A pneumatically assisted exoskeleton robot

Abstract

This utility model relates to a pneumatically assisted exoskeleton robot, comprising: a back support, a thigh support, a leg support fixing module, and at least two elastic pneumatic muscle modules; the back support and the thigh support are rotatably connected by a rotating shaft, and the first surface of the back support is provided with at least two limiting grooves for installing and restricting the pneumatic muscle modules, the at least two limiting grooves being located on both sides of the back support respectively; the limiting grooves are enclosed by a top plate, a first side plate, and a second side plate fixed to the back support, and the first end of the pneumatic muscle module is fixed to the top plate. This utility model enables the assistive device to provide assistance to multiple parts simultaneously, and the assistive device is set in the limiting grooves and is not exposed to the outside, preventing injury to the human body.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, specifically to a pneumatically assisted exoskeleton robot. Background Technology

[0002] After years of development, the market size of exoskeleton robots has gradually expanded. There are many application scenarios for exoskeleton robots in industrial fields such as automobiles, home appliances, and aviation, as well as in daily life fields such as agricultural handling, medical care, and logistics moving. Using exoskeleton robots will reduce human fatigue, improve work efficiency, and reduce the chance of musculoskeletal injuries.

[0003] Although several exoskeleton robot prototypes have emerged both domestically and internationally, most are primarily powered by electric motors or hydraulic systems. Electric-assisted exoskeleton robots are heavy, have poor dynamic balance, high inertia, slow reversal, and limited lifespan. Hydraulic systems, on the other hand, are inefficient, costly, and prone to leaks. In addition to these two power-assisting methods, pneumatic-driven systems also exist. Pneumatic-driven systems use compressed air as the working medium for energy transfer and control, offering advantages such as simple structure, no pollution, low resistance loss, and low cost.

[0004] For example, Chinese patent document CN104552276A discloses a pneumatic muscle-driven exoskeleton assistive mechanism. Identical single-arm components with four degrees of rotational freedom are connected to both sides of the upper part of the back support. Each single-arm component includes a shoulder joint component, an upper arm component, an elbow joint component, and a forearm component connected in sequence. Identical single-leg components are connected to both sides of the lower part of the back support. Each single-leg component includes a hip joint component, a thigh component, a knee joint component, a calf component, an ankle joint component, and a pressure shoe component. The shoulder and hip joint components have three degrees of rotational freedom, while the elbow, knee, and ankle joint components each have one degree of rotational freedom; the exoskeleton assistive mechanism has a total of 18 degrees of freedom.

[0005] This document describes a pneumatic power-assisted method, in which pneumatic drive assist devices are positioned at the elbow, shoulder, and hip joints. When the upper limbs begin to lift heavy objects, the pneumatic drive devices on the corresponding joints provide assistance to these three joints.

[0006] For example, Chinese patent document CN110385692B discloses a pneumatic waist-assisting exoskeleton robot, including a spine frame, a back fixation frame, a spring frame, a shoulder shaft, a cylinder, a cylinder connector, multiple springs, a connecting frame, bearings, a hip shaft, leg guards, and straps. The spine frame includes a spine rod and a bearing ring. The outer wall of the bearing ring is integrally connected to one end of the spine rod, and the inner two ends of the bearing ring are respectively provided with bearing grooves. The back fixation frame and the spring frame are respectively fixedly connected to the other end of the spine rod. The two ends of the multiple springs are respectively fixed to the spring frame and the cylinder connector. One end of the connecting frame is hinged to the cylinder connector, and the other end is fixedly sleeved on the hip shaft. A bearing is installed in each bearing groove. One end of the hip shaft is set in the bearing, and the other end is fixedly connected to the leg guards. The straps are set on the back fixation frame.

[0007] The document states that the cylinder of the device that provides assistance to the waist is exposed, and when it is worn to assist the wearer in straightening their back, there is a risk of injury to the body. Utility Model Content

[0008] The purpose of this invention is to provide a pneumatically assisted exoskeleton robot that partially solves or alleviates the above-mentioned shortcomings in the prior art, enabling the assistive device to provide assistance to multiple parts at the same time, and the assistive device will not cause damage to the human body.

[0009] To solve the aforementioned technical problems, the present invention specifically adopts the following technical solution: A pneumatically assisted exoskeleton robot includes: a back support, a thigh support, a leg support fixation module, and at least two elastic pneumatic muscle modules. The back support and the thigh support are rotatably connected by a rotating shaft. The first surface of the back support is provided with at least two limiting grooves for installing and restricting the pneumatic muscle module. The at least two limiting grooves are located on both sides of the back support. The limiting grooves are formed by a top plate, a first side plate and a second side plate fixed to the back support. The first end of the pneumatic muscle module is fixed to the top plate, and the second end of the pneumatic muscle module is connected to the rotating shaft through a wire. The leg support fixing module is rotatably disposed at the second end of the thigh support.

[0010] Furthermore, the second end of the limiting groove is provided with an arc-shaped guide groove. When the wire pulls the pneumatic muscle module in the second direction, the pneumatic muscle module is stretched and enters the guide groove, so that the pneumatic muscle module is always located on both sides of the back support.

[0011] Furthermore, the exoskeleton robot also includes an air circuit control module and an air compression module; The air compression module and the air path control module are respectively connected to the pneumatic muscle module. The air compression module is used to compress external air and deliver it to the pneumatic muscle module to provide it with an air source, and the air path control module is used to adjust the air pressure in the pneumatic muscle module.

[0012] Furthermore, the air compression module includes a piston rod, an air guide tube, and a one-way valve. The piston rod and the one-way valve are disposed at the first end of the air guide tube, and the second end of the air guide tube is connected to the pneumatic muscle module. When the piston rod is reciprocated, external air enters the interior of the air guide tube through the one-way valve and then flows into the pneumatic muscle module.

[0013] Furthermore, the air circuit control module includes a pressure regulating valve, which is installed on the air guide pipe and located between the air compression module and the pneumatic muscle module, for adjusting the air pressure in the pneumatic muscle module.

[0014] Furthermore, the pneumatic muscle module includes an internal rubber tube and polyester fibers and metal wires wrapped around the outside of the rubber tube.

[0015] Furthermore, the leg support fixing module includes an arc-shaped support plate and a flexible pad disposed on the inner arc surface of the arc-shaped support plate.

[0016] Furthermore, the rotating shaft includes an upper shaft and a lower shaft. The upper part of the upper shaft is connected to the bottom of the back support, the lower part of the upper shaft is hinged to the upper part of the lower shaft, and the lower part of the lower shaft is connected to the thigh support.

[0017] Furthermore, it also includes a shoulder strap and a waist belt. The two ends of the shoulder strap are respectively located at the top and bottom of the back support, for fixing the exoskeleton robot to the user's shoulders; the two ends of the waist belt are respectively located on both sides of the bottom of the back support, for fixing the exoskeleton robot to the user's waist.

[0018] Furthermore, the back support includes a fixing plate and two shoulder width plates disposed on the left and right sides of the fixing plate. The fixing plate and the shoulder width plates are in an inverted "V" shape, and at least two pneumatic muscle modules are respectively located on the two shoulder width plates.

[0019] Beneficial effects: This invention features a pneumatic muscle device on the back support, which, in conjunction with a rotating shaft, provides simultaneous assistance to the waist and legs. This reduces the impact of heavy objects on the body's joints when the wearer lifts them. The invention also includes a leg support fixing module for leg assistance, which can be rotated and adjusted to fit the position of the thigh support as needed to suit the body structure of different users.

[0020] Meanwhile, a limiting groove is also set on the back support to install and restrict the pneumatic muscle module, so that the pneumatic muscle module will not cause damage to the human body when it stretches and contracts.

[0021] This invention has a simple structure, is highly responsive, and provides good assistance, making it suitable for various fields to help users carry heavy loads. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. The elements or parts in the drawings are not necessarily drawn to scale. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the structure of this utility model from another angle; Figure 3 This is a partial schematic diagram of the rotating shaft portion of this utility model; Figure 4 This is a schematic diagram of the thigh support of this utility model; Figure 5 This is a schematic diagram of the internal structure of the thigh support of this utility model; Figure 6 This is a partial schematic diagram of the limiting groove portion of this utility model.

[0024] Summary of attached labeling and identification: 1. Backrest support; 101. Limiting groove; 102. Top plate; 103. First side plate; 104. Second side plate; 105. Guide groove; 2. Thigh support; 3. Leg support fixing module; 4. Pneumatic muscle module; 5. Rotating shaft; 501. Upper shaft; 502. Lower shaft; 201. Lower lifting part; 202. Upper lifting part; 2011. Connecting part; 2012. Moving part; 2013. Engaging button. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0026] In this document, suffixes such as "module," "part," or "unit" used to denote elements are used only for the purpose of illustrative purposes and have no specific meaning in themselves. Therefore, "module," "part," or "unit" can be used interchangeably.

[0027] In this document, the terms "upper," "lower," "inner," "outer," "front," "rear," "one end," and "the other end," 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 this utility model and 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 this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0028] In this document, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0029] In this document, "and / or" includes any and all combinations of one or more of the listed related items.

[0030] In this article, "multiple" means two or more, that is, it includes two, three, four, five, etc.

[0031] As used in this specification, the term "about" typically means + / -5% of the value, more typically + / -4% of the value, more typically + / -3% of the value, more typically + / -2% of the value, even more typically + / -1% of the value, and even more typically + / -0.5% of the value.

[0032] Example 1: This utility model provides a pneumatically assisted exoskeleton robot, including: a back support 1, a thigh support 2, a leg support fixing module 3, and at least two elastic pneumatic muscle modules 4.

[0033] The back support 1 and the thigh support 2 are rotatably connected by a rotating shaft 5. The first surface of the back support 1 is provided with at least two limiting grooves 101 for installing and restricting the pneumatic muscle module 4. The at least two limiting grooves 101 are located on both sides of the back support 1. The limiting grooves 101 are formed by a top plate 102, a first side plate 103, and a second side plate 104 fixed to the back support 1. The first end of the pneumatic muscle module 4 is fixed to the top plate 102, and the second end of the pneumatic muscle module 4 is connected to the rotating shaft 5 through a wire. The leg support fixing module 3 is rotatably disposed at the second end of the thigh support 2.

[0034] The back support, thigh support, and rotating shaft connecting the two in this invention constitute the main frame of the exoskeleton robot, which is worn on the back of the human body.

[0035] In some embodiments, the second end of the limiting groove 101 is provided with an arc-shaped guide groove 105. When the wire pulls the pneumatic muscle module 4 in the second direction, the pneumatic muscle module 4 is stretched and enters the guide groove 105, so that the pneumatic muscle module 4 is always located on both sides of the back support 1.

[0036] This invention features a limiting groove on the back support for installing and restricting the pneumatic muscle module, ensuring that the pneumatic muscle module will not cause harm to the human body when it stretches and contracts.

[0037] In some embodiments, the system further includes an air path control module and an air compression module, which are located below the rear support and outside the rotation axis.

[0038] Specifically, the air compression module and the air path control module are respectively connected to the pneumatic muscle module 4. The air compression module is used to compress external air and deliver it to the pneumatic muscle module 4 to provide it with an air source (original power). The air path control module is used to regulate the air pressure in the pneumatic muscle module 4.

[0039] One end of the air compression module of this utility model is connected to the pneumatic muscle module 4. The air compression module provides air to the pneumatic muscle module 4 through the air circuit control module. When air is filled into the pneumatic muscle module, the pneumatic muscle module 4 is compressed along with the human body's carrying movements, thereby reducing the back burden during operation.

[0040] In some embodiments, the air compression module includes a piston rod, an air guide tube, and a one-way valve. The piston rod and the one-way valve are disposed at a first end of the air guide tube, and the second end of the air guide tube is connected to the pneumatic muscle module 4. When the piston rod is reciprocated, external air enters the air guide tube through the one-way valve and then flows into the pneumatic muscle module 4, thereby providing power to the exoskeleton robot.

[0041] In some embodiments, the air circuit control module includes a pressure regulating valve, which is installed on the air guide pipe and located between the air compression module and the pneumatic muscle module 4, for adjusting the air pressure in the pneumatic muscle module 4.

[0042] The pressure regulation function adjusts the air pressure inside the pneumatic muscle module to control the output force of the pneumatic muscle module, thereby adjusting the strength of the auxiliary force.

[0043] In some embodiments, the pneumatic muscle module 4 includes an inner rubber tube and polyester fibers and metal wires wrapped around the outside of the rubber tube.

[0044] In some embodiments, the leg support fixing module 3 includes an arc-shaped support plate and a flexible pad disposed on the inner arc surface of the arc-shaped support plate. The leg support fixing module 3 of this utility model is fixed on the thigh to enhance support, and the flexible pad is provided to protect the thigh from damage due to force.

[0045] like Figure 4 and Figure 5 As shown, in some embodiments, the thigh support 2 consists of two lifting plates, left and right. Each lifting plate includes a lower lifting section 201 and an upper lifting section 202. The lower lifting section 201 includes a connecting section 2011 and a moving section 2012. The moving section 2012 extends into the central cavity of the upper lifting section 202 and is movably connected to it. An engagement button 2013 extends from one side of the upper lifting section 202 into the central cavity and engages with the moving section 201. A button pin is provided between the engagement button 2013 and the upper lifting section 202. Pressing the button pin and rotating the engagement button 2013 allows the moving section 2012 to move within the upper lifting section 202. After adjustment, the button pin is used to fix the engagement button and the moving section. This structure allows for length adjustment of the leg support to accommodate people of different heights. One end of the upper lifting section of the thigh support is connected to a rotating shaft, and the connecting section 2011 of the lower lifting section is connected to the leg support fixing module.

[0046] In some embodiments, the rotating shaft 5 includes an upper shaft 501 and a lower shaft 502. The upper part of the upper shaft 501 is connected to the bottom of the back support 1, the lower part of the upper shaft 501 is hinged to the upper part of the lower shaft 502, and the lower part of the lower shaft 502 is connected to the thigh support. (See also...) Figure 3 .

[0047] In some embodiments, the exoskeleton robot further includes a shoulder strap and a waist belt. The two ends of the shoulder strap are respectively disposed at the top and bottom of the back support, for fixing the exoskeleton robot to the user's shoulders; the two ends of the waist belt are respectively disposed on both sides of the bottom of the back support, for fixing the exoskeleton robot to the user's waist.

[0048] Preferably, the upper part of the shoulder strap is inlaid with a sponge pad, and the lower part is an elastic band. The upper part of the shoulder strap contacts the shoulder, and the sponge pad can reduce the overall pressure on the shoulder. The elastic band at the bottom of the shoulder strap can be adjusted according to the wearer's own needs. The two shoulder straps are fixed to the chest by a fastener in the middle, thus completing the comfortable wearing.

[0049] Preferably, the waist belt is fixed to both sides of the rotating shaft and is divided into front and rear parts. The front part of the waist belt consists of two elastic bands connected by a fixing buckle, the position of which can be adjusted according to the tightness requirements; the rear part of the waist belt consists of one elastic band. Wearing the waist belt secures the exoskeleton robot to the waist.

[0050] In some embodiments, the back support 1 includes a fixing plate and two shoulder width plates disposed on the left and right sides of the fixing plate. The fixing plate and the shoulder width plates are generally in an inverted "V" shape, and at least two pneumatic muscle modules 4 are respectively located on the two shoulder width plates.

[0051] The wearing method of this utility model: First, put on the exoskeleton robot. Put the two straps on your shoulders and adjust the elastic bands at the bottom of the straps to the appropriate position. Then, fix the buckles between the two straps in the slots to secure them to your chest. Place the buckle at the front of the waist belt in the slots to secure the exoskeleton robot to your waist. Place the leg support device on the front of your thighs and adjust it to the appropriate position to complete the wearing process.

[0052] The working principle of this utility model: When the wearer needs assistance, they put on the exoskeleton device and use the air compressor module to compress air, filling the pneumatic muscle module 4. The pressure regulating valve controls the output force of the pneumatic muscle module 4. The pneumatic muscle module 4 is adjusted to the appropriate air volume according to the wearer's work requirements. When the wearer's upper limbs lift heavy objects, the pneumatic muscle module 4 contracts, causing the back support 1 to exert a downward pulling force on the shoulders; and causing the thigh support 2 to exert a lateral upward pushing force on the legs, thereby reducing the burden on the wearer's hands and elbows when lifting heavy objects.

[0053] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0054] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A pneumatically assisted exoskeleton robot, characterized in that, include: Back support (1), thigh support (2), leg support fixing module (3) and at least two elastic pneumatic muscle modules (4). The back support (1) and the thigh support (2) are rotatably connected by a rotating shaft (5). The first surface of the back support (1) is provided with at least two limiting grooves (101) for installing and restricting the pneumatic muscle module (4). The at least two limiting grooves (101) are located on both sides of the back support (1). The limiting grooves (101) are formed by a top plate (102), a first side plate (103) and a second side plate (104) fixed on the back support (1). The first end of the pneumatic muscle module (4) is fixed on the top plate (102). The second end of the pneumatic muscle module (4) is connected to the rotating shaft (5) through a wire. The leg support fixing module (3) is rotatably disposed on the second end of the thigh support (2).

2. The exoskeleton robot according to claim 1, characterized in that, The second end of the limiting groove (101) is provided with an arc-shaped guide groove (105). When the wire pulls the pneumatic muscle module (4) in the second direction, the pneumatic muscle module (4) is stretched and enters the guide groove (105) so that the pneumatic muscle module (4) is always located on both sides of the back support (1).

3. The exoskeleton robot according to claim 1, characterized in that, It also includes a pneumatic control module and an air compression module; The air compression module and the air path control module are respectively connected to the pneumatic muscle module (4). The air compression module is used to compress external air and deliver it to the pneumatic muscle module (4) to provide it with an air source. The air path control module is used to adjust the air pressure in the pneumatic muscle module (4).

4. The exoskeleton robot according to claim 3, characterized in that, The air compression module includes a piston rod, an air guide pipe, and a one-way valve. The piston rod and the one-way valve are located at the first end of the air guide pipe, and the second end of the air guide pipe is connected to the pneumatic muscle module (4). When the piston rod is pulled back and forth, external air enters the air guide pipe through the one-way valve and then flows into the pneumatic muscle module (4).

5. The exoskeleton robot according to claim 4, characterized in that, The air circuit control module includes a pressure regulating valve, which is installed on the air guide pipe and located between the air compression module and the pneumatic muscle module (4) to regulate the air pressure in the pneumatic muscle module (4).

6. The exoskeleton robot according to claim 1, characterized in that, The pneumatic muscle module (4) includes an internal rubber tube and polyester fibers and metal wires wrapped around the outside of the rubber tube.

7. The exoskeleton robot according to claim 1, characterized in that, The leg support fixing module (3) includes an arc-shaped support plate and a flexible pad disposed on the inner arc surface of the arc-shaped support plate.

8. The exoskeleton robot according to claim 1, characterized in that, The rotating shaft (5) includes an upper shaft (501) and a lower shaft (502). The upper part of the upper shaft (501) is connected to the bottom of the back support (1), the lower part of the upper shaft (501) is hinged to the upper part of the lower shaft (502), and the lower part of the lower shaft (502) is connected to the thigh support (2).

9. The exoskeleton robot according to claim 1, characterized in that, It also includes a shoulder strap and a waist belt. The two ends of the shoulder strap are respectively located at the top and bottom of the back support (1) to fix the exoskeleton robot on the user's shoulders. The two ends of the waist belt are respectively located on both sides of the bottom of the back support (1) to fix the exoskeleton robot on the user's waist.

10. The exoskeleton robot according to claim 1, characterized in that, The back support (1) includes a fixing plate and two shoulder width plates disposed on the left and right sides of the fixing plate. The fixing plate and the shoulder width plates are in an inverted "V" shape, and at least two pneumatic muscle modules (4) are respectively located on the two shoulder width plates.

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