Double-drive stretcher carrying exoskeleton with shock absorption function

Abstract

A double-drive stretcher carrying exoskeleton with damping function, including electric control backpack mechanism, electric control backpack mechanism and stretcher connecting piece mechanism, leg exoskeleton mechanism connection, leg exoskeleton mechanism includes power-assisted motor box mechanism;Electric control backpack mechanism includes backpack shoulder strap, backpack shoulder strap is connected on waist binding belt, waist binding belt and electric control backpack are connected;Electric control backpack contains backpack internal sensor, backpack internal motor, backpack internal control panel, backpack internal motor connects Bauden line;Stretcher connecting piece mechanism includes stretcher connecting piece and the coiler connected therewith;Stretcher connecting piece is embedded with the connection vertical direction spring damping assembly, horizontal direction spring damping assembly, and the coiler adopts ratchet-dual-ratchet wheel structure design;Leg exoskeleton mechanism includes exoskeleton thigh rod, exoskeleton thigh rod is closely attached to the user through the magic tape binding belt of big and small legs, bellyband;The user can carry the stretcher without the help of hand, and simultaneously provides the effect of damping and power-assisted leg movement.

Description

Technical Field

[0001] This invention relates to an assisted handling device, and more particularly to a dual-drive stretcher exoskeleton with shock absorption function. Background Technology

[0002] Airborne troops primarily engage in emergency mobile operations. The uncertainty of drop locations and operational times often results in a large number of wounded during the airdrop to the target area, leading to a low ratio of combat-ready medical personnel to on-the-spot medical personnel and an urgent need for frontline emergency medical transport. Stretcher transport is a widely used battlefield casualty transfer technique that determines whether the wounded can receive timely and effective treatment within the medical chain. In existing transport methods, small muscle groups bear a heavy burden, manifesting macroscopically as soreness and exhaustion in the hands and forearms; weight-bearing muscles are used frequently, with almost all muscles and joints involved in the movement, resulting in high overall energy consumption and easy fatigue; at the same time, infantrymen using hand-carried stretchers lack sufficient self-protection capabilities and cannot monitor the wounded throughout the process. Therefore, there is an urgent need for an infantry-friendly assisted transport exoskeleton to free infantrymen's hands to transport the wounded and reduce the burden during the transport process.

[0003] According to the references ([1] F Patané, S Rossi, F Del Sette, et al. WAKE-Up Exoskeleton to Assist Children With Cerebral Palsy: Design and Preliminary Evaluation in Level Walking[J]. IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol.25, no.7, 2017, pp.906-916.; [2] Wu Xiaokai. Research on Design and Control of Bionic Knee Joint Exoskeleton Driven by Pneumatic Muscles[D]. Chongqing Jiaotong University, 2024.), the current shortcomings of transport exoskeletons are: First, rigid exoskeletons have overly complex structures, are troublesome to wear on the battlefield and are easily damaged, and have a large total mass, which increases the burden on users; Second, flexible exoskeletons have insufficient driving force, and the assistance provided by the exoskeleton is not obvious under heavy transport conditions; Third, in the process of transporting wounded, ordinary assistive exoskeletons will cause vibrations in the stretcher and transport personnel, which will cause discomfort or secondary injury to the wounded. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the present invention aims to provide a dual-drive stretcher transport exoskeleton with shock absorption function, which allows the user to carry the stretcher without the aid of hands, while providing shock absorption and assisting leg movement.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] A dual-drive stretcher transport exoskeleton with shock absorption function includes an electrically controlled backpack mechanism, a stretcher connector mechanism, and a leg exoskeleton mechanism; the electrically controlled backpack mechanism is connected to the stretcher connector mechanism and the leg exoskeleton mechanism, and the leg exoskeleton mechanism includes an assist motor housing mechanism.

[0007] The electronically controlled backpack mechanism includes a backpack shoulder strap 1, a waist strap 2, and an electronically controlled backpack 3. The backpack shoulder strap 1 is connected to the waist strap 2, and the waist strap 2 and the electronically controlled backpack 3 are connected. A connecting slide rail 201 is connected to the side of the waist strap 2, and the electronically controlled backpack 3 is embeddedly connected through the connecting slide rail 201.

[0008] The electronically controlled backpack 3 contains an internal sensor, an internal motor, and an internal control board. The internal motor is connected to the Bowden cable 6. The side of the electronically controlled backpack 3 is equipped with a start button 301 for the internal motor. When the user presses the start button 301, the Bowden cable 6 is tightened via the internal motor. Pressing the start button 301 again causes the Bowden cable 6 to loosen via the internal motor. During the leg-lifting motion, the Bowden cable 6 may loosen slightly due to the leg movement. The internal sensor monitors this in real time and transmits the loosening signal to the internal control board. Subsequently, the internal control board triggers the internal motor to tighten the Bowden cable 6 again. The second tightening is greater and can apply traction to assist the leg exoskeleton in lifting the thigh.

[0009] Both the backpack shoulder straps 1 and the waist straps 2 are equipped with cushioning cotton.

[0010] The stretcher connecting mechanism includes a stretcher connector 4 and a retractor 5 connected thereto. The stretcher connector 4 includes a slide rail slider 401, which is connected to a connector slide rail 201. The slide rail slider 401 is embedded with a vertical spring damping assembly 402 and a horizontal spring damping assembly 403, and the vertical spring damping assembly 402 and the horizontal spring damping assembly 403 are pressed together by the connector housing 406. The connector housing 406 is connected to the first end of the outward-expanding tripod 404, the last end of the outward-expanding tripod 404 is connected to one end of the tripod spring damping 407, and the other end of the tripod spring damping 407 is connected to the connector housing 406. The last end of the outward-expanding tripod 404 is provided with a retractor connecting pin hole 405.

[0011] The retractor 5 adopts a pawl-double ratchet structure design, including a modified ratchet 501 and a coil spring and a pawl 502 inside the retractor shell. A retractor belt limiting structure 505 is provided at the retractor belt outlet of the retractor shell. The end of the retractor belt passes through the stretcher plug 507 and is fixed in position by the retractor belt clamp 506. A tension adjustment bolt 503 is connected to the stretcher plug 507. A pin connecting plate 504 is connected to the outside of the retractor shell. The retractor connecting pin hole 405 is connected to the retractor pin connecting plate 504 by a pin, thereby realizing the assembly of the retractor 5.

[0012] The improved ratchet 501 features optimized ratchet tooth length and curvature, reducing loosening between the ratchet and pawl caused by vibration. The coil spring and pawl 502 work together to ensure the pawl is at the angle of the multi-ratchet before being lifted by the single ratchet gear. The coiled belt achieves a reset function through the coil spring. When the coiled belt is pulled out, the single ratchet gear pushes the pawl to lift. When the pulling stops and is accompanied by a slight reset, the single ratchet gear resets, and the pawl meshes with the multi-ratchet gear, thereby achieving the effect of fixing the length of the coiled belt under stress.

[0013] The leg exoskeleton mechanism includes an exoskeleton thigh rod 7, which is tightly fitted to the user via Velcro straps 8 for the thighs and calves and an abdominal band 9. The exoskeleton thigh rod 7 includes a vertical spring damping assembly 702 of the leg exoskeleton and movable hinges (which also serve as an upper damping limit 701 and a lower damping limit 703) connected to its upper and lower ends.

[0014] The power assist motor housing mechanism includes a power assist motor housing 10, which is directly connected to the Bowden line 6. The power assist motor housing 10 is equipped with a motor power supply 1002. The power assist motor housing 10 includes a built-in motor gear transmission mechanism 1001 connected to the end of the Bowden line 1003, which provides torque to the lower leg. The end of the Bowden line 1003 is connected to a fixed plate 1004 and a movable plate 1005 inside the housing. The fixed plate 1004 is located above the movable plate 1005, and a return spring 1006 is connected below the movable plate 1005.

[0015] The return spring 1006 adopts an embedded design and is securely installed through a threaded connection.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] This invention combines the advantages of rigid and flexible exoskeletons. It utilizes Bowden wire flexible drive to provide tension and an assist motor to provide torque, making the entire exoskeleton easy to equip and providing significant assistance. This effectively reduces muscle fatigue during prolonged stretcher carrying. Shock-absorbing structures are added to the stretcher connectors and leg exoskeleton sections to reduce stretcher vibration during transport. It frees the hands of the transport personnel during transport, allowing infantry transporters to care for the injured while protecting their own safety. It is simple to wear and control, and weighs only 8 kg, placing minimal additional burden on the transporter. Attached Figure Description

[0018] Figure 1 This is a perspective view of an embodiment of the present invention.

[0019] Figure 2 This is a perspective view of the electronically controlled backpack according to an embodiment of the present invention.

[0020] Figure 3 This is a perspective view of the stretcher connector according to an embodiment of the present invention.

[0021] Figure 4 This is a perspective view of the retractor according to an embodiment of the present invention.

[0022] Figure 5 This is a three-dimensional view of the leg exoskeleton according to an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the power assist motor housing according to an embodiment of the present invention.

[0024] In the diagram: 1-Backpack shoulder straps; 2-Waist straps; 201-Connector rail; 3-Electrically controlled backpack; 301-Start button; 4-Stretcher connector; 401-Rail slider; 402-Vertical spring damping assembly; 403-Horizontal spring damping assembly; 404-Extended tripod; 405-Retractor connecting pin hole; 406-Connector housing; 407-Tripod spring damping; 5-Retractor; 501-Modified ratchet; 502-Cooling spring and pawl; 503-Tightening adjustment bolt; 504-Pin connecting plate; 505 - Retractable belt limiter; 506 - Retractable belt clamp; 507 - Stretcher insert; 6 - Bowden cable; 7 - Exoskeleton thigh bar; 701 - Movable hinge and damping upper limiter; 702 - Leg exoskeleton vertical spring damping assembly; 703 - Damping lower limiter; 8 - Velcro strap; 9 - Abdominal band; 10 - Power assist motor box; 1001 - Built-in motor gear transmission mechanism; 1002 - Motor power supply; 1003 - Bowden cable end; 1004 - Internal fixing plate of the chassis; 1005 - Internal movable plate of the chassis; 1006 - Return spring. Detailed Implementation

[0025] The present invention will now be described in detail with reference to the embodiments and accompanying drawings.

[0026] like Figures 1-6 As shown, a dual-drive stretcher transport exoskeleton with shock absorption function includes an electrically controlled backpack mechanism, a stretcher connector mechanism, and a leg exoskeleton mechanism; the electrically controlled backpack mechanism is connected to the stretcher connector mechanism and the leg exoskeleton mechanism, and the leg exoskeleton mechanism includes an assist motor housing mechanism.

[0027] Reference Figure 1 , Figure 2 The electronically controlled backpack mechanism includes a backpack shoulder strap 1, a waist strap 2, and an electronically controlled backpack 3. The backpack shoulder strap 1 is connected to the waist strap 2, and the waist strap 2 and the electronically controlled backpack 3 are connected.

[0028] The waist strap 2 is connected to a connecting slide rail 201 on its side, and the connecting slide rail 201 and the electronic backpack 3 form an embedded connection, which is further secured by bolts.

[0029] The electronically controlled backpack 3 contains an internal sensor, an internal motor, and an internal control board. The internal motor is connected to the Bowden cable 6. The side of the electronically controlled backpack 3 is equipped with a start button 301 for the internal motor. When the user presses the start button 301, the Bowden cable 6 is tightened via the internal motor. Pressing the start button 301 again causes the Bowden cable 6 to loosen via the internal motor. During the leg-raising motion, the Bowden cable 6 may loosen slightly due to the leg movement. The internal sensor monitors this in real time and transmits the loosening signal to the internal control board. Subsequently, the internal control board triggers the internal motor to tighten the Bowden cable 6 again. The second tightening is greater and can apply sufficient traction, thereby effectively assisting the leg exoskeleton in lifting the thigh and enhancing the user's leg-raising motion.

[0030] Both the backpack shoulder straps 1 and the waist straps 2 are equipped with a certain thickness of cushioning cotton to make the wearer more comfortable.

[0031] Reference Figure 1 , Figure 3 , Figure 4 The stretcher connecting mechanism includes a stretcher connecting component 4 and a retractor 5 connected thereto;

[0032] The stretcher connector 4 includes a slide rail slider 401, which is connected to the connector slide rail 201. The slide rail slider 401 is embedded with a vertical spring damping assembly 402 and a horizontal spring damping assembly 403, which are fixed by bolts and pressed by the connector housing 406. The connector housing 406 is connected to the first end of the outward-expanding tripod 404 by a pin to achieve stable structural support. The end of the outward-expanding tripod 404 and one end of the tripod spring damping 407 are connected by bolts, and the other end of the tripod spring damping 407 is connected to the connector housing 406. The end of the outward-expanding tripod 404 is provided with a retractor connecting pin hole 405.

[0033] The retractor 5 adopts a universal pawl-double ratchet structure design, including a modified ratchet 501, a coil spring, and a pawl 502 within the retracting housing. To improve stability, the length and curvature of the ratchet teeth of the modified ratchet 501 have been optimized to reduce loosening between the ratchet and pawl caused by vibration. The coil spring and pawl 502 work together to ensure that the pawl is at an angle that can hold the multi-ratchet before being lifted by the single ratchet gear. The retracting belt achieves a reset function through the coil spring. When the retracting belt is pulled out, the single ratchet gear pushes the pawl to lift. When the pulling stops and is accompanied by a slight reset, the single ratchet gear resets, and the pawl meshes with the multi-ratchet gear, thereby achieving... The current retractable belt maintains a fixed length under stress. A retractable belt limiting structure 505 is provided at the retractable belt outlet of the retractable shell to effectively prevent the retractable belt from shifting position and jamming during resetting. The end of the retractable belt passes through the stretcher insert 507 and is fixed in position by the retractable belt clamp 506. A tension adjustment bolt 503 is connected to the stretcher insert 507, which is connected to the stretcher. The tension can be quickly adjusted by the tension adjustment bolt 503. A pin connecting plate 504 is connected to the outside of the retractable shell. The retractor connecting pin hole 405 is connected to the retractor pin connecting plate 504 by a pin, thus realizing the assembly of the retractor 5.

[0034] The vertical spring damping assembly 402 and the horizontal spring damping assembly 403 provide shock absorption support, improving the overall stability and comfort of the equipment. The user squats down and pulls out a longer length of the retractable belt. The stretcher plug 507 is then passed through the stretcher handle. The tension adjustment bolt 503 is rotated until the plug locks the stretcher handle. The user then stands up and lifts the stretcher to a comfortable height, freeing their hands. The pawl engages the ratchet, fixing the length of the retractable belt, and the transport work can then begin.

[0035] Reference Figure 1 , Figure 5The leg exoskeleton mechanism includes an exoskeleton thigh rod 7, which is tightly fitted to the user via Velcro straps 8 for the thighs and calves and an abdominal band 9. The exoskeleton thigh rod 7 includes a vertical spring damping assembly 702 of the leg exoskeleton and movable hinges (which also serve as upper and lower damping limits) 701 and 703 connected to its upper and lower ends.

[0036] Refer to the reference. Figure 5 , Figure 6 The power assist motor housing mechanism includes a power assist motor housing 10. To prevent the force from being distributed to the straps and clothing when the Bowden cable 6 directly pulls the Velcro strap 8, the power assist motor housing 10 is directly connected to the Bowden cable 6. The lifting action of the Bowden cable 6 can activate the power assist motor housing 10 to provide torque, helping to reduce the burden on the leg during movement. The power assist motor housing 10 is also equipped with a motor power supply 1002. The power assist motor housing 10 includes an internal motor gear transmission mechanism 1001 connected to the end 1003 of the Bowden cable. The internal motor gear transmission mechanism 1001 provides torque to the lower leg to assist in lower leg movement. The end 1003 of the Bowden cable is connected to the internal fixed plate 1004 and the internal movable plate 1005. The internal fixed plate 1004 is located above the internal movable plate 1005, and a return spring 100 is connected below the internal movable plate 1005. 6; During the tightening operation of Bowden Line 6, before the Bowden Line end 1003 pulls up the fixed plate 1004 inside the housing, the movable plate 1005 inside the housing is first raised. When the movable plate 1005 inside the housing is raised to the fixed plate 1004 inside the housing, the motor power supply 1002 is energized, the motor works, and drives the built-in motor gear transmission mechanism 1001 to provide torque. The tightening operation of Bowden Line 6 is completed and begins to loosen. The movable plate 1005 inside the housing is pulled back by the return spring 1006, the motor power supply 1002 is de-energized, and the user's legs will not encounter resistance when returning to their original position. The power assist motor housing 10 is equipped with an independent motor power supply 1002 to ensure the reliability of operation. In addition, the return spring 1006 adopts an embedded design and achieves a stable installation through a threaded connection, providing additional shock absorption support and further improving the user's comfort and the stability of the equipment.

[0037] The working principle of this invention is as follows: This invention is used for transport personnel at both ends of a stretcher; here, only the transport personnel at one end need to be described. The user puts the backpack shoulder strap 1 on their shoulder, tightens the waist binding strap 2 at the waist, tightens the abdominal binding strap 9 at the abdomen, and tightens the Velcro bindings 8 at the thighs and calves. The stretcher connector 4 is then connected to the connector slide rail 201 on the abdomen side. The user squats down, pulls out the retractable strap inside the retractor 5, fastens the stretcher pole with the stretcher insert 507, and adjusts the tension adjusting bolt 503 to lock the stretcher pole. Then, the user lifts the stretcher by hand and stands up, adjusts the stretcher height, releases their hand, and presses the start button 301. The Bowden cable 6 tightens, at which point the length of the Bowden cable is the distance from the electronically controlled backpack 3 to the power assist motor box 10. During the user's walking, as their legs lift, the sensor inside the backpack detects the loosening of the Bowden cable 6, and the Bowden cable 6 tightens again. The tension provided by the secondary tightening of the Bowden cable 6 effectively helps... It helps the user lift their thigh; at the same time, the movable plate 1005 inside the power motor box 10 is lifted to the fixed plate 1004 inside the box by the Bowden line 6, the power motor box 10 is powered on, and the built-in motor gear transmission mechanism 1001 rotates, providing a certain torque to the lower leg and assisting the lower leg movement; during continuous walking, the vibration generated by the leg and the stretcher will be reduced by the vertical spring damping assembly 402, the horizontal spring damping assembly 403 and the vertical spring damping assembly 702 of the leg exoskeleton, and the vibration felt by the injured person on the stretcher will be reduced.

[0038] The above embodiments are merely illustrative examples of the present invention, intended to illustrate its application, and do not constitute a limitation on the scope of protection of the invention. Those skilled in the art can still modify or adjust some of its contents without departing from the core ideas and technical essence of the present invention, and such modifications all fall within the scope of protection of the present invention.

Claims

1. A dual-drive stretcher transport exoskeleton with shock absorption function, characterized in that: It includes an electrically controlled backpack mechanism, a stretcher connector mechanism, and a leg exoskeleton mechanism; the electrically controlled backpack mechanism is connected to the stretcher connector mechanism and the leg exoskeleton mechanism, and the leg exoskeleton mechanism includes a power-assisted motor housing mechanism; The electronically controlled backpack mechanism includes a backpack shoulder strap (1), a waist strap (2), and an electronically controlled backpack (3). The backpack shoulder strap (1) is connected to the waist strap (2), and the waist strap (2) is connected to the electronically controlled backpack (3). A connector slide rail (201) is connected to the side of the waist strap (2), and an embedded connection is formed between the connector slide rail (201) and the electronically controlled backpack (3). The electronically controlled backpack (3) contains an internal sensor, an internal motor, and an internal control board. The internal motor is connected to the Bowden cable (6). The side of the electronically controlled backpack (3) is equipped with a start button (301) for the internal motor. When the user presses the start button (301), the Bowden cable (6) is tightened by the internal motor. When the start button (301) is pressed again, the Bowden cable (6) is immediately relaxed by the internal motor. During the leg-lifting movement, the Bowden cable (6) will loosen slightly due to the leg movement. The internal sensor monitors this in real time and transmits the loosening signal to the internal control board. Subsequently, the internal control board triggers the internal motor to tighten the Bowden cable (6) again. The second tightening is greater and can apply traction to assist the leg exoskeleton in lifting the thigh. The stretcher connecting mechanism includes a stretcher connector (4) and a retractor (5) connected thereto; the stretcher connector (4) includes a slide rail slider (401), which is connected to the connector slide rail (201); the slide rail slider (401) is embedded in the vertical direction spring damping assembly (402) and the horizontal direction spring damping assembly (403), and the vertical direction spring damping assembly (402) and the horizontal direction spring damping assembly (403) are pressed by the connector housing (406); the connector housing (406) is connected to the head end of the outward-expanding tripod (404), the end of the outward-expanding tripod (404) is connected to one end of the tripod spring damper (407), the other end of the tripod spring damper (407) is connected to the connector housing (406), and the end of the outward-expanding tripod (404) is provided with a retractor connecting pin hole (405). The retractor (5) adopts a ratchet-double ratchet structure design, including a modified ratchet (501) and a coil spring and a ratchet (502) inside the retractor shell. A retractor belt limiting structure (505) is set at the retractor belt outlet of the retractor shell. The end of the retractor belt passes through the stretcher plug (507) and is fixed in position by the retractor belt clamp (506). A tension adjustment bolt (503) is connected to the stretcher plug (507). A pin connecting plate (504) is connected to the outside of the retractor shell. The retractor connecting pin hole (405) is connected to the retractor pin connecting plate (504) by a pin to realize the assembly of the retractor (5). The power assist motor housing mechanism includes a power assist motor housing (10), which is connected to the Bowden line (6) and is equipped with a motor power supply (1002). The power assist motor housing (10) includes a built-in motor gear transmission mechanism (1001) connected to the end of the Bowden line (1003), which provides torque to the lower leg. The end of the Bowden line (1003) is connected to a fixed plate (1004) and a movable plate (1005) inside the housing. The fixed plate (1004) is located above the movable plate (1005) inside the housing, and a return spring (1006) is connected below the movable plate (1005) inside the housing.

2. The dual-drive stretcher transport exoskeleton according to claim 1, characterized in that: The backpack shoulder straps (1) and waist straps (2) are both equipped with cushioning cotton.

3. The dual-drive stretcher transport exoskeleton according to claim 1, characterized in that: The improved ratchet (501) has optimized ratchet tooth length and curvature to reduce loosening between the ratchet and pawl caused by vibration; the coil spring and pawl (502) work together to ensure that the pawl is at the angle of pressing against the multi-ratchet before being lifted by the single ratchet gear; the coiled belt achieves the reset function through the coil spring. When the coiled belt is pulled out, the single ratchet gear will push the pawl to lift; when the pulling stops and is accompanied by a slight reset, the single ratchet gear resets accordingly, and the pawl meshes with the multi-ratchet gear, thereby achieving the effect of fixing the length of the coiled belt under stress.

4. The dual-drive stretcher transport exoskeleton according to claim 1, characterized in that: The leg exoskeleton mechanism includes an exoskeleton thigh bar (7), which is tightly fitted to the user via Velcro straps (8) for the thigh and calf and an abdominal band (9); the exoskeleton thigh bar (7) includes a vertical spring damping assembly (702) of the leg exoskeleton and movable hinges (701) and a damping upper limit (703) connected to its upper and lower ends.

5. The dual-drive stretcher transport exoskeleton according to claim 1, characterized in that: The reset spring (1006) adopts an embedded design and is securely installed through a threaded connection.

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