CN202036370U - Backpack embedded unpowered mechanical exoskeleton - Google Patents
Backpack embedded unpowered mechanical exoskeleton Download PDFInfo
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- CN202036370U CN202036370U CN2011200911872U CN201120091187U CN202036370U CN 202036370 U CN202036370 U CN 202036370U CN 2011200911872 U CN2011200911872 U CN 2011200911872U CN 201120091187 U CN201120091187 U CN 201120091187U CN 202036370 U CN202036370 U CN 202036370U
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- backpack
- metallic rod
- upper limb
- shank
- limb structure
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 35
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 28
- 210000000689 upper leg Anatomy 0.000 claims abstract description 27
- 210000002683 foot Anatomy 0.000 claims description 7
- 210000003127 knee Anatomy 0.000 claims description 6
- 210000003423 ankle Anatomy 0.000 claims description 4
- 239000002184 metal Substances 0.000 abstract description 8
- 210000002414 leg Anatomy 0.000 abstract description 7
- 230000009467 reduction Effects 0.000 abstract description 4
- 230000008901 benefit Effects 0.000 abstract description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 244000309466 calf Species 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004146 energy storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
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Abstract
The utility model relates to a backpack embedded unpowered mechanical exoskeleton which belongs to the technical field of mechanical structures and exercise physiology and comprises an upper limb structure and a lower limb structure, wherein the upper limb structure comprises a backpack with two straps, two strip pockets connected to the sides of the straps in the backpack and two upper limb metal support rods which are inserted into the two strip pockets and penetrates through the bottom of the backpack; the lower limb structure consists of two set of lower limbs with the same structure; each set of lower limbs comprise a metal thigh rod, a metal shank rod, a sole, a strapping tape and a connecting piece for integrally and sequentially connecting the metal thigh rod, the metal shank rod and the sole; and the backpack embedded unpowered mechanical exoskeleton also comprises two hoses connected between the upper limb structure and the lower limb structure. The backpack embedded unpowered mechanical exoskeleton has the functions of shoulder load reduction and leg power assistance like the powered exoskeleton under the unpowered condition and can integrate the external backpack and the upper limb structure. The backpack embedded unpowered mechanical exoskeleton has the advantages of simple overall structure, small size and convenience for carrying.
Description
Technical field
This utility model belongs to frame for movement, athletic physiology technical field, particularly to the ectoskeletal improvement design of unpowered machinery.
Background technology
Machinery ectoskeleton (hereinafter to be referred as ectoskeleton) is that a cover directly is equipped in the machinery on the human body, comprises upper limb structure and lower limb structure usually.After user wore it, ectoskeleton can play the effect of supporting human body or load weight and auxiliary human motion.Because of its skeleton, therefore be referred to as mechanical ectoskeleton like human external.
Whether ectoskeleton uses the energy by its working method, can be divided into dynamic ectoskeleton and unpowered ectoskeleton.Both are in the similarities and differences aspect system's formation: the both has similar upper and lower extremities frame for movement, but dynamic ectoskeleton also uses battery powered, and pneumatic, hydraulic-driven or motor-driven actuator are arranged, and unpowered ectoskeleton does not use battery and above-mentioned three kinds of type of drive, is pure frame for movement.In function aspects, two types ectoskeleton relies on similar upper and lower extremities frame for movement, can both play to support and bear weight, is the function of shoulder Reduction of Students' Study Load.But dynamic ectoskeleton can also reach the function of shank power-assisted by driven the swing of human body shank by the actuator of power drives, and therefore unpowered ectoskeleton can't realize the function of shank power-assisted owing to do not have power supply and actuator.Generally speaking, unpowered ectoskeleton is dynamic ectoskeletal simplification version.
By web search, found and the immediate scheme of the technical program: " unloading the power Knapsack-rack ", inventor Ou Yangjun, blue or green few channel " Beijing youth " column of source: BTV is reported in December, 2009 report, " Beijing Times " in November, 2009.This scheme is the ectoskeleton of pure frame for movement, does not have power supply and actuator, so belong to unpowered ectoskeleton.This overlaps ectoskeletal upper limb structure is a bracing frame that has two braces, and user can be with its back of the body on shoulder, thereby the upper limb structure is fixed on the back of user, and the external knapsack that a large amount of weights then will be housed arbitrarily again hangs on this bracing frame.The lower limb structure is made of four metallic rod and two soles, and metallic rod is a pair of in twos, and the length of the two bars thigh and calf with the people respectively is close, is called thigh metallic rod and shank metallic rod, and the from beginning to end and middle junction of two bars connects with bolt, can rotate.Two bars middle part is pinioned with the thigh and calf of strapping tape and user respectively, makes metallic rod be fixed on people's shank, moves along with the motion of people's shank.Shank metallic rod bottom links to each other with sole, and the foot of user (wearing shoes) steps down on this sole, has strapping tape to be used for fixing the foot of user on the sole.The top of the bottom of upper limb structure and thigh metallic rod utilizes cross bar to be connected with bolt.
This technical scheme has two deficiencies: 1) on function, this scheme can realize supporting external knapsack by frame for movement and bear a heavy burden, alleviate the stressed function of shoulder, but because it is unpowered ectoskeleton, can't realize the assist function of auxiliary leg exercise, this also is all unpowered ectoskeletal common faults.2) from a structural point, there are redundancy in bracing frame in this scheme upper limb structure and braces and external knapsack, cause the structure more complicated, and be light inadequately.
The utility model content
Order of the present utility model is for overcoming the weak point of prior art, designed the embedded unpowered mechanical ectoskeleton of a kind of knapsack, can keep under the motorless condition, having shoulder Reduction of Students' Study Load and shank assist function concurrently as dynamic ectoskeleton.And external knapsack and upper limb structure are united two into one, and it is simple to have overall structure, and volume is little, portable advantage.
The embedded unpowered mechanical ectoskeleton of a kind of knapsack of this utility model design, mainly formed by upper limb structure and lower limb structure, it is characterized in that, described upper limb structure includes the backpack of two braces, be connected two bar shaped pockets of close braces one side in the backpack, and two upper limb metallic support rod, these two upper limb metallic support rod are inserted in two bar shaped pockets and are passed the bottom of knapsack; Described lower limb structure is made up of two cover lower limb of same structure, and every cover lower limb comprise thigh metallic rod, shank metallic rod, sole and strapping tape, and the connector that thigh metallic rod, shank metallic rod, sole is in turn connected into one; Also comprise two flexible pipes that are connected between upper limb structure and the lower limb structure.
Described every cover lower limb also can comprise one section spring, and the two ends of this spring are separately fixed at the middle part of thigh metallic rod and shank metallic rod.
Described connector can comprise knee bolt that thigh metallic rod and shank metallic rod are linked together and the ankle place bolt that sole is connected shank metallic rod bottom.
Described strapping tape can comprise shank strapping tape that is connected on the thigh metallic rod and the foot strapping tape that is connected on the sole.
Characteristics of the present utility model and effect:
Need extra external knapsack to come loaded with articles when traditional ectoskeleton uses, then hang on the ectoskeletal upper limb structure.And in the design, support bar is embedded in the knapsack, so upper limb structure and knapsack unite two into one, and need not external knapsack during use, and structure is more succinct, has more convenience.
On the basis of said structure, also can pass through spring structure, passive walking principle is applied in the unpowered ectoskeleton, realized the shank assist function that just has in the dynamic ectoskeleton.
Description of drawings
Fig. 1 is a texture edge sketch map of the present utility model.
Fig. 2 is a structure front schematic view of the present utility model.
Fig. 3 is the sketch map that the shank spring compresses and extends when using this utility model.
The specific embodiment
The embedded unpowered mechanical ectoskeleton of a kind of knapsack of this utility model design reaches embodiment in conjunction with the accompanying drawings and is described in detail as follows:
This utility model mainly is made up of upper limb structure and lower limb structure, and as shown in Figure 1, 2, the upper limb structure includes the backpack 1 of two braces 2, two bar shaped pockets 3, upper limb metallic support rod 4; The lower limb structure comprises thigh metallic rod 6, shank strapping tape 7, knee bolt 8, shank metallic rod 9, spring 10, ankle place bolt 11, foot strapping tape 12 and sufficient type rubber soles 13, and the flexible pipe 5 that connects upper limb structure and lower limb structure; Two bar shaped pockets 3 are made close braces 2 one sides in backpack 1 in the upper limb structure, and seal this bar shaped pocket upper end, lower ending opening, and the knapsack bottom under this bar shaped pocket lower port has two holes; The upper limb support metallic rod is filled in wherein, and hole (extended about 5cm) is stretched out in the lower end of upper limb support bar.Thigh metallic rod 6 is connected with shank metallic rod 9 usefulness knee bolts 8 in the lower limb structure, and the thigh metallic rod is last, and shank metallic rod infra forms two pairs of thigh and calf metallic rod; Shank strapping tape 7 is connected thigh metallic rod bottom, is used for fixing with people's knee; The two ends of two springs 10 are separately fixed at the middle part of two thigh metallic rod and shank metallic rod, and spring can compress and extend according to people's lower limb situation of taking a step during use, as shown in Figure 3; Two rubber soles 13 (can adopt sufficient type shape) link to each other with ankle place bolt 11 with the bottom of shank metallic rod respectively, are connected with foot strapping tape 12 on the sole, are used for fixing the foot of user.The upper limb structure is positioned at the top of lower limb structure, and the two ends of flexible pipe 5 (can adopt S type flexible metal flexible hose) are socketed in the bottom of two support metal bars in the upper limb structure and the top of thigh metallic rod respectively.
Operation principle of the present utility model and effect are described as follows:
1) shoulder Reduction of Students' Study Load---in knapsack, put into large numbers of items, produce bigger heavy burden.Under action of gravity, knapsack can drop.This moment, metallic support rod was played a supporting role, and knapsack is up pushed up.Therefore, the heavy burden of article will affact on the metallic support rod, causes it to press down.By the transmission of S type metal wire net flexible hose, the heavy burden pressure on the metallic support rod is delivered on the thigh metallic rod, and handing down is delivered to shank metallic rod and sole again.Therefore, the transmission of the heavy burden of article by in layer be up to ground, provides holding power to it by ground, supported BW, alleviated the shoulder burden of user, and user only needs to keep an anterior-posterior balance to get final product in this process.
2) shank power-assisted---mainly based on passive walking principle.Passive walking is a kind of theory in the bipod walking robot, the walking process of main researching human body and how to simulate this process with frame for movement.According to passive walking principle, in the human walking procedure, when foreleg lands at every turn, have certain impulse force, this impulse force can increase when human body bears a heavy burden or runs greatly.Under the effect of this impulse force, people's thigh and calf can fold bending.Because thigh metallic rod and shank metallic rod are fixed on people's the thigh and calf, they also can fold, and the spring that is connecting two bars can be in the effect lower compression energy storage of impulse force.When this lower limb becomes back leg, when preparing to take a step forward, just need stretch, to improve centre of body weight, replenish the kinetic energy that consumes in the human body walking with gravitional force.In the process that shank stretches, spring is elongation simultaneously also, release energy simultaneously with leg muscle, when this moment, human motion needed makeup energy just, therefore spring has replenished energy when this needs most energy, reduce the leg muscle energy expenditure in this respect of user, be equivalent to replace the effect of a part of leg muscle, thereby realized the shank assist function.Say on directly perceived that the effect person of being to use of shank power-assisted is when walking, having an effect of leg muscle reduces, and feels lighter.
The effect of spring also can be played the effect of buffer except the shank power-assisted, reduced the pressure that the human knee is subjected to.
Claims (4)
1. embedded unpowered mechanical ectoskeleton of knapsack, mainly formed by upper limb structure and lower limb structure, it is characterized in that, described upper limb structure includes the backpack of two braces, be connected two bar shaped pockets of close braces one side in the backpack, and two upper limb metallic support rod, these two upper limb metallic support rod are inserted in two bar shaped pockets and are passed the bottom of knapsack; Described lower limb structure is made up of two cover lower limb of same structure, and every cover lower limb comprise thigh metallic rod, shank metallic rod, sole and strapping tape, and the connector that thigh metallic rod, shank metallic rod, sole is in turn connected into one; Also comprise two flexible pipes that are connected between upper limb structure and the lower limb structure.
2. unpowered mechanical ectoskeleton as claimed in claim 1 is characterized in that, described every cover lower limb also comprise one section spring, and the two ends of this spring are separately fixed at the middle part of thigh metallic rod and shank metallic rod.
3. unpowered mechanical ectoskeleton as claimed in claim 1 is characterized in that, described connector comprises knee bolt that thigh metallic rod and shank metallic rod are linked together and the ankle place bolt that sole is connected shank metallic rod bottom.
4. unpowered mechanical ectoskeleton as claimed in claim 1 is characterized in that, described strapping tape comprises shank strapping tape that is connected on the thigh metallic rod and the foot strapping tape that is connected on the sole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200911872U CN202036370U (en) | 2011-03-31 | 2011-03-31 | Backpack embedded unpowered mechanical exoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200911872U CN202036370U (en) | 2011-03-31 | 2011-03-31 | Backpack embedded unpowered mechanical exoskeleton |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202036370U true CN202036370U (en) | 2011-11-16 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200911872U Expired - Fee Related CN202036370U (en) | 2011-03-31 | 2011-03-31 | Backpack embedded unpowered mechanical exoskeleton |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202036370U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103431977A (en) * | 2013-08-06 | 2013-12-11 | 朱金凤 | Novel hand-free walking stick |
| CN105456005A (en) * | 2016-01-08 | 2016-04-06 | 陈烁 | Squatting booster |
| CN107309867A (en) * | 2017-08-17 | 2017-11-03 | 河北工业大学 | Lower limb assistance exoskeleton based on Gravity support |
| CN107928992A (en) * | 2017-12-25 | 2018-04-20 | 贵州大学 | Upper and lower extremities mutual assistance walking device |
| CN109070334A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Modular exoskeleton structure including backpack support modules |
| CN110352050A (en) * | 2016-12-29 | 2019-10-18 | 苏黎世联邦理工学院 | Flexible wearable muscle auxiliary device |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN112168627A (en) * | 2020-11-10 | 2021-01-05 | 李则熙 | Human lower limb exoskeleton power assisting device |
| US10912666B2 (en) | 2016-12-08 | 2021-02-09 | University Of Washington | Energy storage device for an exoskeleton |
| CN112972208A (en) * | 2021-02-04 | 2021-06-18 | 首都医科大学附属北京天坛医院 | Knee joint rehabilitation walking assisting exoskeleton |
| CN115609568A (en) * | 2022-11-09 | 2023-01-17 | 佳木斯大学 | A passive knee joint flexible assisting device |
-
2011
- 2011-03-31 CN CN2011200911872U patent/CN202036370U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103431977B (en) * | 2013-08-06 | 2016-05-18 | 朱金凤 | A kind of novel crutch that need not be hand steered |
| CN103431977A (en) * | 2013-08-06 | 2013-12-11 | 朱金凤 | Novel hand-free walking stick |
| CN109070334B (en) * | 2015-12-24 | 2021-09-14 | 赛峰电子与防务公司 | Modular exoskeleton structure including backpack support module |
| CN109070334A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Modular exoskeleton structure including backpack support modules |
| CN105456005A (en) * | 2016-01-08 | 2016-04-06 | 陈烁 | Squatting booster |
| US10912666B2 (en) | 2016-12-08 | 2021-02-09 | University Of Washington | Energy storage device for an exoskeleton |
| CN110352050A (en) * | 2016-12-29 | 2019-10-18 | 苏黎世联邦理工学院 | Flexible wearable muscle auxiliary device |
| US11883343B2 (en) | 2016-12-29 | 2024-01-30 | Eth Zurich | Soft wearable muscle assisting device |
| CN107309867A (en) * | 2017-08-17 | 2017-11-03 | 河北工业大学 | Lower limb assistance exoskeleton based on Gravity support |
| CN107309867B (en) * | 2017-08-17 | 2023-05-23 | 河北工业大学 | Gravity-supported lower limb power-assisted exoskeleton |
| CN107928992A (en) * | 2017-12-25 | 2018-04-20 | 贵州大学 | Upper and lower extremities mutual assistance walking device |
| CN111329720B (en) * | 2020-02-29 | 2021-10-08 | 同济大学 | A gas-supported passive lower-extremity-assisted exoskeleton device |
| CN111329720A (en) * | 2020-02-29 | 2020-06-26 | 同济大学 | Air-supported passive lower limb assistance exoskeleton device |
| CN112168627A (en) * | 2020-11-10 | 2021-01-05 | 李则熙 | Human lower limb exoskeleton power assisting device |
| CN112972208A (en) * | 2021-02-04 | 2021-06-18 | 首都医科大学附属北京天坛医院 | Knee joint rehabilitation walking assisting exoskeleton |
| CN115609568A (en) * | 2022-11-09 | 2023-01-17 | 佳木斯大学 | A passive knee joint flexible assisting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111116 Termination date: 20120331 |