the limit plate 15. The reset limit plate 15 will increase the area of ​​the seat provided to the user.

[0027] like Figure 1-3 As shown, in this embodiment, specifically, multiple groups of mounting boxes 16 are installed on the backrest board 12, and safety belts 161 are respectively installed in the mounting boxes 16. Limit boxes 17 are respectively installed at the front end and both sides of the seat platform 11, and the output end of the safety belt 161 can be connected to the limit box 17; Therefore, when the device is in use, it can be connected to the limit box 17 through the safety belt 161 in the installation box 16, so that the safety belt 161 can limit the current position of the staff and then tie up the staff to prevent the device and the staff from falling off during use. In special circumstances, it can protect the staff.

[0028] Working principle: When the device is in use, the worker first needs to wear the device on his body. When walking, the drive box 2 will automatically adjust the swing angle according to the current leg swing angle and assist the worker in walking. In order to relieve the worker's back, the back support component 5 of the device can relieve the worker's back. At the same time, the arch support component 4 located on the sole of the worker's foot can support the worker's arch, so that even if the worker walks for a long time, it can prevent the arch from deforming. At the same time, the device can be used for workers to sit when necessary, so that the workers can rest. When the device is used at high altitude, the device is limited by safety measures such as external ropes. At this time, the worker can sit on the seat 11, and the lower limb shell 3 will be adjusted on the drive plate 21 to make the worker's legs more comfortable.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A wearable auxiliary construction exoskeleton robot, comprising an exoskeleton assembly body (1), Features: The exoskeleton assembly body (1) comprises a seat (11), two groups of placement grooves (111) are provided on the seat (11), a backrest board (12) is installed on one side of the seat (11) away from the opening of the placement grooves (111), a drive box (2) is installed on both sides of the seat (11), a drive plate (21) is installed on the bottom of the drive box (2), a lower limb shell (3) is installed on the bottom of the drive plate (21), an arch support assembly (4) is installed inside the lower limb shell (3), a back support assembly (5) is installed on one side of the backrest board (12) close to the placement grooves (111), a controller (13) and a battery (14) are installed on the bottom of the seat (11), and the controller (13) is connected to the drive box (2) and the back support assembly (5) respectively.

2. A wearable auxiliary construction exoskeleton robot according to claim 1, Features: A groove (121) is provided in the middle of the backrest plate (12), and the back support assembly (5) is installed inside the groove (121). The back support assembly (5) comprises a rubber belt (51) and a plurality of groups of extension cylinders (52). The rubber belt (51) is installed at the opening of the groove (121), and the plurality of groups of extension cylinders (52) are respectively installed inside the groove (121). The output ends of the plurality of groups of extension cylinders (52) are respectively in contact with the rubber belt (51). A plurality of groups of pressure sensing plates (53) are installed on the contacting side of the rubber belt (51) and the extension cylinder (52). The plurality of groups of extension cylinders (52) are respectively in contact with the pressure sensing plates (53), and the extension cylinders (52) and the pressure sensing plates are respectively connected to the controller (13).

3. A wearable auxiliary construction exoskeleton robot according to claim 2, Features: The arch support assembly (4) comprises a storage bin (41), the upper layer of the storage bin (41) is made of rubber, the lower layer of the storage bin (41) is made of plastic, and gallium metal is provided inside the storage bin (41), the gallium metal occupies 30% of the total capacity of the storage bin (41).

4. A wearable auxiliary construction exoskeleton robot according to claim 3, Features: Two groups of drive motors (22) are installed on a side of the two groups of drive boxes (2) away from the base (11), and a driving gear (221) is installed at the output end of the drive motor (22). A slot is provided at the bottom of the drive box (2). An adjusting cylinder (23) and a transmission rod (24) are installed inside the drive box (2). The fixed surface of the adjusting cylinder (23) is connected to the transmission rod (24). A plurality of groups of driven gears (231) with different teeth are installed at the output end of the adjusting cylinder (23). The driving gear (221) can respectively cooperate with each group of driven gears (231). The bottom of the transmission rod (24) is connected to the drive plate (21), and the drive plate (21) can swing in the slot. A limiting slot (211) is provided at the bottom of the drive plate (21), and a limiting block (212) is installed inside the limiting slot (211). The lower limb shell (3) is installed on the limiting block (212).

5. A wearable auxiliary construction exoskeleton robot according to claim 4, Features: When one group of the driving motors (22) is working, the other group of the driving motors (22) will stop working.

6. A wearable auxiliary construction exoskeleton robot according to claim 5, Features: Two groups of transmitting blocks (25), two groups of receiving blocks (26) and a plurality of groups of springs are installed inside the driving box (2); the two groups of transmitting blocks (25) are respectively connected to the inner wall of the driving box (2); the two groups of receiving blocks (26) are respectively connected to the two side surfaces of the driving plate (21); springs are respectively installed between the transmitting blocks (25) and the receiving blocks (26); the transmitting blocks (25) and the receiving blocks (26) are respectively connected to the controller (13); One end of the remaining spring is connected to the inner wall of the drive box (2), and the other end is connected to the drive plate (21).

7. A wearable auxiliary construction exoskeleton robot according to claim 6, Features: When the two groups of receiving blocks (26) receive the electrical signals faster: the motor is adjusted to connect a group of driven gears (231) with fewer teeth to the driving gear (221); When the two groups of receiving blocks (26) receive electrical signals at a slower time, the regulating motor will regulate a group of driven gears (231) with more saw teeth to be connected to the driving gear (221).

8. A wearable auxiliary construction exoskeleton robot according to claim 7, Features: A bearing (31) is installed above the lower limb shell (3), and the bearing (31) is connected to a limit block (212). A plurality of sets of binding belts (32) may be installed on the lower limb, and the arch support assembly (4) is installed on the inner bottom surface of the lower limb shell (3).

9. A wearable auxiliary construction exoskeleton robot according to claim 8, Features: Limiting plates (15) are respectively installed inside the placement grooves (111), and the limiting plates (15) are located inside the base (11). Multiple groups of springs are installed inside the base (11), and the other ends of the springs are respectively connected to the limiting plates (15); When the limiting plate (15) is subjected to pressure, the limiting plate (15) will enter the placement groove (111).

10. A wearable auxiliary construction exoskeleton robot according to claim 9, Features: A plurality of installation boxes (16) are installed on the backrest plate (12), and safety belts (161) are installed in the installation boxes (16). Limit boxes (17) are installed at the front end and both sides of the seat platform (11), and the output ends of the safety belts (161) can be connected to the limit boxes (17).

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