Flexible bionic power-assisted exoskeleton

Abstract

The invention relates to a flexible bionic power-assisted exoskeleton which comprises a shoulder strap, a waist bandage and a series power-assisted 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 application relates to the technical field of auxiliary assistance, in particular to a flexible bionic assistance exoskeleton.

[0002] The present application claims priority from the Chinese patent application No. 202510520460.5 filed on April 24, 2025, and entitled "Upper limb multi-module series assistance exoskeleton", the content of which is incorporated herein by reference in its entirety. BACKGROUND

[0003] In recent years, the research on exoskeleton assisted movement has gradually attracted attention. Since the last century, exoskeleton robots have been exploratory developed, initially aiming to improve the mobility of individual soldiers in military tasks and provide medical assistance for the disabled 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 intelligent process of our country, our country has also increased investment in this field, and is committed to the research and improvement of key technologies to realize the effective integration of man and machine.

[0004] With the aging of physical laborers engaged in heavy lifting, young people are increasingly unwilling to choose physical work in the face of inconvenience caused by high-intensity labor and muscle damage. This change in the background of rapid economic development makes the lack of physical laborers a prominent problem. In order to protect the health of physical laborers and reduce physical damage, it is particularly important to improve the load-carrying capacity of laborers. SUMMARY

[0005] In view of the above technical problems, the present application provides a flexible bionic assistance exoskeleton, which can assist laborers in physical work and improve the load-carrying capacity of laborers.

[0006] To achieve the above purpose, the present application adopts the following technical solutions: A flexible bionic assistance exoskeleton, comprising: a shoulder strap for mounting and fixing on the shoulder of a wearer; a waist strap for mounting and fixing on the waist of a wearer; and a series assistance module, the series assistance module comprising a flexible plate, the flexible plate connecting the shoulder strap and the waist strap, the flexible plate being fitted to the wearer's back spine; the series assistance module further comprising a waist auxiliary elastic member, the waist auxiliary elastic member being oppositely arranged on both sides of the flexible plate, and one end of the waist auxiliary elastic member being connected with the waist strap and the other end being connected with the flexible plate.

[0007] In one of the embodiments, the waist auxiliary elastic member is a first elastic band, which is arranged outwardly inclined.

[0008] In one of the embodiments, two leg bands are further included, which are used to be fixedly installed on the legs of the wearer, and are connected with the waist band.

[0009] In one of the embodiments, a second elastic band is connected between the leg band and the waist band.

[0010] In one of the embodiments, the second elastic band is arranged inclined towards the flexible plate.

[0011] In one of the embodiments, a mounting seat is arranged on the shoulder strap, and the shoulder strap is connected with the flexible plate through the mounting seat.

[0012] In one of the embodiments, the mounting seat is fixedly connected with 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 sliding block is fixed on the back plate, and the sliding block is slidingly connected with the guide rail; adjustment holes are arranged on the guide rail at intervals along the length direction, and a locking member is arranged on the sliding block and buckled with the adjustment holes.

[0013] In one of the embodiments, the waist band includes a structure plate and a waist belt. The flexible plate is connected with the structure plate.

[0014] In one of the embodiments, an elastic strip is arranged on the structure plate, one end of the elastic strip is connected with the structure plate, and the other end is connected with the mounting seat.

[0015] In one of the embodiments, the flexible plate is connected with connecting blocks at intervals along the length direction, and the elastic strip is movably connected with the connecting blocks.

[0016] The present application has the following advantages due to the above technical solutions. When the exoskeleton is used, the shoulder strap is fixed on the shoulder of the wearer, the waist band is fixed on the waist of the wearer, the serially connected assisting module is attached to the spine of the wearer, when the wearer performs physical labor, the flexible plate provides certain assistance when the waist of the wearer is bent, which assists the body to provide additional protection, when the body is recovered, the flexible plate generates pulling force to assist the body. The present application provides a flexible bionic assisting exoskeleton, which can assist the laborer to perform physical work and improve the load capacity of the laborer. Modular design: The exoskeleton adopts a modular design, including shoulder straps, waist bands, and series assistance modules, which can adapt to the needs of different users; Assistance support: The flexible plate provides support and assistance when the wearer performs physical labor, relieves 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 body's lateral bending and rotation, preventing sudden injuries; Flexibility: The combination of the connecting block and the elastic strip allows the entire exoskeleton to simulate the spinal motion curve, enabling multi-degree-of-freedom movement and improving body flexibility; Adaptive adjustment: The adjustment mechanism on the shoulder straps and waist bands allows the wearer to conveniently adjust according to their own physical condition, ensuring comfort and stability; Stable fixation: The leg band setting enhances the overall structural stability of the exoskeleton, optimizing the fixation effect of the waist; Protect the spine: 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. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The specific structure diagram of the exoskeleton in an embodiment of the present application; Figure 2 The specific structure diagram of the shoulder strap in an embodiment of the present application; Figure 3 The specific structure diagram of the locking member in an embodiment of the present application; Figure 4 The angle diagram of lateral bending of the exoskeleton in an embodiment of the present application; Figure 5 The angle diagram of forward and backward bending of the exoskeleton in an embodiment of the present application; Figure 6 The angle diagram of torsional bending of the exoskeleton in an embodiment of the present application; REFERENCE NUMERALS: 1, shoulder strap; 11, mounting seat; 12, back plate; 13, connecting band; 14, guide rail; 15, sliding block; 16, locking member; 17, adjustment hole; 2, waist band; 21, structure plate; 22, waist band; 3, series assistance module; 31, flexible plate; 32, first elastic band; 33, connecting block; 4, leg band; 5, second elastic band; 6, elastic strip; 7, flexible back cover. DETAILED DESCRIPTION

[0018] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application are described clearly and completely below. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0019] Unless otherwise defined, technical terms or scientific terms used in the present application shall have the common meaning understood by those skilled in the art to which the present application belongs. The terms "first", "second", "third", "fourth" and similar words used in the present application do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and similar words mean that the elements or objects before the words cover the elements or objects listed after the words and their equivalents, and do not exclude other elements or objects.

[0020] With the aging of the physical laborers engaged in heavy lifting, young people are increasingly unwilling to choose physical work in the face of inconvenience caused by high-intensity labor and muscle damage. This change makes the lack of physical laborers a prominent problem in the context of rapid economic development. In order to protect the health of physical laborers and reduce physical damage, it is particularly important to improve the load-carrying capacity of laborers. In view of the above technical problems, the present application provides a flexible bionic power-assisted exoskeleton which can assist laborers in physical work and improve the load-carrying capacity of laborers. The technical solutions of the present application will be described in detail below in combination with specific examples.

[0021] Referring to Figure 1 , Figure 2 and Figure 3 , the present application relates to a flexible bionic power-assisted exoskeleton, which comprises a shoulder strap 1, a waist strap 2 and a series power-assisted module 3. The shoulder strap 1 is used to be fixed on the shoulder of the wearer. The waist strap 2 is used to be fixed on the waist of the wearer.

[0022] The series power-assisted module 3 comprises a flexible plate 31 which connects the shoulder strap 1 and the waist strap 2, and the flexible plate 31 is in close contact with the wearer's back spine. The series power-assisted module 3 further comprises a waist auxiliary elastic member which is oppositely arranged on both sides of the flexible plate 31, and one end of the waist auxiliary elastic member is connected with the waist strap 2 and the other end is connected with the flexible plate 31.

[0023] For example, when using this exoskeleton, the shoulder strap 1 needs to be fixed to the wearer's shoulders, while the waist strap 2 is fixed to the wearer's waist. The series assist module 3 fits snugly against the wearer's spine. When the wearer performs physical labor, the flexible plate 31 provides assistance when the waist bends, offering additional protection to the body. When the body recovers, the flexible plate 31 generates tension, providing support. This invention provides a flexible bionic assistive exoskeleton that can assist workers in performing physical labor and improve their load-bearing capacity.

[0024] In this embodiment, specifically, the flexible plate 31 is an elastic steel plate (65Mn or spring steel). For the specific torsion angle, refer to... Figure 4 , Figure 5 as well as Figure 6 As shown.

[0025] In one embodiment, the specific structure of the waist auxiliary elastic member is further refined. The waist auxiliary elastic member is a first elastic band 32, which is inclined outward.

[0026] It should be noted that the first elastic band 32 specifically simulates the human trapezius muscle, and is a human trapezius muscle assisting band. When in working condition, the first elastic band 32 can assist the body by bending and rotating to the side, and cushion the force on the waist.

[0027] In one embodiment, the exoskeleton also includes two leg straps 4 for mounting and securing to the wearer's legs, and the leg straps 4 are connected to the waist straps 2.

[0028] The leg straps 4 enhance the overall structural stability of the exoskeleton and further optimize the fixation effect of the exoskeleton at the waist.

[0029] In this embodiment, it is preferable that a second elastic band 5 is connected between the leg strap 4 and the waist strap 2.

[0030] It should be noted that during operation, the lateral force exerted on the human body will force the flexible plate 31 to undergo elastic deformation to adapt to the body's lateral bending state. This causes the first elastic band 32 and the second elastic band 5 on the front side to contract and bend, while the first elastic band 32 and the second elastic band 5 on the other side bend and stretch. Through the flexible plate 31, the first elastic band 32 and the second elastic band 5, the exoskeleton is assisted in performing multi-level traction deformation. When the human body is in a lateral bending state, because the entire mechanism is in an elastic deformation state, it can prevent sudden bending, overextension and other movements from causing excessive range of motion and spinal injury.

[0031] In this embodiment, the second elastic band 5 is specifically inclined toward the direction of the flexible plate 31.

[0032] The structure of the second elastic band 5 is similar to that of the first elastic band 32, and is mainly used to assist and support the vertical rotation of the flexible plate 31.

[0033] In one embodiment, the overall structure of the shoulder strap 1 is further refined. The shoulder strap 1 is provided with a mounting base 11, and the shoulder strap 1 is connected to the flexible plate 31 through the mounting base 11.

[0034] Specifically, the mounting base 11 is fixedly connected to the flexible plate 31, and 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 apart 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 snapped into the adjustment hole 17.

[0035] When wearing and installing this exoskeleton, the wearer can make adaptive adjustments according to their own situation. To make an adjustment, simply pull out the locking piece 16, release the buckle connection between the locking piece 16 and the adjustment hole 17, and then adjust the back plate 12. After completing the adaptive adjustment, insert the locking piece 16 into the corresponding adjustment hole 17 and lock the back plate in place again.

[0036] 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.

[0037] Specifically, an elastic strip 6 is provided on the structural plate 21, with one end of the elastic strip 6 connected to the structural plate 21 and the other end connected to the mounting base 11.

[0038] The elastic strip 6 strengthens the connection between the shoulder straps 1 and the waist straps 2, optimizing the stability of the flexible plate 31. This not only enhances the protection for the wearer but also improves the overall stability of the exoskeleton. Additionally, a flexible back cover 7 is provided around the flexible plate 31 for added protection.

[0039] In this embodiment, more preferably, the flexible plate 31 is provided with connecting blocks 33 at intervals along its length, and the elastic strip 6 is connected in series with the connecting blocks 33.

[0040] Specifically, in some embodiments, the flexible plate 31 can be multiple elastic plates, which are arranged vertically at intervals and connected in series with each other through connecting blocks 33. The overall structure is modularized, and the overall toughness can be enhanced by the elastic strips 6.

[0041] The cooperation of the connecting block 33 and the elastic strip 6 forms a multi-module series mechanism, simulating the motion curve of the human spine. The mechanism can realize multi-degree-of-freedom motion and improve body flexibility. At the same time, the waist series assisting mechanism maintains the physiological curve of the spine and can play a fixing and protection role. It can stabilize the lumbar and thoracic vertebrae in working, exercising, carrying and other states, and prevent damage to the spine caused by sudden twisting, excessive stretching and other actions.

[0042] For example, when the flexible bionic assisting exoskeleton bends sideways, the lateral force borne by the series assisting module of the spine forces the flexible plate 31 to elastically deform to adapt to the body bending state, causing the first elastic band 32 and the second elastic band 5 of the bionical obliquus capitis muscle to enter a stretched state, assisting the multi-stage elastic deformation state of the exoskeleton of the spine, while the first elastic band 32 and the second elastic band 5 on the other side cause a contraction state of bending deformation. The combination of deformation not only improves body flexibility, but also better assists the human body.

[0043] Secondly, when the human body is in a squatting and bending state, the shoulder will rotate around the waist as the center of rotation, and the waist will be fixed as a support point to generate assistance during the body movement. The flexible plate 31 and the elastic restoring force of the elastic strip 6 assist the wearer's action.

[0044] In addition, when the body is in a rotating state, the torsional force borne by the series assisting module forces the flexible plate to elastically deform to adapt to the body in a small angle rotating state. The waist is fixed during the turning process, and the shoulder is twisted and deformed with the rotation angle. The flexible plate 31 and the elastic strip 6 support the body by using the characteristics of elastic recovery and reset.

[0045] Finally, in combination with the above three kinds of auxiliary assistance, the series assisting module can adapt to the changes of different angles of the human body, improve the body flexibility, and better assist the human body.

[0046] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A flexible bionic powered exoskeleton, characterized in that, include: Shoulder straps are used to attach and secure the garment to the wearer's shoulders; Waist straps are used to secure the garment to the wearer's waist. as well as The series-connected support module includes a flexible plate that connects the shoulder strap and the waist strap, and the flexible plate conforms to the wearer's spine. The series-connected support module also includes a waist auxiliary elastic element that is disposed opposite to each other on both sides of the flexible plate, with one end of the waist auxiliary elastic element connected to the waist strap and the other end connected to the flexible plate.

2. The flexible bionic power exoskeleton according to claim 1, characterized in that, The waist auxiliary elastic element is a first elastic band, which is inclined outward.

3. The flexible bionic power exoskeleton according to claim 1, characterized in that, It also includes two leg straps for attaching and securing to the wearer's legs, which are connected to the waist strap.

4. The flexible bionic power exoskeleton according to claim 3, characterized in that, A second elastic band connects the leg straps and the waist straps.

5. The flexible bionic power exoskeleton according to claim 4, characterized in that, The second elastic band is inclined toward the direction of the flexible plate.

6. The flexible bionic power exoskeleton of claim 1, wherein, The shoulder strap is provided with a mounting base, and the shoulder strap is connected to the flexible plate through the mounting base.

7. The flexible bionic power exoskeleton according to claim 6, characterized in that, The mounting base 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 base, and a slider is fixed on the back plate. The slider is slidably connected to the guide rail. Adjustment holes are spaced apart along the length of the guide rail, and a locking element is provided on the slider. The locking element is snapped into the adjustment hole.

8. The flexible bionic power exoskeleton of claim 1, wherein, The waist strap includes a structural plate and a waist belt; The flexible plate is connected to the structural plate.

9. The flexible bionic power exoskeleton according to claim 8, characterized in that, An elastic strip is provided on the structural plate, with one end of the elastic strip connected to the structural plate and the other end connected to the mounting base.

10. The flexible bionic power exoskeleton of claim 9, wherein, The flexible plate is provided with connecting blocks at intervals along its length, and the elastic strip is movably connected in series with the connecting blocks.

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