A movement mechanism for exoskeletons

Abstract

The invention relates to a movement mechanism (A) comprising at least one torso worn on the body of the user; an exoskeleton which is movably and / or permanently connected to said torso and which provides support to at least one of the waist, shoulder, arm and leg regions of the user and which includes multiple support parts that provide support to at least one of the waist, shoulder, arm and leg regions of the user and reduce physical load, and which enables the user to move the elbow and / or wrist by connecting to at least one support part in the arm region.

Description

[0001] A MOVEMENT MECHANISM FOR EXOSKELETONS

[0002] Technical Field

[0003] The invention relates to a movement mechanism suitable for use in exoskeletons, which is mobile and provides freedom of movement of the elbow and / or wrist.

[0004] Prior Art

[0005] Exoskeletons are electromechanical or mechanical structures with a wearable external structural mechanism that works in interaction with human limbs. Exoskeletons can be used for different purposes in industrial, military and medical fields and are widely used especially in industrial areas to provide ergonomic advantages such as increasing the physical capabilities of users, supporting load-bearing capacities, increasing occupational safety and preventing musculoskeletal problems caused by long-term physical work.

[0006] In the known state of the art, said exoskeletons comprise at least one body worn by the user, and multiple support parts movably and / or permanently connected to said body and providing support to at least one of the waist, shoulder, arm and leg regions of the user and reducing the physical load. These support parts, especially the support parts used in the arm area, including the elbow and wrist parts, limit the movement of the user. The limited movement of the wrist and / or elbow can make it difficult for users working in jobs that require fine motor skills, such as precision assembly and small part placement. In addition, the restriction in elbow and / or wrist movement may cause discomfort or muscle fatigue in longterm use because the exoskeleton does not adapt to natural hand positions. Prolonged use of these exoskeletons can have a negative effect on blood circulation, which can lead to problems such as numbness or muscle stiffness. Therefore, in the known state of the art, exoskeletons with no or very limited elbow and / or wrist movement can cause ergonomic problems in the user and reduce productivity by prolonging the completion time of the work. As a result, due to the above-mentioned disadvantages and the inadequacy of the existing solutions on the subject, it has become necessary to make an improvement in the relevant technical field. Objective of the Invention

[0007] The main object of the invention is to develop a movement mechanism suitable for use in exoskeletons, which is mobile and provides freedom of movement of the elbow and / or wrist.

[0008] Another object of the invention is to develop a movement mechanism which enables the user of the exoskeleton to move the elbow and / or wrist according to the size and weight of the load carried.

[0009] Another object of the invention is to develop a movement mechanism that prevents the elbow and / or wrist from moving in the direction opposite to the direction of the force acting from the weight carried, thereby preventing overloading of the arm and damage to the arm.

[0010] The structural and characteristic features and all advantages of the invention will be more clearly understood by the figure given below and the detailed description written with reference to this figure, and therefore, the evaluation should be made by considering this figure and detailed description.

[0011] Figures to Help Understanding the Invention

[0012] Figure 1 , a perspective view from the side of the movement mechanism which is the subject of the invention.

[0013] Figure 2; is a front view of the movement mechanism subject to the invention.

[0014] Figure 3; a frontal view of the movement mechanism subject to the invention when moved inwards.

[0015] Figure 4; A perspective view of the connection of the bracket, spring and rod end bearing of the movement mechanism subject to the invention.

[0016] Explanation of Part References

[0017] A. Movement mechanism

[0018] 1 . Armrest

[0019] 2. Bracket

[0020] 2.1. First edge

[0021] 2.2. Second edge 2.3. Protrusion

[0022] 3. Rod

[0023] 4. Rod end bearing

[0024] 4.1. Head portion

[0025] 4.2. Rod portion

[0026] 5. Spring

[0027] 5.1. First section

[0028] 5.2. Second section

[0029] 5.3. Third section

[0030] 6. Fixing part

[0031] Detailed Description of the Invention

[0032] In this detailed description, the preferred embodiments of the movement mechanism suitable for use in the inventive exoskeletons are described only for a better understanding of the subject matter.

[0033] The object of the invention is to fulfil the purposes described in the section;

[0034] A movement mechanism (A) that enables the user to move the elbow and / or wrist of the user by connecting at least one body worn by the user to at least one support part in the arm region of an exoskeleton, which includes at least one body worn by the user; multiple support parts that are movably and / or fixedly connected to the said body and provide support to at least one of the waist, shoulder, arm and leg regions of the user and reduce the physical load;

[0035] — at least one armrest (1);

[0036] — comprising at least one bracket (2) in the form of an ‘L’, connected to said armrest (1) by a first edge (2.1) and connected to a second edge (2.2) connected to said first edge (2.1) at an angle different from an angle of 0 to 180 degrees (preferably at an angle of 90 degrees), to a support part in the arm region of the exoskeleton, and also comprising,

[0037] — at least one rod (3) connected to the second edge (2.2) of said bracket (2) so that it extends parallel to said support part and remains at the bottom of said armrest (1);

[0038] — at least one rod end bearing (4) having a circular head portion (4.1) and a rod portion (4.2) extending outwardly from said head portion (4.1) perpendicular to the centre of said head portion (4.1), said head portion (4.1) being threaded onto said rod (3); — said bracket (2) including at least one protrusion (2.3) extending outwards from the first edge (2.1) in the same direction as the second edge (2.2) and in line with the rod end bearing (4), which allows the rotational movement of the bracket (2) to be transferred to the rod end bearing (4);

[0039] — a first section (5.1) between the second edge (2.2) of said bracket (2) and said rod end bearing (4), a second section (5.2) on the other side of said rod end bearing (4) and a third section (5.3) passing through the side of said rod end bearing (4) not facing the protrusion (2.3), comprising a third section (5.3) passing through the side of said rod end bearing (4) not facing the protrusion (2.3) and connecting the first section (5.1) with the second section (5.2), at least one spring (5) attached to said rod (3) and enabling the bracket (2) to return to its original position when the elbow and / or wrist of the user returns to its original position.

[0040] In an exemplary embodiment of the invention, a user working in a production factory uses the exoskeleton to carry the manufactured parts. After putting on the exoskeleton body, the user makes arm, elbow and wrist connections. For the elbow and / or wrist connection, the user uses the movement mechanism (A) connected to the relevant support part in the arm area. Here, the user places and connects each elbow and / or wrist to the armrest (1) in said movement mechanism (A). In order for the user to lift and carry the manufactured part, he moves and fixes his arms. The user then rotates the armrest (1) and thus the bracket (2) in order to bring the elbow and / or wrists into the appropriate position. This rotational movement is transmitted by means of the protrusion (2.3) to the rod end bearing (4) and from the rod end bearing (4) to the spring (5). Here, the spring (5) prevents the rotation of the rod end bearing (4) after the rod end bearing (4) has rotated for some time due to the effect of the spring constant value. In this way, the user cannot rotate his / her elbow and / or wrist more than necessary and the load is transported under suitable ergonomic conditions. In addition, since the third section (5.3) of the spring (5) passes through the outer side of the rod end bearing (4), the outward rotational movement of the rod end bearing (4) is forced by the spring (5) and thus the outward rotation of the rod end bearing (4) and thus the bracket (2) is prevented. In this case, unintentional outward rotation of the elbows and / or wrists of the user during both lifting and carrying the load is prevented. In this way, the load on the elbows and / or wrists and therefore on the arms is distributed ergonomically during the load carrying process and problems such as joint and muscle pain are avoided. In a preferred embodiment of the invention, said movement mechanism (A) comprises at least one fixing part (6), preferably a nut, which is attached to the rod portion (4.2) of said rod end bearing (4). By means of the movement mechanism (A) developed with the present invention, the elbows and / or wrists of the user using the exoskeleton in load lifting and carrying operations are provided with freedom of movement in a way to provide ergonomic conditions. In addition, the third section (5.3) of the spring (5) in the movement mechanism (A) is wrapped around one side of the rod end bearing (4), preventing the user's elbow and / or wrist from turning outwards involuntarily and preventing pain and / or damage to the user's joints and arm by placing excessive load on them.

Claims

CLAIMS1. A movement mechanism (A) that enables the user to move his / her elbow and / or wrist by connecting to at least one support piece in the arm region of an exoskeleton that includes at least one body worn by the user; multiple support pieces that are movably and / or fixedly connected to the said body and that provide support to at least one of the user's waist, shoulder, arm and leg regions and reduce physical loading, and is characterized by;— at least one armrest (1);— at least one bracket (2) in the form of an “L”, connected to said armrest (1) to a first edge (2.1) and connected to a second edge (2.2) at an angle other than 0 to 180 degrees, to the relevant support piece in the arm region of the exoskeleton, and also,— at least one rod (3) connected to said bracket (2)’s second edge (2.2) in a way that extends parallel to said support piece and remains at the bottom of the armrest (1);— at least one rod end bearing (4) having a circular head portion (4.1) and a rod portion (4.2) extending outward from said head portion (4.1) perpendicular to the center of the head portion (4.1), and the head portion(4.1) being fitted onto said rod (3);— said bracket (2) extending outwards from the first edge (2.1) in the same direction as the second edge (2.2) and in line with the rod end bearing (4), including at least one protrusion (2.3) that allows the rotational movement of the bracket (2) to be transferred to the rod end bearing (4);— said bracket (2) comprising a first section (5.1) between the second edge(2.2) of the bracket (2) and the rod end bearing (4), a second section (5.2) remaining on the other side of the rod end bearing (4) and a third section(5.3) connecting the first section (5.1) and the second section (5.2) passing from the side of the rod end bearing (4) not facing the protrusion (2.3) in such a way as to prevent the user's elbow and / or wrist from turning outwards involuntarily; said rod (3) comprising at least one spring (5) that ensures that the bracket (2) returns to its original position when the user's elbow and / or wrist return to its original position.movement mechanism (A) according to claim 1 , characterised in that said rod end bearing (4) comprises at least one fixing part (6) fitted to the rod portion (4.2) of said rod end bearing (4).