Manual load carrying assistance device

Abstract

A manual load-carrying assistance device intended to be worn by the user and comprising a belt (1) intended to be tightened at the user's pelvis, a back structure (10) extending from the belt to two reeling members (17) extending in service vertically above the user's shoulders, two cables (26,26) extending from respective storage members (31) carried by the back structure to respective sleeves (27) threaded by the user through the reeling members, and cable locking means (34), the device comprising control means (50,45,43) of the cable locking means adapted to place them in the cable locking position after the user has grasped the load.The control means include means for identifying a gripping intention (45, 48) adapted to perform at least one detection of a simultaneous pull on both cables, and are adapted to place the locking member in the locking position in response to such identification of a gripping intention. FIGURE IN ABRIDGED: Fig. 11.

Description

Title of the invention: Device for assisting with the manual carrying of loads

[0001] BACKGROUND OF THE INVENTION

[0002] Document WO2020 / 225114 is known a manual load-carrying assistance device of the exoskeleton type intended to be worn by the user and comprising a belt, a back structure extending from the belt to two reeling elements extending in service vertically above the shoulders, two cables extending from respective reels carried by the back structure to respective sleeves which the wearer puts on the wrists, passing through the reeling elements.

[0003] When the user grasps and lifts a load, they activate a manual control located on one of the sleeves, which locks the reels, preventing the cables from unwinding. Most of the load's weight is thus transmitted via the cables to the back structure and therefore to the belt, relieving the user's arms and back.

[0004] However, actuating the manual control is problematic. It requires the movement of at least one finger of one hand, which is not easy while the user is lifting the load. Furthermore, placing a control on one of the sleeves complicates the device since it requires a mechanical or electrical connection between one of the sleeves and the cable locking mechanism.

[0005] SUBJECT OF THE INVENTION

[0006] The invention aims to facilitate the use of such a device for assisting with manual load carrying. Hereafter, the term "cable" will be used generically to designate any long, flexible element, such as a cable, chain, or rope, made of metallic or synthetic material, capable of passing through a spooling mechanism and being stored in a storage mechanism, such as a reel. The term "sleeve" will be used to designate any flexible or rigid component that encloses all or part of a distal area of ​​the upper limbs extending from the elbow to the user's hand and is attached to one of the cables, adapted to support the weight of the object carried by the user's hands. Sleeves may, for example, take the form of a sheath encircling the wrist and / or a glove or mitten encircling the hand. Summary of the invention

[0007] To achieve this goal, a device for assisting the manual carrying of loads is proposed, intended to be worn by the user and comprising a belt Intended to be tightened at the user's pelvis, the device comprises a dorsal structure extending from the waist to two reeling mechanisms extending vertically above the user's shoulders. Two cables extend from respective storage mechanisms carried by the dorsal structure to sleeves slipped by the user around a distal area of ​​the upper limbs via the reeling mechanisms. The device also includes cable locking means. The device comprises control means for the cable locking mechanisms adapted to position them in the cable-locking position after the user has grasped the load. According to the invention, the control means include means for identifying a grasping intention, comprising at least the detection of a simultaneous pull on both cables, and are adapted to position the locking mechanism in the locked position in response to such identification of a grasping intention.

[0008] Thus, the user no longer needs to operate a manual control to lock the cables. Simply moving their hands towards the load to be carried causes a simultaneous pull on the cables, which is detected and analyzed by the control means as an intention to grasp a load. This detection causes the cables to lock once the user has grasped the load. No control extends down to the sleeves, which greatly simplifies the device. The user does not have to operate any control with their hands, so they only need to grasp the load. Once the cables are locked, the weight of the load is transferred primarily via the cables and the back structure to the waist belt, allowing it to be supported by the user's pelvis. Brief description of the drawings

[0009] The invention will be better understood in the light of the following description of a particular embodiment of the invention, with reference to the figures in the accompanying drawings, among which:

[0010] [Fig-1] Fig. 1 is a three-quarter front view of an assistance device manual port according to a particular embodiment of the invention;

[0011] [Fig.2] The [Fig.2] is a three-quarter rear view of the device of the [Fig.1];

[0012] [Fig. 3] Fig. 3 is a three-quarter front view of the dorsal structure equipping the device of the [Fig.l];

[0013] [Fig.4] [Fig.4] is a front view of the inside of the housing equipping the device figures 1 to 3, with the cover removed, illustrating the reels mounted on their base while the locking mechanism is in the release position;

[0014] [Fig. 5] Fig. 5 is a figure analogous to Fig. 4, the locking member being re presented in a blocking position;

[0015] [Fig. 6] Fig. 6 is a detailed perspective view of the locking mechanism of the case, shown in the locked position;

[0016] [Fig.7] The [Fig.7] is a view from below of the winders equipping the housing of the device, the base having been omitted;

[0017] [Fig.8] The [Fig.8] is a side view of the winders equipping the housing of the device, the base being seen here from the edge;

[0018] [Fig.9] The [Fig.9] is a bottom view of the base of the case;

[0019] [Fig. 10] The [Fig. 10] is a side view of a user equipped with the device of the invention and preparing to grasp a load;

[0020] [Fig. 11] The [Fig. 11] illustrates the user of the [Fig. 10] having grasped the load, the cables then being blocked according to the invention;

[0021] [Fig. 12] The [Fig. 12] is a figure analogous to the [Fig.3] illustrating a variant embodiment of the dorsal structure of the device of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0022] With reference to Figures 1 to 3, the manual load-carrying assistance device 100 of the invention is worn like a backpack and comprises a belt 1 having a lumbar support 2 extended by two lateral reinforcements 3. A strap 4 equipped with an adjustable buckle 5 allows the belt to be tightened on the user's pelvis. The lumbar support 2 is integral with a support 6 carrying a ball joint 7 (visible in [Fig. 3]) supported by a base 8 projecting from the support 6. A back structure 10 is attached to this ball joint 7, comprising a column 11 whose lower end is articulated on the ball joint 7 and whose upper end terminates in a crossbar 12 from which two parallel uprights 13 extend. At the end of the uprights 13 is attached a tubular cross member 14 extending into two elbows 15, themselves extended into extensions 16 whose ends form unwinding devices 17.In use, the extensions 16 extend vertically above the user's shoulders, while the reel mechanisms 17 extend on either side of the user's head, slightly in front of the shoulders, but without touching them. A buttress 18 attached to the end of the uprights 13 reinforces and stabilizes the extensions 16. Two slides 19, each equipped with adjustment mechanisms 20, are mounted on the uprights 13. Together, these slides support a backrest 21 extended by shoulder reinforcements forming shoulder straps 22. Adjustable-length straps 23, attached to the support 6 and sliding within the backrest 21 and the shoulder reinforcements 22, allow for their adjustment to ensure the back structure 10 is securely attached to the user's back.

[0023] The device 100 is provided with a housing 25 fixed to the two uprights 13 in the immediate vicinity of the tubular cross member 14 and containing two reels (not visible here but detailed later) around which respective cables 26 are wound. These cables 26 exit the housing 25 to enter the bends 15 via small openings visible at [Fig. 2] and extend from the 16 extensions via the reel mechanisms 17. The cables 26 are attached to sleeves 27 designed to extend around the user's wrists. Here, the sleeves 27 have mittens 28 to facilitate carrying loads.

[0024] The housing 25 is now described in detail with reference to Figures 4 to 9. In these figures, the cover of the housing 25 has been omitted for clarity. The housing 25 comprises a base 30 carrying two cable storage elements 26, here two reels 31 in the form of spools from which the cables 26 emerge by passing through two guides 32 carried by the base 30 and then enter the bends 15. The reels 31 are equipped with return mechanisms 33 which cause the cables 26 to rewind when there is no tension on them.

[0025] The housing 25 includes a locking member 34 integral with two guides 35 mounted to slide in the sides of a block 36 fixed to the base 30 and extending between the two winders 31. The locking member 34 has two teeth 37 intended to cooperate with notches 38 formed in the sides of the winders 31. The locking member 34 is selectively movable between a release position illustrated in [Fig. 4] in which the teeth 37 are away from the notches 38, and a locking position illustrated in [Fig. 5] in which the teeth 37 cooperate with the notches 38 to prevent the winders 31 from rotating and thus the cables 26 from unwinding, thereby causing the cables 26 to be locked.

[0026] The movement of the locking member 34 from one position to another is ensured by a servomotor 39 located in the housing 36 and adapted to rotate a crank 40 coupled to the locking member 34 by means of a spring 41. In the release position shown in [Fig. 4], the crank 40 and the spring 41 are aligned, with the coils of the spring 41 touching. In the locking position illustrated in [Fig. 5], the crank has been rotated approximately a quarter turn, and the spring 41 is under slight tension.

[0027] In the locked position, and as shown in [Fig. 6], the locking member 34 is held by the tension of the spring 41 against a stop 42 of a force sensor 43. When the user carries a load while the cables 26 are locked, part of the load's weight is transmitted via the cables 26 to the reels, and thus to the locking member 34. The shape of the teeth 37 and notches 38 confirms that the locking member 34 is held against the stop 42 of the force sensor 43. The signal from the force sensor 43 is used to identify that the user carrying the load has indeed released the supporting force exerted by their arms when lifting the load, in order to transmit the load's weight to the cables 26. The amplitude of this signal provides an estimate of the load's weight.

[0028] As can be seen in Figures 7 and 8, the lower side of the winders 31 is provided with an encoder disc 44 which extends opposite an optical sensor 45, the whole forming an encoder adapted to generate a signal enabling the position to be estimated The angular velocity of the winders is measured. The optical sensors 45 are equipped with a connector 46 which is plugged into conforming connectors 47 on the base 30, visible in [Fig. 9]. These connectors 47 are connected to a control unit 50 comprising an electronic board 48 on the base 30 and implementing control software. The electronic board 48 is thus connected to the sensors 45 and also to the force sensor 43. The control unit 50 is adapted to control the servomotor 39 which actuates the locking mechanism 34 according to the signals generated by the optical sensors 45 and the force sensor 43 and, together with the sensors and the servomotor, forms the control means for the locking mechanism 34. To power the entire system, the base 30 carries a battery 46.

[0029] The operation of the device 100 is now detailed with reference to Figures 10 and 11. The user dons the device 100 of the invention. They tighten the belt 1 around their hips and adjust the shoulder straps 22. The back support 10 is then adjusted against the user's back, with the cable reels 17 extending vertically above the shoulders, slightly in front of them, but without touching them. The user then puts on the sleeves 27 so that the cables 26 are secured to the user's upper limbs, in this case, at the hands. The user is then free to move their hands as they wish, the reels 31 allowing the cables 26 to be unwound under the effect of a pull exerted by the user.Thanks to the optical sensors 45, the control unit 50 is able to determine at any time the winding speeds VG and VD of the left and right cables 26 (counted here positively in the direction of cable exit), as well as their unwound lengths LG and LD, counted between the exit of the unwinding elements 17 and the sleeves 27. In the situation of [Fig.

[10] where the user is about to grasp a load 200, he simultaneously directs his hands towards the base of the load 200. The control unit 50 then detects that the speeds VG and VD are close to each other, that is to say within a predetermined range of each other, for example a range of 20%, and that their average (VG+VD) / 2 is greater than a given speed threshold Vmini (here positive), which denotes a simultaneous pull on the cables significant of a movement of the hands towards a load to be grasped.Similarly, the control unit 50 detects that the unwound lengths LG and LD are close to each other, i.e., within a predetermined range, for example, a range of 20%, and that their average (LG+LD) / 2 is greater than a given length threshold Lmini, indicating that the hands are approximately equidistant from their respective shoulders in the gripping position. The detection of these two events indicates the user's intention to grasp a load. The control unit 50 recognizes this intention and then emits an audible signal, indicating to the user that they have a given time interval AT (for example, 3 seconds) to grasp the load 200 and... The user is placed in a comfortable carrying position such as that illustrated in [Fig. 1 1]. At the end of this time interval AT, the control unit 50 commands the servomotor 39 to place the locking mechanism 34 in the locked position, thus blocking the rotation of the reels 31, and therefore the unwinding of the cables 26. With the cables 26 now locked, the user can relax their effort and simply stabilize the load 200 horizontally with their hands. The weight of the load 200 is then transmitted via the cables 26 to the back structure 10, which in turn transmits it to the waist belt 1, and thus to the user's pelvis. No part of this load is transmitted via the shoulder straps to the user's shoulders or back, which are therefore relieved of the strain.

[0030] The tension in the cables 26 due to the weight of the load 200 forces the locking member 34 to bear against the stop 42 of the force sensor 43 which continuously measures the bearing force F thus generated. The locking of the reels 31 is maintained as long as the support force F exerted by the locking member 34 on the stop 42 remains above a predetermined force threshold Fmini, indicating that the cables 26 are properly tensioned by the weight of the load 200. Only when the control unit 50 detects that the support force F exerted by the locking member 34 on the stop 42 of the force sensor 43 falls below the force threshold Fmini (which occurs when the user places the load 200, or when they slightly raise the load 200), does the control unit 50 command the servomotor 39 to place the locking member 34 in the release position, again allowing the rotation of the reels 31. The user can then freely place the load.

[0031] The control unit 50 continues to monitor the outputs of the optical sensors 45 to detect again an intention to grasp a load.

[0032] Thus, thanks to the device of the invention, the user no longer has to operate a manual control to cause the cables 26 to lock, the control unit 50 proceeding to lock itself after detecting an intention to grasp, and unlocks the cables as soon as it detects a release of tension in them.

[0033] Of course, the device of the invention lends itself to various variants. For example, the housing 25 could be equipped with a GPS or an inertial measurement unit to estimate the user's movements in a storage warehouse, or the housing 25 could be equipped with a memory to collect statistical information on movements with or without a load, load carrying times and weight of loads carried, making it possible to know in detail the working conditions of the user equipped with the device of the invention.

[0034] The control unit 50 may implement any algorithm facilitating the detection of an intention to grasp a load, for example a neural algorithm capable of recognizing specific gestures of the user signaling an intention to load handling, or by integrating data from an inertial measurement unit adapted to detect the movements of the user's torso.

[0035] Preferably, the various textile parts of the device, such as the belt 1, the back support 21, the shoulder straps 22 and the sleeves 27, are provided to be removable to allow for washing.

[0036] The invention is not limited to what has just been described but encompasses any variant falling within the scope defined by the claims.

[0037] Although here the reeling members 17 through which the cables pass are made up of ends of tubular extensions 16 into which the cables are threaded, the reeling members may take any other form, such as eyelets, or pulleys.

[0038] Although here the back structure 10 has a column articulated on the support 6, which allows the back structure to follow the torsional movements of the back thanks to the articulation of the column on the support, the back structure can be given other forms. As illustrated in [Fig. 12], the back structure 110 can, for example, have two columns 111 extending from a lower cross member 112 which is articulated on the support 6, the upper part of the columns 111 forming the equivalent of the uprights 13, at the top of which a tubular cross member 114 is attached.

[0039] Although here the detection of the intent to grasp, which causes the cables to lock, relies on recognizing simultaneous pulling on the cables via the analysis of the cable feed speeds VG and VD and an analysis of the cable lengths LG and LD using encoders, any other method of detecting the intent to grasp can generally be implemented, the simplest being the mere detection of simultaneous pulling on the cables. As in the invention, the analysis of the cable lengths can be added, as well as the duration of the pull, the slowing of cable unwinding when the user's hands approach the load, and more generally any information enabling the reliable detection of an intent to grasp.

[0040] Although the means for detecting simultaneous traction on the cables here include encoders comprising optical sensors cooperating with encoder discs fixed on the reels, any other means of detection may be used, such as, for example, scroll sensors arranged at the level of the reeling elements.

[0041] Although here a time delay is triggered in response to the detection of the intention to grasp before activating the cable locking, other locking activation strategies can be implemented, such as the detection of an upward movement of the hands followed by a stop after the user has grasped the load.

[0042] Although here the cable locking means include a locking element acting on the reels to block their rotation, other locking means may be used, such as clamps acting directly on the cables.

[0043] Although the control means for the cable locking means here include a servomotor 39 for moving the locking member 40 to the locking position, any other means of activating the locking means may be used, such as a linear actuator, or even a simple electromagnet.

Claims

Demands

1. A manual load-carrying assistance device intended to be worn by the user and comprising a belt (1) intended to be tightened at the user's pelvis, a back structure (10) extending from the belt to two reeling members (17) extending in operation directly above the user's shoulders, two cables (26, 26) extending from respective storage members (31) carried by the back structure to respective sleeves (27) threaded by the user through the reeling members, and cable locking means (34), the device comprising control means (43, 45, 50) for the cable locking means adapted to place them in the cable-locking position after the user has grasped the load, characterized in that the control means comprise identification means (45,48) of an intention to grip adapted to perform at least one detection of simultaneous traction on both cables, and are adapted to place the locking member in the locking position in response to such identification of an intention to grip.

2. Device according to claim 1, wherein the identification means perform a comparison of the scrolling speeds (VG,VD) of the cables (26) to check if they are close to each other within a predetermined range.

3. Device according to claim 1, wherein the identification means perform a detection of the exceeding of a determined speed threshold (Vmini) by an average of the cable (26) scroll speeds ((VG+VD) / 2).

4. Device according to claim 1, wherein the identification means perform a comparison of unwound lengths (LG,LD) of the cables (26) to check if they are close to each other within a predetermined range.

5. Device according to claim 1, wherein the identification means perform a detection of exceeding a determined length threshold (Lmini) by an average of unwound lengths ((LG+LD) / 2) of the cables (26).

6. A device according to claim 1, wherein the cable storage elements comprise reels (31), the identification means comprising optical sensors (45) cooperating with encoder discs (46) fixed on the reels adapted to measure a cable speed (VG,VD) and / or a cable unwound length (LG,LD).

7. Device according to claim 1, wherein the back structure comprises a housing (25) enclosing the cable storage elements (31), the locking means (34), the control means (50,48), the identification means (45), and a battery of accumulators (46).

8. Device according to claim 1, wherein the control means (50) comprise a force sensor (42,43) sensitive to a pull exerted on the cables to verify that the cables remain under tension after they have been blocked.

9. Device according to claim 8, wherein the force sensor (42, 43) cooperates with the locking means (34) to measure a bearing force of the latter against a stop of the force sensor while the locking means have been activated to lock the cables, control means being adapted to place the locking member in the release position in response to the detection of the bearing force falling below a predetermined force threshold (Fmini).

10. Device according to claim 1, comprising audible signaling means, activated by the control means in response to the detection of an intention to grasp, leaving the user a given time interval (AT) to grasp the load before the locking means are placed in the locking position.

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