Search

CN-121973151-A - Wearable human body booster

CN121973151ACN 121973151 ACN121973151 ACN 121973151ACN-121973151-A

Abstract

The invention discloses a wearable human body booster which comprises a serial elastic driver, a tail end booster structure, a rope transmission mechanism and pulleys, wherein the pulleys are arranged on the serial elastic driver and the tail end booster structure, the serial elastic driver drives the tail end booster structure through the rope transmission mechanism, the serial elastic driver comprises a driving motor, a screw rod, springs, a spring installation frame, a pulley installation frame I, a pulley installation frame II and a screw rod nut, the output end of the driving motor is connected with the screw rod, the screw rod nut is in threaded connection with the screw rod, two springs penetrate through the screw rod and are arranged in the spring installation frame, the screw rod nut is positioned between the two springs, the pulley installation frame I and the pulley installation frame II are respectively connected to the left side and the right side of the spring installation frame, and the pulleys are arranged on the pulley installation frame I and the pulley installation frame II. The invention realizes the auxiliary torque output under the flexible force control through the serial elastic driver, and can use corresponding tail end power assisting structures according to different use scenes.

Inventors

  • DING SHUO
  • ZHAO WEIJIE
  • CHEN BAI
  • YANG HAITAO

Assignees

  • 南京航空航天大学

Dates

Publication Date
20260505
Application Date
20251031

Claims (10)

  1. 1. The utility model provides a human booster unit of wearing formula, its characterized in that, including establishing ties elastic drive ware, terminal helping hand structure, rope drive mechanism, pulley, the pulley is installed in establishing ties elastic drive ware and terminal helping hand structure, establish ties elastic drive ware passes through rope drive mechanism and drives terminal helping hand structure, establish ties elastic drive ware includes driving motor (2), lead screw (4), spring (5), spring mounting frame (7), pulley mounting frame one (16), pulley mounting frame two (17), lead screw nut (18), lead screw (4) are connected to driving motor's (2) output, lead screw nut (18) threaded connection is in lead screw (4), and two springs (5) pass lead screw (4) and put in spring mounting frame (7), lead screw nut (18) are located between two springs (5), pulley mounting frame one (16), pulley mounting frame two (17) are connected respectively in the left and right sides of spring mounting frame (7), pulley mounting frame one (16), pulley mounting frame two (17) install the pulley.
  2. 2. The wearable human body assisting device as in claim 1, wherein the terminal assisting structure comprises a hip structure, a knee structure, an ankle structure, a back structure.
  3. 3. The wearable human body booster device according to claim 1, wherein the end booster structure is a hip structure, the hip structure comprises a hip connection structure and a leg booster structure, the hip connection structure comprises a hip connection frame (101), an inner side pulley frame (102), an inner side connection plate (103), a middle connection plate (104), a first driving wheel (105) and a driving arm (106), the hip connection frame (101) is connected with a serial elastic driver, the inner side pulley frame (102) and the middle connection plate (104) are connected to the inner side of the hip connection frame (101), the inner side connection plate (103) is mounted on the middle connection plate (104), one side of the driving arm (106) is connected with the first driving wheel (105), and the side of the driving arm (106) and the first driving wheel (105) are mounted in a space formed by the ends of the hip connection frame (101) and the inner side connection plate (103) together and are connected to the ends of the hip connection frame (101) and the inner side connection plate (103) through two-side bearings respectively.
  4. 4. A wearable human body booster according to claim 3, wherein the leg booster structure comprises a swinging rod joint (110), a leg bending tube (111), a leg support (112), a rotary fixing member (113) and a leg connecting plate (114), the swinging rod joint (110) is rotationally connected with a driving arm (106) through a copper sleeve (109), one end of the leg bending tube (111) is rotationally connected with the swinging rod joint (110), the leg support (112), the rotary fixing member (113) and the leg connecting plate (114) are mutually connected, the other side of the leg bending tube (111) passes through a space formed by the leg support (112) and the rotary fixing member (113), the rotary fixing member (113) is provided with a spigot (1131), and the leg bending tube (111) is limited by the spigot (1131) after being inserted into the rotary fixing member (113); the leg assisting structure has multiple degrees of freedom, wherein one degree of freedom is the degree of freedom of rotation of the swing rod joint (110) around the driving arm (106), the other degree of freedom is the degree of freedom of rotation of the leg bending tube (111) around the swing rod joint (110), and the third degree of freedom is the degree of freedom of rotation of the leg support (112) and the rotary fixing piece (113) around the tail end of the leg bending tube (111).
  5. 5. The wearable human body booster according to claim 1, wherein the end booster structure is a knee structure, the knee structure comprises a thigh support plate (201), a knuckle bearing support frame (203), a second driving wheel (204) and a lower leg support member (206), the thigh support plate (201) is provided with bowden wires (5) for connecting with bowden wires (51) led out by a serial elastic driver, the knuckle bearing support frames (203) are four, wherein two outer knuckle bearing support frames (203) are respectively connected with two ends of the thigh support plate (201), two inner knuckle bearing support frames (203) are respectively connected with the corresponding outer knuckle bearing support frames (203), the second driving wheel (204) is installed in a space between the two knuckle bearing support frames (203) and is connected with each other through a bearing, and the lower leg support member (206) is connected inside the two second driving wheels 204.
  6. 6. The wearable human body booster according to claim 1, wherein the terminal booster structure is an ankle structure, the ankle structure comprises a shank side plate (301), an ankle connecting piece (303), a foot side plate (304), a foot connecting plate (305), a heel connecting plate (306), a pull rope device (307) and an auxiliary connecting plate (308), the two shank side plates (301) are connected through the ankle connecting piece (303), the upper parts of the two foot side plates (304) are respectively connected with the two shank side plates (301) through bearings, the lower parts of the two foot side plates (304) are connected with each other through the foot connecting plate (305), the heel connecting plate (306) is installed on the two foot side plates (304), the pull rope device (307) is installed in the middle of the heel connecting plate (306) and used for being connected with a bowden wire (51) led out by a series elastic driver, the auxiliary connecting plate (308) is connected with one shank side plate (301), and the auxiliary connecting plate (308) is installed with a bowden wire (5) used for being connected with the bowden wire (51) led out by the elastic driver.
  7. 7. The wearable human body booster device according to claim 2, wherein the end booster structure is a back structure, the back structure comprises a hip connection structure, a leg booster structure and a back wearing structure, the hip connection structure of the back structure is identical to the hip connection structure of the hip structure, the leg booster structure of the back structure is identical to the leg booster structure of the hip structure, the back wearing structure comprises two back heightening carbon tubes (401), telescopic carbon tubes (402) and a wearing waistcoat (403), the back heightening carbon tubes (401) are fixed on the upper sides of the serial elastic drivers, the telescopic carbon tubes (402) are connected with the back heightening carbon tubes (401) through bolts, and the height adjustment is realized through a plurality of mounting holes, and the wearing waistcoat (403) is respectively mounted on the telescopic carbon tubes (402) and the back heightening carbon tubes (401) through shoulder straps and waistbands.
  8. 8. The wearable human body booster device according to claim 1, wherein the tail end booster structure is a hip structure, the rope transmission mechanism comprises a differential rope I (6) and a differential rope II (61), the pulleys are arranged in a serial elastic driver and the hip structure, the differential rope I (6) is led out of the serial elastic driver by bypassing the pulley in the pulley mounting frame I (16) and passes through the pulley in the hip structure, two ends of the differential rope I are respectively connected with A, B ends on the left and right side first driving wheels (105), the differential rope II (61) is led out of the serial elastic driver by bypassing the pulley in the pulley mounting frame II (17), and two ends of the differential rope I are respectively connected with B, A ends on the left and right side first driving wheels (105).
  9. 9. The wearable human body booster according to claim 8, wherein the end booster structure is a knee structure, the rope transmission mechanism comprises a differential rope one (6), a differential rope two (61), a bowden wire (51) and a bowden wire head (5), the rope transmission mechanism in the series elastic driver is the same as the rope transmission mechanism in the hip structure, the bowden wire head (5) is used for connection at the rope leading-out position, the led-out bowden wire head (5) is respectively connected to the knee structure at the lower end through four bowden wires (51), the end rope transmission mechanism is the same as the rope transmission mechanism in the hip structure, two ends of the same rope are connected to different ends of the second driving wheel (204) at the end, and when the end booster structure is an ankle structure, the rope transmission mechanism of the ankle structure is the same as the rope transmission mechanism of the knee structure.
  10. 10. The wearable human body booster according to claim 1, wherein the tail end booster structure is a back structure, the rope transmission mechanism comprises a differential rope (62), the pulleys are arranged in a serial elastic driver and the back structure, the differential rope (62) is led out from the serial elastic driver by bypassing the pulleys in the pulley mounting frame II (17), passes through the pulleys in the back structure, and both ends of the differential rope are connected with the A ends on the left driving wheel and the right driving wheel.

Description

Wearable human body booster Technical Field The invention relates to the technical field of exoskeleton robots, in particular to a wearable human body booster device. Background In modern life, people often face various scenes which need the body to bear long-time load, and the behaviors of long-time walking, frequent ascending and lifting heavy objects are mainly shown in daily life. The long-time walking including traveling is easy to cause fatigue of the hip and ankle, the ascending behavior represented by ascending and descending stairs is easy to cause damage to the knee joint, and the carrying behavior required by daily behavior or work is easy to cause damage to the back and waist. Especially for elderly people, the above behavior is much more damaging to specific parts of the body than for young people. With the increase of the aging degree of society, how to assist the daily action demands and relieve the physical burden becomes a social demand to be solved urgently. The exoskeleton robot is used as wearable equipment, can provide additional power assistance for a wearer through a mechanical structure and a power system of the exoskeleton robot, effectively shares the pressure born by the body while improving walking ability, and reduces the risks of joint abrasion and muscle strain. Meanwhile, according to different structural optimization designs, the power assisting device can assist a plurality of joint parts of a human body, and is an effective emerging power assisting device. The existing exoskeleton robot system part adopts a joint motor as a power source, such as a hip-knee joint walking robot related in a patent CN119973959A, effective and accurate assistance can be provided for hip joints and knee joints through the joint motor, but the equipment needs higher control requirements if the purpose of outputting flexible moment suitable for human bodies is achieved, meanwhile, the quantity of the required motors is more, the cost is higher, meanwhile, the assistance part of the existing exoskeleton robot system has high fixity, accurate assistance for a plurality of parts is difficult to conveniently realize, and the multifunctional exoskeleton robot related in a patent CN119839836A realizes omnibearing assistance for lower limbs, but has a complex structure and large equipment weight, and is not suitable for being used in daily life. Disclosure of Invention The invention aims to overcome the defects of the prior art, and provides a wearable human body booster device which realizes auxiliary torque output under flexible force control by a single motor driving serial elastic driver and can use corresponding tail end booster structures according to different use scenes, thereby realizing accurate booster aiming at backs, hips, knees and ankles in different scenes. Meanwhile, the driving source uses a single motor and combines an effective structural design to lighten the weight of the equipment, thereby achieving the effects of lightening the body load and improving the working efficiency. In order to achieve the above purpose, the present invention adopts the following technical scheme: The utility model provides a human booster unit of wearing formula, includes series connection elastic drive ware, terminal helping hand structure, rope drive mechanism, pulley, the pulley is installed in series connection elastic drive ware and terminal helping hand structure, series connection elastic drive ware passes through rope drive mechanism drive terminal helping hand structure, series connection elastic drive ware includes driving motor, lead screw, spring mounting frame, pulley mounting frame one, pulley mounting frame two, screw-nut, driving motor's output connection lead screw, screw-nut threaded connection is in the lead screw, and two springs pass the lead screw and arrange in the spring mounting frame, screw-nut is located between two springs, pulley mounting frame one, pulley mounting frame two are connected respectively in spring mounting frame's left and right sides, pulley is installed to pulley mounting frame one, pulley mounting frame two. The terminal assist structure includes a hip structure, a knee structure, an ankle structure, a back structure. The tail end power assisting structure is a hip structure, the hip structure comprises a hip connecting structure and a leg power assisting structure, the hip connecting structure comprises a hip connecting frame, an inner pulley frame, an inner connecting plate, a middle connecting block, a first driving wheel and a driving arm, the hip connecting frame is connected with a serial elastic driver, the inner pulley frame and the middle connecting block are connected to the inner side of the hip connecting frame, the inner connecting plate is arranged on the middle connecting block, one side of the driving arm is connected with the first driving wheel, and the side of the driving arm and the first driving wheel are arranged in a space formed by th