CN110815192A - Waist helping hand robot - Google Patents

Abstract

The invention relates to a waist assisting robot. It includes a back frame, shell accessories, a driving device and an outer bone lower limb part, the back frame and the shell accessories are fixed with the human body torso through body binding, the upper part of the back frame is installed with a flexible binding strap, and the shell accessories include a front shell, The rear shell and other components, the drive device includes a left drive device and a right drive device, the left drive device and the right drive device are respectively fixed on the back frame, the drive devices are located on both sides of the human hip joint, the lower limbs The components are fixedly installed on the left and right sides of the drive unit. The advantages of the present invention are: simple structure, light weight, convenient control, flexible movement, high comfort, and easy wearing; the robot provides installation positions for the flexible binding belts of the torso and thigh, and the user is separated from the binding device and the robot. Flexible contact, easy to wear and tight fit, the robot joints are coupled with the human body joints, providing users with better comfort.

Description

A waist assist robot

technical field

The invention relates to the technical field of assisting robot research, in particular to a waist assisting robot.

Background technique

According to statistics, as of 2017, the number of patients with lumbar spine disease in my country has exceeded 300 million, making it the disease with the second largest number of outpatients, second only to colds. Excessive fatigue, sudden external force, poor posture, cold and dampness, etc. are the main causes of low back pain. As a common action of human daily activities, bending over and carrying produces the greatest pressure on the lumbar spine. For manual workers engaged in the handling industry, the lower back pain and upper limb pain are more obvious than the fatigue of various parts of the body. Therefore, a low-cost and simple method is needed to solve such problems.

At present, there are some mechanical exoskeletons at home and abroad that mainly drive the human body to perform stable passive motion, with complex structure and poor flexibility; some robots have a drive for each motion pair, which not only increases a lot of control costs, but also has poor control effects and extremely It is easy to bring danger to movement; some robots are designed with ankle joints that are enough to release the force to the ground, but it is extremely difficult to wear, and the experience is not good, and the cost is also high; some robots use the form of no power, but There is a lack of power-assisting effect, and the knee joint cannot be self-locking; some robots use simple binding or even metal contact to contact the human body, which is unstable and dangerous.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a waist-assisting robot to overcome the above-mentioned shortcomings of the current prior art.

In order to achieve the above object, the present invention provides the following technical solutions:

A waist-assisting robot includes a back skeleton, a shell fitting, a driving device, and an exoskeleton lower limb part, the back skeleton and the casing fitting are fixed to a human torso through body binding, and the back skeleton comprises an upper left of a hip frame and a lower left of the hip frame , the upper right of the hip frame, the lower right of the hip frame, the backrest frame, the front adjustment plate and the rear adjustment plate, the upper part of the backrest frame is installed with a flexible binding strap, and the shell accessories include a front shell, a rear shell and other components, so The driving device includes a left driving device and a right driving device. The left driving device and the right driving device are respectively fixed on the back frame and distributed symmetrically. The driving device is located on both sides of the human hip joint, and the lower limb parts are fixedly installed on the left and right sides of the drive unit.

Further, the front adjustment plate and the rear adjustment plate are assembled into a whole adjustment plate through threaded connection, the upper left of the hip frame and the lower left of the hip frame are distributed in parallel and are respectively fixed on the left side of the adjustment plate by threaded connection, and the hip The upper right of the shelf and the lower right of the hip shelf are distributed in parallel and are respectively fixed on the right side of the adjustment plate by screw connection, the backrest frame is fixed on the upper side of the adjustment plate by screw connection, and the upper part of the backrest frame is used to install the flexible binding belt, so The upper left of the hip frame, the lower left of the hip frame, the upper right of the hip frame, and the lower right of the hip frame are the main force-bearing parts during movement, and are made of lightweight aluminum materials, and the backrest frame is arranged in a "U" shape.

Further, the shell accessories include a front shell, a rear shell, a left drive board mounting board, a right drive board mounting board, a left drive board, a right drive board, a switch board, a main control board, a battery board, an upper battery board fixing board, The lower battery plate fixing plate, the shell fittings are completely fit with the back skeleton, the rear casing is designed with a corresponding cavity on the upper part to accommodate the battery plate, the upper battery plate fixing plate, the lower battery plate fixing plate and the rear casing are threaded The connection fixes the battery board in the cavity of the rear case for accommodating the battery board. The main control board is screwed on the rear case, and its position is below the battery board. board and the right drive board mounting board, the switch board is screwed on the right drive board mounting board, the left drive board mounting board and the right drive board mounting board are screwed on the rear shell, distributed on the left and right sides of the main control board The front shell is fixed on the front of the adjustment plate by screw connection; the front shell and the rear shell are mostly enclosed by the skeleton through screw connection, and the rear shell is designed into a "ten" shape cutting edges and corners.

Further, the upper part of the rear case is designed with corresponding positions to accommodate the battery board, the drive boards of the left and right motors, the main control board and various circuits.

Further, the drive device includes a motor casing, a servo motor, a motor flange, a flange, a connecting plate, a binding piece, a binding piece, and a packing block, and the binding piece has a port for installation. The flexible binding straps and the flexible binding straps used for installation on the upper part of the backrest frame fix the robot on the torso of the human body, the motor flanges are respectively fixed on the left and right sides of the back frame through screw connections, and the servo motors are installed through screw connections. On the electrode flange, the motor shell is mounted on the servo motor by screw connection, the opening of the motor shell points to the back frame, the flange is mounted on the servo motor rotating disk by screw connection, the connecting plate and all The binding piece spacer is installed on the flange through a screw connection, the binding piece and the binding piece spacer are hinged, and the spacer realizes the axial fixation of the binding piece; the servo The motor transmits the power to the flange, the connecting plate, and the spacer of the binding piece.

Further, the outer bone lower limb component includes hinge A, hinge shaft, hinge B, binding buckle, binding frame, knee pad, the hinge A is threadedly connected with the connecting plate of the driving device, and the hinge A and the hinge B pass through the hinge. The shaft is hinged, the binding buckle and the binding frame are respectively fixed on the hinge B through screw connection, and the knee pad is hinged on the binding frame; all the components of the lower limb part obtain the power from the driving part; the binding The buckles and knee pads are used to install flexible straps to fix the lower limbs on the human thigh.

The beneficial effects of the present invention are:

1. The present invention provides a kind of equipment for solving sports work injuries from the source. The equipment can give auxiliary torque during the standing up stage when the human body is bowed to carry things, so as to reduce the stress on the human hip joint and the waist itself, thereby protecting the human waist from being damaged. damaged. The robot can provide 20-30kg of assistance in typical scenarios, which fundamentally eliminates the possibility of labor injuries, and helps workers with heavy repetitive labor on the waist to prevent injuries and improve efficiency.

2. The material of the robot of the present invention is made of aluminum alloy, titanium alloy, 3D printed photosensitive resin, etc., which achieves light weight while meeting the requirements of strength and work requirements. The user can wear the robot on the body through a flexible binding device, and control the power of the robot through the remote control panel. The lower limbs can be driven by the driving part to provide different levels of power to the user's thighs. The robot can monitor the user's posture according to the user's posture. According to the user's work needs, it automatically helps the user to carry and walk. The control devices of the robot are concentrated in the housing part, occupying little space. The overall design of the robot is ergonomic, the height of the center of gravity is consistent with the center of gravity of the human body, and it has a good sense of fit.

3. The present invention is simple in structure, light in weight, convenient in control, flexible in movement, high in comfort, and easy to wear. The robot has a simple and clear structure design, and the complex control device is encapsulated in the shell, which can be selected under the condition of meeting the requirements of strength and movement. Lightweight material to realize the lightweight of the robot. The robot provides installation positions for the flexible straps of the torso and thigh. The user can flexibly contact the robot through the binding device. It is easy to wear and fits tightly. The joints of the robot are coupled with the joints of the human body, providing users with better comfort.

Description of drawings

1 is a schematic isometric view of a waist assist robot of the present invention;

2 is a schematic front view of the waist assist robot of the present invention

Fig. 3 is the left side schematic diagram of the waist assist robot of the present invention;

4 is a schematic top view of the waist assist robot of the present invention;

Figure 5 is a schematic isometric view of the skeleton portion of the present invention;

6 is a schematic isometric view of the shell part rear shell and the interior of the rear shell of the present invention;

Figure 7 is an isometric exploded schematic view of the drive part of the present invention;

Figure 8 is a schematic isometric view of a lower extremity portion of the present invention;

In the picture: 1. Adjusting plate, 11. Front adjusting plate, 12. Rear adjusting plate, 2. Backrest frame, 3. Hip frame upper left, 4. Hip frame lower left, 5. Hip frame upper right, 6. Hip Bottom right shelf, 7, connecting plate, 8, binding block, 9, binding, 10, block, 11, hinge A, 12, hinge shaft, 13, hinge B, 14, binding buckle, 15 , Motor flange, 16, Servo motor, 17, Flange, 18, Rear shell, 19, Front shell, 20, Binding frame, 21, Knee pad, 22, Motor shell, 23, Switch plate, 24, Right Drive board mounting board, 25, Left drive board mounting board, 26, Main control board, 27, Lower battery board fixing board, 28, Upper battery board fixing board, 29, Battery board, 30, Left drive board, 31, Right drive Plate, 32, Back bone, 33, Shell accessories, 34, Drive device, 35, Outer bone lower extremity parts.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inside", " The orientation or positional relationship indicated by "outside" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, so as to The specific orientation configuration and operation are therefore not to be construed as limitations of the present invention.

1 to 5, a waist-assisted robot includes a back frame 32, a shell fitting 33, a driving device 34, and an outer bone lower limb part 35. The back frame 32 and the casing fitting 33 are fixed to the human torso through body binding, so The back frame 32 includes the upper left 3 of the hip frame, the lower left 4 of the hip frame, the upper right 5 of the hip frame, the lower right 6 of the hip frame, the back frame, the front adjustment plate 11 and the rear adjustment plate 12. Flexible binding straps, the shell fitting 33 includes the front shell 19, the rear shell 18 and other components, the drive device 34 includes a left drive device and a right drive device, and the left drive device and the right drive device are respectively fixed on the back frame 32 and symmetrically distributed, the driving device 34 is located on both sides of the hip joint of the human body, and the outer bone lower limb parts 35 are fixedly installed on the left and right sides of the driving device 34 . The front adjustment plate 11 and the rear adjustment plate 12 are assembled into the entire adjustment plate 1 through threaded connection. The upper left 3 of the hip bracket and the lower left 4 of the hip bracket are distributed in parallel and are respectively fixed to the left side of the adjustment plate 1 through threaded connection. The upper right 5 of the hip frame and the lower right 6 of the hip frame are distributed in parallel and are respectively fixed on the right side of the adjustment plate 1 by threaded connection. Install flexible straps, the upper left 3 of the hip frame, the lower left 4 of the hip frame, the upper right 5 of the hip frame, and the lower right 6 of the hip frame are the main stress-bearing parts during exercise, and are made of lightweight aluminum. The shelves are arranged in a "U" shape.

The practical process of the present invention: the robot mainly includes a back frame 32 , a shell fitting 33 , a driving device 34 and an outer bone lower limb part 35 . The back frame of its back frame 32 and the binding parts of the driving device 34 can provide installation positions for the flexible binding device, so that the user can wear the robot. The user's back is in contact with the front shell through the flexible binding device, and the driving device 34 On both sides of the user's hip joint, the knee pads and the binding buckle provide installation positions for the flexible binding device, so that the lower limb of the robot is fixed on the user's thigh. After the user wears the belt-modified robot, the user's upper torso is fixed with the robot's back skeleton 32, shell accessories 33, and the fixed end of the driving device 34, and the user's legs are fixed with the non-fixed end of the driving device 34 and the lower limb parts 35 of the outer bone. Under the action of the control device on the rear shell 18, the fixed end of the driving device 34 and the non-fixed end of the driving device 34 are rotated relative to each other through the work of the servo motor, thereby realizing the "flexion and extension of the hip joint" of the robot, which is the active freedom of the robot. degree, which can provide assistance to users. The outer bone lower limb part 35 has the design of hinge A-hinge axis-hinge B, so as to realize the "hip joint adduction and abduction motion" of the robot, which is the passive degree of freedom of the robot, which is controlled by the user, which also provides the user with better of comfort. Threaded holes of different heights are designed on the hinge B of the lower limb part 35 of the outer bone, and the binding buckle 14 and the binding frame 20 can be fixed at different positions of the hinge B through the screw connection of different positions, so as to realize the up and down adjustment of the lower limb binding device. Adapt to users of different heights. Four openings are designed on the side wall of the rear shell 18. The left and right two openings at the bottom of the rear shell 18 provide openings for the wiring from the control device in the rear shell 18 to the driving part. The upper left opening of the rear shell 18 is for the battery board charging cable. The socket and the wiring from the control device in the rear shell 18 to the remote control board provide openings, and the opening on the upper right side of the rear shell 18 provides an opening for the main switch. After the user wears and binds the robot, the hand-held remote control board can control the power of the robot. Driven by the corresponding control strategy, the robot can automatically assist the user to complete assisting actions such as bending over and squatting, lifting heavy objects, carrying and walking, and putting down heavy objects. The upper and lower arc-shaped circular tubes are designed to enclose the waist of the human body, which not only ensures light weight and strength but also provides comfort. The “U”-shaped circular tube design for the backrest not only ensures the accommodation space of the shell part, but also provides a large area of lumbar support. force, the upper part of the backrest shelf is used to install the flexible straps; the adjustment version connects all the shelves.

Referring to FIG. 6 , the housing accessories 33 include a front case 19 , a rear case 18 , a left drive board mounting board 25 , a right drive board mounting board 24 , a left drive board 30 , a right drive board 31 , a switch board 23 , and a main control board 26 , the battery plate 29, the upper battery plate fixing plate 28, the lower battery plate fixing plate 27, the shell fittings 33 are completely fit with the back frame 32, the rear shell 18 is designed with a corresponding cavity on its upper part to accommodate the battery plate, The upper battery plate fixing plate 28, the lower battery plate fixing plate 27 and the rear shell 18 are screwed to fix the battery board 29 in the cavity of the rear shell accommodating the battery board, and the main control board 26 is screwed on the rear shell 18. Below the battery board 29, the left driving board 30 and the right driving board 31 are respectively fixed on the left driving board mounting board 25 and the right driving board mounting board 24 through insulating materials, and the switch board 23 is screwed on the right driving board mounting board 24. The left drive board mounting plate 25 and the right drive board mounting plate 24 are screwed on the rear shell 18 and are distributed on the left and right sides of the main control board 26; the front shell 19 is fixed on the front of the adjustment plate by screwing; the The front shell 19 and the rear shell 18 enclose most of the back frame 32 by screw connection, and the rear shell 18 is designed in a "ten" shape with cut edges and corners. The upper part of the rear case 18 is designed with corresponding positions to accommodate the battery board, the drive boards of the left and right motors, the main control board 26 and various circuits.

Referring to FIG. 7 , the driving device 34 includes the motor housing 22 , the servo motor 16 , the motor flange 15 , the flange plate 17 , the connecting plate 7 , the binding block 8 , the binding 9 , and the block 10 . The binding member 9 has a port for installing the flexible binding strap and the flexible binding strap on the upper part of the backrest frame to fix the robot on the human body torso, and the motor flange 15 is respectively fixed on the back through a screw connection. On the left and right sides of the skeleton 32, the servo motor 16 is installed on the electrode flange 15 through a screw connection, the motor shell 22 is installed on the servo motor 16 through a threaded connection, and the opening of the motor shell 22 points to the back frame 32. The flange plate 17 is installed on the rotating plate of the servo motor 16 through a screw connection, the connecting plate 7 and the binding piece spacer 8 are installed on the flange plate 17 through a screw connection, and the binding piece 9 and the binding piece The binding pieces 8 are hingedly connected, and the pads 19 realize the axial fixation of the binding pieces 9; the servo motor 16 transmits the power to the flange 17, the connecting plate 7, and the binding piece 8. superior.

Referring to FIG. 8 , the outer bone lower limb component 35 includes a hinge A11, a hinge shaft 12, a hinge B13, a binding buckle 14, a binding frame 20, and a knee pad 21, and the hinge A11 is threadedly connected with the connecting plate 7 of the driving device 34, so The hinge A11 and the hinge B12 are hinged through the hinge shaft, the binding buckle 14 and the binding frame 20 are respectively fixed on the hinge B13 through threaded connection, and the knee pad 21 is hinged on the binding frame 20; 35 All the power comes from the driving device 34, the binding buckle 14 and the knee pad 21 are used to install the flexible binding belt to fix the lower limb part on the human thigh.

The structure design of the invention is simple and clear, the complex control device is encapsulated in the shell, and the lightweight material is selected under the condition that the strength and motion requirements are met, so as to realize the lightweight of the robot. The robot provides installation positions for the flexible straps of the torso and thigh. The user can flexibly contact the robot through the binding device. It is easy to wear and fits tightly. The joints of the robot are coupled with the joints of the human body, providing users with better comfort. Driven by the corresponding control strategy, the robot can automatically assist the user to complete assisting actions such as bending over and squatting, lifting heavy objects, carrying and walking, and putting down heavy objects.

The above embodiments are used to further illustrate the present invention, but do not limit the present invention to these specific embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention should be understood as being within the protection scope of the present invention.

Claims (6)

1. A waist-assisted robot is characterized in that: comprising a back frame (32), a shell fitting (33), a drive device (34) and an outer bone lower limb part (35), the back frame (32) and the casing fitting (33) ) is fixed to the human torso through body binding, and the back frame (32) includes the upper left of the hip frame (3), the lower left of the hip frame (4), the upper right of the hip frame (5), and the lower right of the hip frame (6). , a backrest frame, a front adjustment plate (11) and a rear adjustment plate (12), the upper part of the backrest frame is provided with a flexible binding strap, and the shell fitting (33) includes a front shell (19), a rear shell (18) and Other components, the driving device (34) includes a left driving device and a right driving device, the left driving device and the right driving device are respectively fixed on the back frame (32), and are symmetrically distributed, the driving device (34) Located on both sides of the human hip joint, the outer bone lower limb parts (35) are fixedly installed on the left and right sides of the driving device (34). 2. A waist assist robot according to claim 1, characterized in that: the front adjustment plate (11) and the rear adjustment plate (12) are assembled into a whole adjustment plate (1) through screw connection, and the hip The upper left (3) of the rack and the lower left (4) of the hip rack are distributed in parallel and are respectively fixed on the left side of the adjusting plate (1) by means of screw connections, and the upper right (5) and the lower right (6) of the hip rack are distributed in parallel and are respectively fixed on the right side of the adjustment plate (1) by screw connection, the backrest frame is fixed on the upper side of the adjustment plate (1) by screw connection, the upper part of the backrest frame is used to install the flexible binding belt, the hip frame The upper left (3), the lower left of the hip frame (4), the upper right of the hip frame (5), and the lower right of the hip frame (6) are the main stress-bearing parts during exercise, and are made of lightweight aluminum. U" shaped setup. 3. A waist assist robot according to claim 1, characterized in that: the shell fitting (33) comprises a front shell (19), a rear shell (18), a left drive plate mounting plate (25), a right drive Board mounting board (24), left drive board (30), right drive board (31), switch board (23), main control board (26), battery board (29), upper battery board fixing board (28), lower The battery plate fixing plate (27), the shell fittings (33) are completely fit with the back frame (32), the rear shell (18) is designed with a corresponding cavity on the upper part to accommodate the battery plate, and the upper battery plate fixing plate (28), the lower battery board fixing plate (27) and the rear shell (18) are screwed to fix the battery board (29) in the cavity of the rear shell accommodating the battery board, and the main control board (26) is screwed to the rear shell ( 18), its position is below the battery plate (29), the left drive plate (30) and the right drive plate (31) are respectively fixed to the left drive plate mounting plate (25) and the right drive plate mounting plate (24) through insulating substances ), the switch board (23) is screwed on the right drive board mounting board (24), the left drive board mounting board (25) and the right drive board mounting board (24) are screwed on the rear shell (18) , distributed on the left and right sides of the main control board (26); the front shell (19) is fixed on the front of the adjustment board by screwing; the front shell (19) and the rear shell (18) are screwed ), the rear shell (18) is designed in a "ten" shape with cut edges and corners. 4. A waist-assisted robot according to claim 3, characterized in that: the upper part of the rear shell (18) is designed with corresponding positions to accommodate the battery plate, the drive plates of the left and right motors, and the main control board (26). ) and each line. 5 . The waist assist robot according to claim 1 , wherein the driving device ( 34 ) comprises a motor housing ( 22 ), a servo motor ( 16 ), a motor flange ( 15 ), and a flange plate. 6 . (17), the connecting plate (7), the binding piece (8), the binding piece (9), the packing block (10), the binding piece (9) has a port for installing the flexible binding tape The robot is fixed on the torso of the human body with the flexible binding straps used for installation on the upper part of the backrest frame, and the motor flanges (15) are respectively fixed on the left and right sides of the back frame (32) by screwing, and the servo motor (16) ) is mounted on the electrode flange (15) by screw connection, the motor housing (22) is mounted on the servo motor (16) by screw connection, the opening of the motor housing (22) points to the back frame (32), The flange plate (17) is installed on the rotating plate of the servo motor (16) through a screw connection, and the connecting plate (7) and the binding block (8) are installed on the flange plate (17) through a screw connection , the binding member (9) and the binding member cushion block (8) are hinged, and the cushion block (19) realizes the axial fixation of the binding member (9); the servo motor (16) ) to transmit the power to the flange (17), the connecting plate (7), and the binding block (8). 6. A waist assist robot according to claim 1, characterized in that: the outer bone lower limb component (35) comprises a hinge A (11), a hinge shaft (12), a hinge B (13), a binding buckle ( 14), the binding frame (20), the knee pads (21), the hinge A (11) is screwed with the connecting plate (7) of the driving device (34), the hinge A (11), the hinge B (12) By hinged with the hinge shaft, the binding buckle (14) and the binding frame (20) are respectively fixed on the hinge B (13) by screw connection, and the knee pad (21) is hinged on the binding frame (20); All the power of the outer bone lower limb part (35) comes from the driving device (34), and the binding buckle (14) and the knee pad (21) are used to install a flexible binding belt to fix the lower limb part on the human thigh.

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