Exoskeleton device for load-bearing operation walking

Abstract

The invention relates to the technical field of bionic exoskeletons, in particular to an exoskeleton device for load-bearing operation walking, which comprises an upper skeleton assembly and two groups of lower skeleton assemblies, and the two groups of lower skeleton assemblies are symmetrically arranged below the upper skeleton assembly; the upper skeleton assembly comprises a bearing piece, a flexible bandage and two flexible straps, the two flexible straps are symmetrically arranged on the two sides of the bearing piece, and the flexible straps are used for being arranged on the back of a human body; the lower skeleton assembly comprises a thigh part, a shank part and a foot part. A mechanical structure and a power assisting mode are optimized, internal force borne by the spine of the human body is reduced through a reasonable force distribution and transmission mechanism, a buffering cushion and the thigh part and the shank part which are provided with the bent surfaces and fit with the contour of the human body are matched, the health of a user is protected while the wearing adaptability and comfort are improved, precise power assisting is provided in combination with hip joint and knee joint motors, and the comfort of the user is improved. The leg burden is reduced; and the continuous operation time is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bionic exoskeleton, and particularly relates to an exoskeleton device for walking in heavy work. BACKGROUND

[0002] In recent years, with the attention and support of the state on scientific and technological innovation, domestic research institutions and enterprises have increased investment and carried out relevant research work. Based on the advanced experience of foreign countries, domestic research teams have innovatively designed mechanical structures in combination with actual domestic needs. For example, by optimizing the lower limb force transmission mechanism, the effectiveness and stability of force transmission have been improved; at the same time, the biomechanical characteristics of the human body are taken into account, so that the exoskeleton device is more in line with the principles of ergonomics, improving the comfort and assistance effect of the wearer.

[0003] Important progress has also been made in the research on the driving mode of the exoskeleton device for walking in heavy work in China. Based on the advanced technology of foreign countries, domestic research teams have innovatively designed the driving mode in combination with the actual situation in China. For example, some domestic enterprises have developed electric drive systems with independent intellectual property rights, which have improved the assistance effect and response speed of the exoskeleton device by optimizing the performance of the motor and the control algorithm. At the same time, domestic research also focuses on the reliability and safety of the driving system to ensure that the exoskeleton device can operate stably during long-term and high-intensity work.

[0004] However, in the mechanical structure design of the exoskeleton device, the effectiveness of the lower limb force transmission mechanism is crucial to avoid the situation of "trade-off". Many current waist exoskeleton systems use a "rear pull" assistance method. Although the design of this method aims to provide support, it actually does not significantly reduce the internal force on the human spine. On the contrary, due to the weight of the machine body and the dynamic load during use, this design may increase the internal force on the spine, thereby negatively affecting the health of the user, especially in the case of long-term use.

[0005] Therefore, it is necessary to design an exoskeleton device for walking in heavy work. SUMMARY

[0006] The present application aims to at least solve one of the technical problems existing in the prior art, and provides an exoskeleton device for walking in heavy work to reduce the force directly borne by the human body, thereby better protecting the spine.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows: an exoskeleton device for walking in heavy work, comprising an upper skeleton assembly, two groups of lower skeleton assemblies, the two groups of lower skeleton assemblies being symmetrically arranged below the upper skeleton assembly; The upper skeleton assembly comprises a backpack, a flexible bandage, and two flexible straps symmetrically arranged on both sides of the backpack, the flexible straps being used for being arranged on the back of the human body, and the flexible bandage being arranged at the bottom of the backpack and used for being arranged on the waist of the human body. The lower skeleton assembly comprises a thigh part, a shank part, and a foot part, the upper end of the thigh part being rotationally connected with the backpack, the lower end of the thigh part being rotationally connected with the shank part, the lower end of the shank part being rotationally connected with the foot part, and the thigh part and the shank part being inwardly curved along a wearing contact surface.

[0008] Further, the backpack comprises a buffer pad, a backpack lifting plate, a load-bearing fixed plate, and a load-bearing plate, the buffer pad being bonded with the backpack lifting plate, the backpack lifting plate being movably arranged on the load-bearing fixed plate, and the load-bearing plate being rotationally arranged on the load-bearing fixed plate.

[0009] Further, the backpack further comprises two lower skeleton connecting parts, the two lower skeleton connecting parts being symmetrically arranged at the bottom of the backpack, and the thigh part being rotationally connected with the lower skeleton connecting parts.

[0010] Further, the upper skeleton assembly further comprises a smart helmet, the smart helmet being worn on the head of the human body.

[0011] Further, the upper skeleton assembly further comprises an arm guard, the arm guard being worn on the arm of the human body.

[0012] Further, the lower skeleton assembly further comprises a hip joint motor, the hip joint motor being arranged at the connection between the thigh part and the backpack and being used for driving the thigh part to rotate relative to the backpack.

[0013] Further, the lower skeleton assembly further comprises a knee joint motor, the knee joint motor being arranged at the connection between the thigh part and the shank part and being used for driving the shank part to rotate relative to the thigh part.

[0014] Further, the lower skeleton assembly further comprises a shank guard, the shank guard being arranged on the shank part.

[0015] It can be known from the above description of the present application that, compared with the prior art, the exoskeleton device for walking in load operation of the present application at least has one of the following beneficial effects: 1. The present application optimizes the mechanical structure and the power assisting mode, reduces the internal force borne by the human spine through a reasonable force distribution and transmission mechanism, and protects the health of the user while improving the wearing adaptability and comfort by matching the buffer pad, the curved surface of the thigh part and the shank part which fit the human body contour, and provides precise power assistance by combining the hip joint motor and the knee joint motor, thereby reducing the leg burden and prolonging the continuous operation time. 2. The upper skeleton component and two sets of lower skeleton components of the present invention form a structure in which the upper and lower skeletons work together to bear force. Combined with protective components such as arm guards and guard plates, it enhances the stability of the device and the safety of the user. It effectively solves the problem of increased spinal burden caused by "rear pull" assistance in the prior art, and provides more efficient, safe and suitable technical support for heavy-duty work. Attached Figure Description

[0016] Fig. 1 This is one of the three-dimensional structural schematic diagrams of an exoskeleton device for weight-bearing work and walking according to a preferred embodiment of the present invention; Fig. 2 This is a second three-dimensional structural schematic diagram of an exoskeleton device for weight-bearing work and walking, according to a preferred embodiment of the present invention. Fig. 3 This is a third three-dimensional structural schematic diagram of an exoskeleton device for weight-bearing work and walking, according to a preferred embodiment of the present invention; The numbers in the diagram are as follows: 1 Upper skeleton assembly, 2 Lower skeleton assembly, 11 Back support, 12 Flexible shoulder straps, 13 Flexible straps, 14 Smart helmet, 15 Arm guards, 21 Thigh assembly, 22 Lower leg assembly, 23 Foot assembly, 24 Hip joint motor, 25 Knee joint motor, 26 Protective plate, 111 Cushion pad, 112 Back lifting plate, 113 Load-bearing fixing plate, 114 Load-bearing plate, 115 Lower skeleton connector. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "top / bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "sleeved / connected", "connected" and the like should be understood in a broad sense, for example, "connected" can be fixedly connected, or detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0020] Referring to Figs. 1-3 As a preferred embodiment of the present application, an exoskeleton device for walking in heavy work includes an upper skeleton assembly 1, two groups of lower skeleton assemblies 2, and the two groups of lower skeleton assemblies 2 are symmetrically arranged below the upper skeleton assembly 1. The upper skeleton assembly 1 includes a carrying member 11, a flexible bandage 13, and two flexible shoulder straps 12, the two flexible shoulder straps 12 are symmetrically arranged on both sides of the carrying member 11, and the flexible shoulder straps 12 are used for being arranged on the back of the human body; the flexible bandage 13 is arranged at the bottom of the carrying member 11, and the flexible bandage 13 is used for being arranged on the waist of the human body. The flexible shoulder straps 12 are symmetrically arranged on both sides of the carrying member 11, and are used for stably carrying the device on the back of the wearer; the flexible bandage 13 is arranged at one end of the carrying member 11, and can limit and bind the waist of the wearer, prevent the device from moving during walking, and ensure the wearing stability.

[0021] The lower skeleton assembly 2 includes a thigh member 21, a calf member 22, and a foot member 23, the upper end of the thigh member 21 is rotationally connected with the carrying member 11, the lower end is rotationally connected with the calf member 22, the lower end of the calf member 22 is rotationally connected with the foot member 23, and the thigh member 21 and the calf member 22 are curved inward along the wearing contact surface.

[0022] The thigh member 21 and the calf member 22 are curved inward along the wearing contact surface, which can better adhere to the legs of the wearer and improve the wearing comfort.

[0023] As a preferred embodiment of the present application, it can also have the following additional technical features: In this embodiment, the carrying member 11 includes a buffer pad 111, a carrying lifting plate 112, a bearing fixed plate 113, and a heavy load plate 114, the buffer pad 111 is bonded with the carrying lifting plate 112, the carrying lifting plate 112 is movably arranged on the bearing fixed plate 113, and the heavy load plate 114 is rotationally arranged on the bearing fixed plate 113.

[0024] The back lifting plate 112 is connected with the load bearing fixed plate 113 through an adjustable connecting rod, and can be lifted and displaced relative to the load bearing fixed plate 113, so as to adjust the back lifting height according to the height of the wearer and the back lifting demand; the load bearing fixed plate 113 is vertically connected with a load bearing plate 114 which can rotate relative to the load bearing fixed plate 113, the angle of the load bearing plate 114 can be adjusted through rotation, so as to conveniently place and take off the load bearing article, and meanwhile the load bearing fixed rods on both sides of the load bearing fixed plate 113 can limit the load bearing plate 114, so as to avoid the shaking of the load bearing plate 114 affecting walking.

[0025] In the embodiment, the back carrying device 11 further comprises two lower skeleton connecting members 115 which are symmetrically arranged at the bottom of the back carrying device 11, and the thigh member 21 is rotationally connected with the lower skeleton connecting member 115.

[0026] In the embodiment, the upper skeleton assembly 1 further comprises a smart helmet 14 which is worn on the head of the human body. The smart helmet 14 is integrated with a GPS, a control bin, a near-eye binocular light waveguide display, a high-definition camera, a laser range finder and the like, the control bin part of the smart helmet 14 comprises a control module, a data storage and a wireless transmission module, can control each device, store measurement data, and transmit the data to a remote background through the wireless transmission module; the near-eye binocular light waveguide display can display data, so as to facilitate the wearer to view in real time, the high-definition camera can shoot the construction scene, the laser range finder can measure the distance by pressing a wireless handset or a button, the value is displayed on the front end, and the data can be saved in the cloud after confirmation, and the GPS can realize the positioning function.

[0027] In the embodiment, the upper skeleton assembly 1 further comprises an arm protector 15 which is worn on the arm of the human body. The arm protector 15 carries a control box placement bin, the control box placement bin can place a control box, a handset and the like, each control box and handset controls each device through wireless connection, such as controlling the resistivity instrument test, the SLAM scanning measuring instrument measurement and the liftable tool grid lifting, and the flexible fixing belt can stably fix the arm protector 15 on the arm, so as to facilitate operation.

[0028] In the embodiment, the lower skeleton assembly 2 further comprises a hip joint motor 24 which is arranged at the connection between the thigh member 21 and the back carrying device 11 and is used for driving the thigh member 21 to rotate relative to the back carrying device 11. The hip joint motor 24 provides assistance for the wearer to walk, and reduces the leg burden.

[0029] In the embodiment, the lower skeleton assembly 2 further comprises a knee joint motor 25 which is arranged at the connection between the thigh member 21 and the lower leg member 22 and is used for driving the lower leg member 22 to rotate relative to the thigh member 21. The knee joint motor 25 provides assistance for the wearer to walk, and reduces the leg burden.

[0030] In the embodiment, the lower limb assembly 2 further comprises a protective plate 26 arranged on the lower leg part 22. The protective plate 26 can protect the leg of the wearer from being hurt by collision during construction.

[0031] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical scheme and the improvement concept of the present application, can make equivalent replacement or change within the technical scope disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. An exoskeleton device for walking while carrying a load, characterized by, The upper skeleton assembly, two groups of lower skeleton assemblies, and the two groups of lower skeleton assemblies are symmetrically arranged below the upper skeleton assembly; The upper skeleton assembly comprises a carrying device, a flexible strap, and two flexible straps symmetrically arranged on both sides of the carrying device, the flexible straps being used for being arranged on the back of the human body; the flexible strap is arranged at the bottom of the carrying device, and the flexible strap is used for being arranged on the waist of the human body; The lower skeleton assembly comprises a thigh part, a lower leg part, and a foot part, the upper end of the thigh part is rotationally connected with the carrying device, the lower end of the thigh part is rotationally connected with the lower leg part, the lower end of the lower leg part is rotationally connected with the foot part, and the thigh part and the lower leg part are inwardly curved along the wearing contact surface.

2. The exoskeleton device for walking in a weight-bearing work according to claim 1, wherein The carrying device comprises a buffer pad, a carrying lifting plate, a bearing fixed plate, and a weight bearing plate, the buffer pad is adhesively connected with the carrying lifting plate, the carrying lifting plate is movably arranged on the bearing fixed plate, and the weight bearing plate is rotationally arranged on the bearing fixed plate.

3. The exoskeleton device for walking in a weight-bearing task according to claim 1, wherein The carrying device further comprises two lower skeleton connecting parts, the two lower skeleton connecting parts are symmetrically arranged at the bottom of the carrying device, and the thigh part is rotationally connected with the lower skeleton connecting parts.

4. The exoskeleton device for walking in a load operation according to claim 1, wherein The upper skeleton assembly further comprises a smart helmet, the smart helmet being worn on the head of the human body.

5. The exoskeleton device for walking in a load operation according to claim 1, wherein The upper skeleton assembly further comprises an arm guard, the arm guard being worn on the arm of the human body.

6. The exoskeleton device for walking in a load operation according to claim 1, wherein The lower skeleton assembly further comprises a hip joint motor, the hip joint motor being arranged at the connection between the thigh part and the carrying device and being used for driving the thigh part to rotate relative to the carrying device.

7. The exoskeleton device for walking in a load operation according to claim 1, wherein The lower skeleton assembly further comprises a knee joint motor, the knee joint motor being arranged at the connection between the thigh part and the lower leg part and being used for driving the lower leg part to rotate relative to the thigh part.

8. The exoskeleton device for walking in a load operation according to claim 1, wherein The lower skeleton assembly further comprises a guard plate, the guard plate being arranged on the lower leg part.

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