Upper limb multi-module series connection power-assisted exoskeleton

Abstract

The invention relates to an upper limb multi-module series connection assisting exoskeleton which comprises a shoulder strap, a waist bandage and a series connection assisting module, and the shoulder strap is used for being installed and fixed on the shoulder of a wearer. And the waist bandage is used for being mounted and fixed on the waist of the wearer. The series power assisting module comprises a flexible plate, the flexible plate is connected with the shoulder straps and the waist bandage, and the flexible plate is attached to the back spine of the wearer. The series connection power assisting module further comprises waist auxiliary elastic pieces which are oppositely arranged on the two sides of the flexible plate, one end of each waist auxiliary elastic piece is connected with the waist bandage, and the other end of each waist auxiliary elastic piece is connected with the flexible plate. When a wearer carries out physical labor, the flexible plate generates certain assistance when the waist of the human body is bent to assist the body to provide additional protection, and when the body recovers, the flexible plate generates pulling force to generate assistance support on the body, so that a worker can be assisted to carry out physical work, and the load bearing capacity of the worker is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of assistive power assistance, and particularly relates to an upper limb multi-module series assistive exoskeleton. Background Art

[0002] In recent years, the research on exoskeleton-assisted movement has gradually received attention. Since the last century, exoskeleton robots have started exploratory research and development, initially aiming to improve the mobility of individual soldiers in military tasks and provide medical assistance for disabled people to improve their quality of life. With the continuous progress of technology, domestic and foreign universities and research institutions have invested more and more resources in the development of exoskeleton technology. In order to promote the intelligentization process in China, China has also increased investment in this field, committed to the research and improvement of key technologies, and achieved effective integration of humans and machines.

[0003] As the physical laborers engaged in heavy object handling are gradually aging, young people are increasingly reluctant to choose physical work in the face of the inconvenience brought by high-intensity labor and muscle injuries. This change, against the background of rapid economic development, makes the shortage of physical laborers a prominent problem. In order to protect the health of physical laborers and reduce physical injuries, it is particularly important to improve the load-bearing capacity of laborers. Summary of the Invention

[0004] In view of the above technical problems, the present invention provides an upper limb multi-module series assistive exoskeleton, which can assist laborers in physical work and improve the load-bearing capacity of laborers.

[0005] To achieve the above object, the present invention adopts the following technical solutions: An upper limb multi-module series assistive exoskeleton, comprising: A shoulder strap for mounting and fixing on the shoulders of the wearer; A waist strap for mounting and fixing on the waist of the wearer; and A series assistive module, the series assistive module includes a flexible plate, the flexible plate connects the shoulder strap and the waist strap, and the flexible plate is attached to the back spine of the wearer; the series assistive module further includes a waist auxiliary elastic member, the waist auxiliary elastic members are oppositely arranged on both sides of the flexible plate, and one end of the waist auxiliary elastic member is connected to the waist strap, and the other end is connected to the flexible plate.

[0006] In one possible implementation, the waist auxiliary elastic member is a first elastic band, and the first elastic band is arranged obliquely outward.

[0007] In one possible implementation, it further includes two leg straps for mounting and fixing on the legs of the wearer, and the leg straps are connected to the waist strap.

[0008] In one possible implementation, a second elastic band is connected between the leg strap and the waist strap.

[0009] In one possible implementation, the second elastic band is inclined towards the flexible plate.

[0010] In one possible implementation, a mounting seat is provided on the shoulder strap, and the shoulder strap is connected to the flexible plate through the mounting seat.

[0011] In one possible implementation, the mounting seat is fixedly connected to the flexible plate, and the shoulder strap includes a back plate and a connecting band; A guide rail is fixed on the mounting seat, a slider is fixed on the back plate, and the slider is slidably connected to the guide rail; adjustment holes are spaced along the length direction on the guide rail, and a locking member is provided on the slider, and the locking member is snap-connected to the adjustment hole.

[0012] In one possible implementation, the waist strap includes a structural plate and a waist belt; The flexible plate is connected to the structural plate.

[0013] In one possible implementation, an elastic strip is provided on the structural plate, one end of the elastic strip is connected to the structural plate, and the other end is connected to the mounting seat.

[0014] In one possible implementation, connection blocks are evenly spaced along the length direction of the flexible plate, and the elastic strip is movably connected in series with the connection blocks.

[0015] Due to the above technical solutions adopted by the present invention, it has the following advantages: When using this exoskeleton, the shoulder strap needs to be fixed on the shoulders of the wearer, while the waist strap is fixed on the waist of the wearer. The series-connected assist module is attached to the back spine of the wearer. When the wearer performs physical labor, the flexible plate generates a certain amount of assistance when the human waist bends, assisting the body to provide additional protection. When the body is recovering, the flexible plate generates a pulling force to provide assistance and support to the body. The present invention provides an upper limb multi-module series-connected assist exoskeleton, which can assist workers in performing physical work and improve the load-bearing capacity of workers; Multi-module design: The exoskeleton adopts a modular design, including a shoulder strap, a waist strap, and a series-connected assist module, which can meet the needs of different users; Assistance support: The flexible plate provides support and assistance when the wearer performs physical labor, relieves the waist pressure, and protects the spine; Enhanced safety: The design of the waist auxiliary elastic member and the second elastic band can effectively buffer and adapt to the side bending and rotation of the body, preventing sudden injuries; Flexibility: The coordinated setting of the connection block and the elastic strip enables the entire exoskeleton to simulate the movement curve of the spine, achieve multi-degree-of-freedom movement, and enhance body flexibility; Adaptive adjustment: The adjustment mechanisms on the shoulder strap and the waist strap allow the wearer to make convenient adjustments according to their own physical conditions, ensuring comfort and stability; Stable fixation: The setting of the leg strap enhances the overall structural stability of the exoskeleton and optimizes the fixation effect on the waist; Spinal protection: The exoskeleton can maintain the physiological curve of the spine, improve the stability of the lumbar and thoracic vertebrae in various working and movement states, and reduce the risk of spinal injury. Description of the drawings

[0016] Figure 1 It is a schematic diagram of the specific structure of the exoskeleton in an embodiment of the present invention; Figure 2 It is a schematic diagram of the specific structure of the shoulder strap in an embodiment of the present invention; Figure 3 It is a schematic diagram of the specific structure of the locking member in an embodiment of the present invention; Figure 4 It is a schematic diagram of the bending angle of the exoskeleton in the lateral direction in an embodiment of the present invention; Figure 5 It is a schematic diagram of the bending angle of the exoskeleton in the front-back direction in an embodiment of the present invention; Figure 6 It is a schematic diagram of the torsional bending angle of the exoskeleton in an embodiment of the present invention; Reference numerals: 1. Shoulder strap; 11. Mounting seat; 12. Back plate; 13. Connecting band; 14. Guide rail; 15. Slide block; 16. Locking member; 17. Adjustment hole; 2. Waist strap; 21. Structural plate; 22. Belt; 3. Series assist module; 31. Flexible plate; 32. First elastic band; 33. Connection block; 4. Leg strap; 5. Second elastic band; 6. Elastic strip; 7. Flexible rear cover. Detailed implementation manners

[0017] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the ordinary meanings as understood by those with ordinary skills in the field to which the present invention pertains. The terms "first", "second", "third", "fourth" and similar terms used in the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. Words such as "comprising" or "including" mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0019] As manual laborers engaged in heavy object handling are gradually aging, young people are increasingly reluctant to choose physical work in the face of the inconvenience brought by high-intensity labor and muscle injuries. Against the backdrop of rapid economic development, this change has made the shortage of manual laborers a prominent problem. To safeguard the health of manual laborers and reduce physical injuries, it is particularly important to improve the load-bearing capacity of laborers. In response to the above technical problems, the present invention provides an upper limb multi-module series assistive exoskeleton, which can assist laborers in physical work and improve the load-bearing capacity of laborers. The technical solutions of the present invention will be described in detail below with specific examples.

[0020] Refer to Figure 1 , Figure 2 and Figure 3 As shown, an upper limb multi-module series assistive exoskeleton related to the present invention includes a shoulder strap 1, a waist strap 2 and a series assistive module 3. Among them, the shoulder strap 1 is used to be mounted and fixed on the shoulders of the wearer. The waist strap 2 is used to be mounted and fixed on the waist of the wearer.

[0021] The series assistive module 3 includes a flexible plate 31. The flexible plate 31 connects the shoulder strap 1 and the waist strap 2, and the flexible plate 31 is attached to the back spine of the wearer. The series assistive module 3 further includes a waist auxiliary elastic member. The waist auxiliary elastic members are oppositely arranged on both sides of the flexible plate 31, and one end of the waist auxiliary elastic member is connected to the waist strap 2 and the other end is connected to the flexible plate 31.

[0022] Exemplarily, when using this exoskeleton, the shoulder strap 1 needs to be fixed on the shoulders of the wearer, while the waist strap 2 is fixed on the waist of the wearer. The series assistive module 3 is attached to the back spine of the wearer. When the wearer performs physical labor, the flexible plate 31 generates a certain amount of assistance when the human waist bends, assisting the body to provide additional protection. When the body recovers, the flexible plate 31 generates a pulling force to provide assistance and support to the body. The present invention provides an upper limb multi-module series assistive exoskeleton, which can assist laborers in physical work and improve the load-bearing capacity of laborers.

[0023] In this embodiment, specifically, the flexible plate 31 is specifically an elastic steel plate (65Mn or spring steel). For the specific torsional angle, refer to Figure 4 , Figure 5 and Figure 6 as shown.

[0024] In one embodiment, the specific structure of the waist auxiliary elastic member is further refined. The waist auxiliary elastic member is the first elastic band 32, and the first elastic band 32 is arranged obliquely outward.

[0025] It should be noted that the first elastic band 32 specifically simulates the trapezius muscle of the human body. Specifically, it is an assistive belt imitating the trapezius muscle of the human body. When in the working state, the first elastic band 32 can assist with the body's side bending and rotation, and buffer the waist force.

[0026] In one embodiment, the exoskeleton further includes two leg straps 4. The leg straps 4 are used to be installed and fixed on the legs of the wearer, and the leg straps 4 are connected to the waist strap 2.

[0027] The setting of the leg straps 4 can enhance the overall structural installation stability of the exoskeleton, and the leg straps 4 can further optimize the fixing effect of the exoskeleton at the waist position.

[0028] In this embodiment, more preferably, a second elastic band 5 is connected between the leg straps 4 and the waist strap 2.

[0029] It should be noted that during the working process, the lateral force borne by the human body will force the flexible plate 31 to undergo elastic deformation to adapt to the body's side bending state, thereby causing the first elastic band 32 and the second elastic band 5 on the current side to contract and bend, while the first elastic band 32 and the second elastic band 5 on the other side cause bending deformation for stretching. Through the flexible plate 31, the first elastic band 32, and the second elastic band 5, the exoskeleton is assisted to perform multi-stage traction deformation. When the human body is in the side bending state, since the entire mechanism is in the elastic deformation state, it can prevent sudden bending, overextension and other actions from causing excessive movement angles and spinal injuries.

[0030] In this embodiment, specifically, the second elastic band 5 is arranged obliquely towards the flexible plate 31.

[0031] The structural setting of the second elastic band 5 is similar to the effect brought by the first elastic band 32, and is mainly used to assist and support the vertical rotation of the flexible plate 31.

[0032] In one embodiment, the overall structure of the shoulder strap 1 is further refined. An installation seat 11 is arranged on the shoulder strap 1, and the shoulder strap 1 is connected to the flexible plate 31 through the installation seat 11.

[0033] Specifically, the mounting base 11 is fixedly connected to the flexible plate 31. The shoulder strap 1 includes a back plate 12 and a connecting strap 13. A guide rail 14 is fixed on the mounting base 11, and a slider 15 is fixed on the back plate 12. The slider 15 is slidably connected to the guide rail 14. Adjustment holes 17 are spaced along the length direction on the guide rail 14, and a locking member 16 is provided on the slider 15. The locking member 16 is snap-connected to the adjustment holes 17.

[0034] When wearing and installing this exoskeleton, the wearer can make adaptive adjustments according to their own situation. When adjusting, only the locking member 16 needs to be pulled out to release the snap connection between the locking member 16 and the adjustment holes 17, and then the back plate 12 can be adjusted. After the adaptive adjustment is completed, the locking member 16 is inserted into the corresponding adjustment hole 17 to lock and fix the back again.

[0035] In one embodiment, the specific structure of the waist strap 2 is further refined. The waist strap 2 includes a structural plate 21 and a waist belt 22. The flexible plate 31, the first elastic band 32, and the second elastic band 5 are all connected to the structural plate 21.

[0036] Specifically, an elastic strip 6 is provided on the structural plate 21. One end of the elastic strip 6 is connected to the structural plate 21, and the other end is connected to the mounting base 11.

[0037] The setting of the elastic strip 6 can strengthen the connection strength between the shoulder strap 1 and the waist strap 2, optimize the use stability of the flexible plate 31, not only can further enhance the protection ability for the wearer, but also improve the use stability of the exoskeleton itself. In addition, for the protection of the flexible plate 31, a flexible rear cover 7 is provided outside the flexible plate 31.

[0038] In this embodiment, preferably, connection blocks 33 are spaced along the length direction of the flexible plate 31, and the elastic strip 6 is movably connected in series with the connection blocks 33.

[0039] Specifically, in some embodiments, the flexible plate 31 can be multiple elastic plates. The multiple elastic plates are arranged vertically at intervals and are connected in series with each other through the connection blocks 33. The overall structure is modularized. With the cooperation of the elastic strip 6, the overall toughness can also be enhanced.

[0040] The cooperation setting of the connection blocks 33 and the elastic strip 6 forms a multi-module series connection mechanism, simulating the movement curve of the human spine. This mechanism can achieve multi-degree-of-freedom movement and improve body flexibility. At the same time, the waist series assistance mechanism maintains the physiological curve of the spine and can play a role in fixing and protecting. It can stabilize the lumbar and thoracic vertebrae in working, exercising, carrying and other states, and prevent spinal injuries caused by sudden torsion, overextension and other actions.

[0041] For example, when the upper limb multi-module serial power-assisted exoskeleton is lateral bending, because the spine adopts serial power-assisted modules, the lateral force it bears forces the flexible plate 31 to produce elastic deformation to adapt to the body's lateral bending state, thereby causing the first elastic belt 32 and the second elastic belt 5 of the oblique muscle to enter a stretched state, assisting the multi-level elastic deformation state of the spinal exoskeleton, while the first elastic belt 32 and the second elastic belt 5 on the other side cause a contraction state bending deformation. The deformation combination not only improves the body's flexibility, but also can better assist the human body.

[0042] Secondly, when the human body squats and bends, the shoulders will perform a parabolic rotation around the waist as the rotation center. The waist is fixed as a support point, generating assistance during the upward movement of the body. The elastic restoring force of the flexible plate 31 and the elastic strip 6 assists the wearer's movement.

[0043] In addition, when the body is rotating, the torsional force borne by the series power assist module forces the flexible plate to produce elastic deformation to adapt to the body being in a small-angle rotation state. During the turning process, the waist of the spine is fixed for support, while the shoulders are torsionally deformed with the rotation angle, and the body is supported by the rebound and restoration characteristics of the flexible plate 31 and the elastic strip 6.

[0044] Finally, with the three types of auxiliary assistance mentioned above, the series assistance module can adapt to changes in different angles of the human body, improve body flexibility, and better assist the human body.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An upper limb multi-module series power-assisted exoskeleton, characterized in that: include: A shoulder strap, used to be installed and fixed on the wearer's shoulder; A waist strap, used to be installed and fixed on the wearer's waist; as well as A series assisting module, the series assisting module includes a flexible plate, the flexible plate connects the shoulder strap and the waist strap, the flexible plate fits the wearer's back spine; the series assisting module also includes a waist auxiliary elastic member, the waist auxiliary elastic member is arranged on both sides of the flexible plate, one end of the waist auxiliary elastic member is connected to the waist strap, and the other end is connected to the flexible plate.

2. The upper limb multi-module serial power-assisted exoskeleton according to claim 1, characterized in that: The auxiliary elastic waist member is a first elastic belt, and the first elastic belt is arranged to be inclined outwards.

3. The upper limb multi-module serial power-assisted exoskeleton according to claim 1, characterized in that: It also includes two leg straps, which are used to be installed and fixed on the legs of the wearer, and the leg straps are connected to the waist strap.

4. The upper limb multi-module serial power-assisted exoskeleton according to claim 3, characterized in that: A second elastic belt is connected between the leg straps and the waist straps.

5. The upper limb multi-module serial power-assisted exoskeleton according to claim 4, characterized in that: The second elastic band is arranged obliquely toward the flexible plate.

6. The upper limb multi-module serial power-assisted exoskeleton according to claim 1, characterized in that: A mounting seat is arranged on the shoulder strap, and the shoulder strap is connected to the flexible plate via the mounting seat.

7. The upper limb multi-module serial power-assisted exoskeleton according to claim 6, characterized in that: The mounting seat is fixedly connected to the flexible plate, and the shoulder strap includes a back plate and a connecting strap; A guide rail is fixed on the mounting seat, a slider is fixed on the back plate, and the slider is slidably connected to the guide rail; adjustment holes are spaced apart along the length direction on the guide rail, a locking piece is provided on the slider, and the locking piece is snap-connected to the adjustment hole.

8. The upper limb multi-module serial power-assisted exoskeleton according to claim 1, characterized in that: The waist strap comprises a structural plate and a waist belt; The flexible plate is connected to the structural plate.

9. The upper limb multi-module serial power-assisted exoskeleton according to claim 8, characterized in that: An elastic strip is arranged on the structural plate, one end of the elastic strip is connected to the structural plate, and the other end of the elastic strip is connected to the mounting seat.

10. The upper limb multi-module serial power-assisted exoskeleton according to claim 9, characterized in that: The flexible plates are spaced apart with connection blocks along the length direction, and the elastic strips are movably connected in series with the connection blocks.

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