Exoskeleton device for assisting movement and mounting method

Abstract

The invention relates to the technical field of exoskeletons, in particular to an exoskeleton device for assisting movement and a mounting method.The exoskeleton device for assisting movement comprises a supporting assembly, a lifting assembly and a bearing assembly.The supporting assembly comprises a base, a first motor, a lifting plate, a first screw rod, a guide rod and a moving assembly.The exoskeleton device for assisting movement and the mounting method have the advantages that the exoskeleton device can assist in movement; the first motor drives the first screw to rotate, so that the lifting plate moves up and down in the lifting cavity, and the guide rod and the moving assembly are driven to ascend and descend. Therefore, the equipment is convenient to move and fix; the bearing assembly with the supporting position and the supporting number capable of being adjusted ascends and descends, exoskeleton equipment can be fixed, the height of the exoskeleton can be adjusted in cooperation with the lifting assembly, and a worker can wear the exoskeleton conveniently; the installation method is simple and clear, and movement, fixation and hook installation of the equipment and lifting of the exoskeleton device can be completed through several steps. Operators can easily master the using method of the equipment, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and in particular to an exoskeleton device for assisting movement and an installation method thereof. Background Art

[0002] An exoskeleton is usually made of a hard frame material (such as metal, carbon fiber, etc.) and joint connection parts. Its appearance is similar to the human skeletal structure and can cover and support key parts of the human body, such as legs, arms, waist, etc.

[0003] When wearing a traditional exoskeleton, it is often necessary for several workers to lift the exoskeleton to the appropriate height for the corresponding part before wearing it. During this process, it is easy for several groups of workers to not cooperate closely, move unstably, and lift to inconsistent heights, which is time-consuming, labor-intensive, and inconvenient to operate. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies of the prior art, the present invention provides an exoskeleton device for assisting movement and an installation method thereof.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an exoskeleton device for assisting movement, comprising a supporting assembly, a lifting assembly and a bearing assembly, wherein the supporting assembly comprises a base, a first motor, a lifting plate, a first screw, a guide rod and a moving assembly, a lifting cavity is arranged below the base, the first motor is embedded in the top wall of the lifting cavity, the output end of the first motor is connected to the first screw, a screw groove threadedly connected to the first screw is arranged above the lifting plate, the lifting plate is slidably arranged in the lifting cavity, guide holes penetrating the lifting cavity are arranged at four corners of the base, guide rods penetrating the guide holes are arranged at four corners of the lifting plate, the guide rods protrude from the guide holes and the moving assembly is arranged below;

[0008] The lifting assembly includes a second motor, a protective cover, a worm gear, a worm, a second screw, a slider and a lifting frame. The lifting frame is arranged on the upper back side of the base, a slide groove is arranged on the front side of the lifting frame, a slider and two groups of symmetrically arranged second screws are arranged in the slide groove, the second screw is threadedly connected with the slider, a protective cover is arranged on the top wall of the lifting frame, a worm gear and two groups of worm gears are arranged in the protective cover, the worm gear is meshed with the two groups of worm gears, the output end of the second motor passes through the protective cover and is connected to the worm gear, and the corresponding second screw gear passes through the top wall of the lifting frame and the protective cover and is connected to the corresponding worm gear center;

[0009] The bearing assembly includes a support plate, a mounting frame, a hook and a connector. The support plate is L-shaped. The front side of the slider protrudes from the lifting frame and is connected to the support plate. Several groups of mounting frames are also arranged on the front side of the support plate. The hook is connected to the mounting frame through a connector.

[0010] In order to facilitate the movement and temporary stopping of the equipment, the present invention is improved in that the moving component includes a universal wheel and a brake, the universal wheel is arranged below the guide rod, and the brake is arranged on the peripheral side of the universal wheel.

[0011] In order to ensure the endurance of the device, the present invention has an improvement in that a battery is embedded in the base, the battery is arranged above the first motor, and the battery is connected to the first motor and the second motor through wires.

[0012] Preferably, both the first motor and the second motor are servo motors.

[0013] In order to ensure the strength of the support plate, the present invention is improved in that the sliding block is further provided with reinforcing ribs connected to the bottom wall of the support plate.

[0014] In order to facilitate the disassembly and assembly of the hook, the present invention has been improved in that the connecting member includes an insert block, an elastic member and a clamping block, the hook is arranged on the front side of the insert block, the insert block is plugged into the installation frame, movable grooves are symmetrically arranged on the left and right sides of the insert block, the elastic member and the clamping block are arranged in the movable groove, the two ends of the elastic member are respectively connected to the inner wall of the movable groove and the clamping block, and the installation frame is also provided with a clamping hole adapted to the clamping block.

[0015] Preferably, the elastic member includes a spring and a telescopic rod, the spring is sleeved on the telescopic rod, both ends of the spring and the telescopic rod are respectively connected to the inner wall of the movable groove and the block, and the block is provided with an inclined surface at one end away from the hook.

[0016] The present invention further provides a method for installing an exoskeleton device for assisting movement, comprising the above exoskeleton device for assisting movement, comprising the following steps:

[0017] Step 1: The first motor drives the first screw to rotate, the lifting plate descends, the moving assembly under the guide rod contacts the ground, and the device is moved to a suitable position through the supporting assembly;

[0018] Step 2: The first motor drives the first screw to rotate, and the lifting plate is reset. At this time, the base contacts the ground and the equipment is fixed;

[0019] Step 3: The second motor drives the worm to rotate, the worm drives the worm wheel to rotate, and then the two sets of worms drive the two sets of second screws to rotate, and the slider drives the bearing assembly to move to a lower position. According to the needs, the hook is assembled on the corresponding installation frame through the connecting piece. At this time, the bottom wall of the support plate cooperates with the hook to carry the exoskeleton device;

[0020] Step 4: Start the second motor again, and the load-bearing assembly will lift the corresponding device to a suitable height. At this time, the operator can stand on the base and put on the exoskeleton device;

[0021] Step 5. When the exoskeleton needs to be worn in the corresponding position, adjust the position and number of hooks according to the needs, cooperate with the lifting assembly and the load-bearing assembly to support the exoskeleton device, and repeat the above steps to complete the wearing of the corresponding exoskeleton device.

[0022] (III) Beneficial effects

[0023] Compared with the prior art, the present invention provides an exoskeleton device for assisting movement and an installation method, which has the following beneficial effects:

[0024] In the exoskeleton device and installation method for assisting movement, the first motor drives the first screw to rotate, so that the lifting plate moves up and down in the lifting chamber, thereby driving the guide rod and the moving assembly to move up and down. This facilitates the movement and fixation of the device;

[0025] The lifting of the load-bearing component, which can adjust the support position and the number of supports, can complete the fixation of the exoskeleton device, and the height of the exoskeleton can be adjusted with the lifting component to facilitate the staff to wear it;

[0026] The installation method is simple and clear. The equipment can be moved, fixed, hooked and lifted in a few steps. Operators can easily master the use of the equipment and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0028] Figure 2 The structure of the present invention Figure 1 A partial enlarged schematic diagram in the middle;

[0029] Figure 3 It is a bottom view schematic diagram of the structure of the present invention;

[0030] Figure 4 This is a schematic diagram of the hook with the connecting piece of the structure of the present invention not being assembled with the mounting frame;

[0031] Figure 5 The structure of the present invention Figure 4 Explosion diagram of

[0032] Figure 6 It is a partial explosion schematic diagram of the structure of the present invention;

[0033] Figure 7 The structure of the present invention Figure 6 A partial enlarged schematic diagram of point B in the middle.

[0034] In the figure: 1. base; 2. first motor; 3. lifting plate; 4. first screw; 5. guide rod; 6. second motor; 7. protective cover; 8. worm gear; 9. worm; 10. second screw; 11. slider; 12. lifting frame; 13. support plate; 14. mounting frame; 15. hook; 16. universal wheel; 17. brake; 18. battery; 19. reinforcing rib; 20. plug-in block; 21. spring; 22. telescopic rod; 23. clamping block. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0036] See also Figure 1-7 , an exoskeleton device for assisting movement, comprising a supporting component, a lifting component and a bearing component, the supporting component comprising a base 1, a first motor 2, a lifting plate 3, a first screw 4, a guide rod 5 and a moving component, a lifting cavity is arranged below the base 1, the first motor 2 is embedded in the top wall of the lifting cavity, the output end of the first motor 2 is connected to the first screw 4, a screw groove threadedly connected to the first screw 4 is arranged above the lifting plate 3, the lifting plate 3 is slidably arranged in the lifting cavity, the four corners of the base 1 are provided with guide holes penetrating the lifting cavity, the four corners of the lifting plate 3 are provided with guide rods 5 penetrating the guide holes, the guide rods 5 protrude from the guide holes and the moving component is arranged below the guide holes, the moving component comprises a universal wheel 16 and a brake 17, the universal wheel 16 is arranged below the guide rod 5, and the brake 17 is arranged on the circumference of the universal wheel 16;

[0037] When the equipment needs to be moved, the first motor 2 is started to drive the first screw 4 to rotate. Since the first screw 4 is threadedly connected to the screw groove above the lifting plate 3, and the lifting plate 3 is restricted from sliding in the lifting chamber, the rotation of the first screw 4 will cause the lifting plate 3 to descend. As the lifting plate 3 descends, the guide rods 5 at the four corners also descend, and the moving components (universal wheels 16 and brakes 17) under the guide rods 5 are in contact with the ground. At this time, the equipment can be pushed and the flexibility of the universal wheels 16 can be used to move the equipment to a suitable position. The brake 17 can lock the universal wheels 16 when necessary to prevent accidental movement of the equipment.

[0038] In actual use, it is necessary to adjust the height of the bearing assembly. To this end, the lifting assembly includes a second motor 6, a protective cover 7, a worm wheel 8, a worm 9, a second screw 10, a slider 11 and a lifting frame 12. The lifting frame 12 is arranged on the upper back side of the base 1. A slide groove is arranged on the front of the lifting frame 12. A slider 11 and two groups of symmetrically arranged second screws 10 are arranged in the slide groove. The second screw 10 is threadedly connected with the slider 11. A protective cover 7 is arranged on the top wall of the lifting frame 12. A worm 9 and two groups of worm wheels 8 are arranged in the protective cover 7. The worm 9 is meshed with the two groups of worm wheels 8. The output end of the second motor 6 passes through the protective cover 7 and is connected to the worm 9. The corresponding second screw 10 passes through the top wall of the lifting frame 12 and the protective cover 7 and is connected to the center of the corresponding worm wheel 8. During the descent process: the second motor 6 is started to drive the worm 9 to rotate. The worm 9 is meshed with the two groups of worm wheels 8, and the rotation of the worm 9 will drive the worm wheel 8 to rotate. The center of the worm wheel 8 is connected to the second screw 10, and the rotation of the worm wheel 8 causes the second screw 10 to rotate. Since the slider 11 is threadedly connected to the second screw 10, and the sliding of the slider 11 in the slide groove on the front of the lifting frame 12 is restricted, the rotation of the second screw 10 will cause the slider 11 to descend. The descent of the slider 11 drives the load-bearing assembly to descend, and when the carried exoskeleton device needs to be lifted, the second motor 6 is started again, driving the worm 9 to rotate in the opposite direction. The worm 9 drives the worm wheel 8 to rotate in the opposite direction, thereby causing the two sets of second screws 10 to rotate in the opposite direction. The slider 11 rises under the action of the second screw 10, driving the load-bearing assembly to lift the exoskeleton device to a suitable height;

[0039] In this embodiment, in order to assemble the exoskeleton, in addition to supporting the bottom of the exoskeleton, it is also necessary to traction and limit it. For this purpose, the bearing assembly includes a support plate 13, a mounting frame 14, a hook 15 and a connecting piece. The support plate 13 is L-shaped, and the front side of the slider 11 protrudes from the lifting frame 12 and is connected to the support plate 13. Several groups of mounting frames 14 are also provided on the front side of the support plate 13. The hook 15 is connected to the mounting frame 14 through a connecting piece. When the bearing assembly moves to a lower position, the hook 15 is assembled on the corresponding mounting frame 14 through a connecting piece according to needs. The connecting member includes an insert block 20, an elastic member and a clamping block 23. The hook 15 is provided on the front of the insert block 20. The insert block 20 is plugged into the installation frame 14. The left and right sides of the insert block 20 are symmetrically provided with movable grooves. The elastic member and the clamping block 23 are provided in the movable groove. The two ends of the elastic member are respectively connected to the inner wall of the movable groove and the clamping block 23. The installation frame 14 is also provided with a clamping hole adapted to the clamping block 23. The elastic member includes a spring 21 and a telescopic rod 22. The spring 21 is sleeved on the telescopic rod 22. The spring 21 and the telescopic rod Both ends of 22 are connected to the inner wall of the movable groove and the block 23 respectively. The block 23 is provided with an inclined surface at one end away from the hook 15. The plug block 20 in the connector is inserted into the installation frame 14. The blocks 23 on the left and right sides of the plug block 20 are inserted into the holes on the installation frame 14 under the action of the elastic member (spring 21 and telescopic rod 22). The inclined surface ensures the convenience of plugging the block 23 into the hole, and the hook 15 is fixed. The exoskeleton is often equipped with a hanging ring or auxiliary belt connected to the hook 15. After the hook 15 is installed, the bottom wall of the support plate 13 cooperates with the hook 15 to carry the exoskeleton device. When the load-bearing assembly lifts the exoskeleton device to a suitable height, the operator can stand on the base 1 to wear the exoskeleton device.

[0040] In order to ensure the convenience of moving the device, a battery 18 is also embedded in the base 1. The battery 18 is arranged above the first motor 2. The battery 18 is connected to the first motor 2 and the second motor 6 through wires. The battery 18 supplies energy to the first motor 2 and the second motor 6. At the same time, the battery 18 ensures that the center of gravity of the device is low, thereby ensuring its stability in use.

[0041] In actual use, the slider 11 is further provided with a reinforcing rib 19 connected to the bottom wall of the support plate 13 , and the reinforcing rib 19 ensures the supporting strength of the slider 11 to the L-shaped support plate 13 .

[0042] The present invention further provides a method for installing an exoskeleton device for assisting movement, comprising the above exoskeleton device for assisting movement, comprising the following steps:

[0043] Step 1: Move the device to a suitable position through the moving function of the support assembly;

[0044] Step 2: Fix the equipment on the ground to ensure the stability of the equipment during use;

[0045] Step 3: Move the carrying assembly to a lower position, install the hook 15 and carry the exoskeleton device;

[0046] Step 4: Lift the exoskeleton device to a suitable height to facilitate the operator to wear it;

[0047] Step 5: According to the wearing requirements of the exoskeleton in different positions, adjust the position and number of hooks 15, and repeat the above steps to achieve flexible support and wearing of the exoskeleton device.

[0048] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0049] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0050] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0051] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An exoskeleton device for assisting movement, comprising a support assembly, a lifting assembly and a load-bearing assembly, characterized in that: The support assembly comprises a base (1), a first motor (2), a lifting plate (3), a first screw (4), a guide rod (5) and a moving assembly, wherein a lifting cavity is arranged below the base (1), the first motor (2) is embedded in the top wall of the lifting cavity, the output end of the first motor (2) is connected to the first screw (4), a screw groove threadedly connected to the first screw (4) is arranged above the lifting plate (3), the lifting plate (3) is slidably arranged in the lifting cavity, the base (1) is provided with guide holes penetrating the lifting cavity at four corners, the lifting plate (3) is provided with guide rods (5) penetrating the guide holes at four corners, and the moving assembly is arranged below the guide rods (5) protruding from the guide holes; The lifting assembly comprises a second motor (6), a protective cover (7), a worm wheel (8), a worm (9), a second screw (10), a slider (11) and a lifting frame (12); the lifting frame (12) is arranged on the upper back side of the base (1); a slide groove is arranged on the front side of the lifting frame (12); a slider (11) and two groups of symmetrically arranged second screws (10) are arranged in the slide groove; the second screw (10) is threadedly connected with the slider (11); a protective cover (7) is arranged on the top wall of the lifting frame (12); a worm (9) and two groups of worm wheels (8) are arranged in the protective cover (7); the worm (9) is meshed with the two groups of worm wheels (8); the output end of the second motor (6) passes through the protective cover (7) and is connected to the worm (9); the corresponding second screw (10) passes through the top wall of the lifting frame (12) and the protective cover (7) and is connected to the center of the corresponding worm wheel (8); The bearing assembly comprises a support plate (13), a mounting frame (14), a hook (15) and a connecting piece. The support plate (13) is L-shaped. The front side of the slider (11) protrudes from the lifting frame (12) and is connected to the support plate (13). The front side of the support plate (13) is also provided with a plurality of groups of the mounting frames (14). The hook (15) is connected to the mounting frame (14) via a connecting piece.

2. An exoskeleton device for assisting movement according to claim 1, characterized in that: The moving assembly comprises a universal wheel (16) and a brake (17); the universal wheel (16) is arranged below the guide rod (5), and the brake (17) is arranged on the peripheral side of the universal wheel (16).

3. An exoskeleton device for assisting movement according to claim 2, characterized in that: A storage battery (18) is also embedded in the base (1); the storage battery (18) is arranged above the first motor (2); the storage battery (18) is connected to the first motor (2) and the second motor (6) via electric wires.

4. The exoskeleton device for assisting movement according to claim 3, characterized in that: The first motor (2) and the second motor (6) are both servo motors.

5. The exoskeleton device for assisting movement according to claim 4, characterized in that: The sliding block (11) is also provided with a reinforcing rib (19) connected to the bottom wall of the supporting plate (13).

6. An exoskeleton device for assisting movement according to claim 5, characterized in that: The connecting member comprises an insert block (20), an elastic member and a clamping block (23); the insert block (20) is provided with the hook (15) on the front side; the insert block (20) is plugged into the installation frame (14); movable grooves are symmetrically provided on the left and right sides of the insert block (20); the elastic member and the clamping block (23) are provided in the movable groove; two ends of the elastic member are respectively connected to the inner wall of the movable groove and the clamping block (23); and a clamping hole matched with the clamping block (23) is also provided on the installation frame (14).

7. An exoskeleton device for assisting movement according to claim 6, characterized in that: The elastic member comprises a spring (21) and a telescopic rod (22), wherein the spring (21) is sleeved on the telescopic rod (22), and both ends of the spring (21) and the telescopic rod (22) are respectively connected to the inner wall of the movable groove and a clamping block (23), and an end of the clamping block (23) away from the hook (15) is provided with an inclined surface.

8. A method for installing an exoskeleton device for assisting movement, characterized in that: An exoskeleton device for assisting movement according to any one of claims 1 to 7, comprising the following steps: Step 1: The first motor (2) drives the first screw (4) to rotate, the lifting plate (3) descends, the moving assembly below the guide rod (5) contacts the ground, and the device is moved to a suitable position through the supporting assembly; Step 2: The first motor (2) drives the first screw (4) to rotate, and the lifting plate (3) is reset. At this time, the base (1) is in contact with the ground and the device is fixed; Step 3, the second motor (6) drives the worm (9) to rotate, the worm (9) drives the worm wheel (8) to rotate, and then the two groups of worms (9) drive the two groups of second screws (10) to rotate, and the slider (11) drives the bearing assembly to move to a lower position. According to the needs, the hook (15) is assembled on the corresponding installation frame (14) through the connecting piece. At this time, the bottom wall of the support plate (13) cooperates with the hook (15) to carry the exoskeleton device; Step 4: Start the second motor (6) again, and the load-bearing assembly lifts the corresponding device to a suitable height. At this time, the operator stands on the base (1) and can put on the exoskeleton device; Step 5: When the exoskeleton needs to be worn at the corresponding position, adjust the position and number of the hooks (15) according to the needs, cooperate with the lifting assembly and the bearing assembly to support the exoskeleton device, and repeat the above steps to complete the wearing of the corresponding exoskeleton device.

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