RU2808690C1 - Wearable device to support user's hands - Google Patents

Abstract

FIELD: medicine.

SUBSTANCE: device for providing the required force to support at least one operator's hand, including an operator's hand holder, a support lock, at least one power element, on one side fixed to the bar by means of a third fastening, on the other side fixed on a support, which by means of fastening support is attached to the support latch, wherein at least one non-stretchable element is configured to provide movement of the bar to which the hand holder is attached, secured on one side to said bar by means of a second fastening, on the other side by means of a fourth fastening — to the said support or to a specified support mount or to a specified support clamp designed to secure the device to the operator's body. Use of the device to increase labor productivity of employees of industrial enterprises. Use of the device to reduce the risk of injury and occupational diseases of the musculoskeletal system of an employee. The use of a device to reduce enterprise costs associated with temporary, partial or complete loss of performance or decreased productivity and concentration of an employee. The use of a device to reduce CO₂ emissions due to a reduction in employee energy costs.

EFFECT: expansion of the arsenal of reliable, comfortable to use, wear-resistant devices suitable for use as an industrial exoskeleton or personal protective equipment for the musculoskeletal system.

40 cl, 3 dwg

Description

TECHNICAL FIELD

The invention relates to wearable systems for supporting the user’s hands, used in industry, in particular in the mining industry, in assembly, sorting and other industries where the presence of occupational diseases of the musculoskeletal system of employees is common.

BACKGROUND OF THE ART

The state of the art widely describes wearable systems and exoskeletons for supporting human hands while performing any work that requires prolonged stress [1]-[4].

The closest analogue of the claimed invention is a device for holding loads with the upper limbs when performing work on the ceiling and other negative surfaces [5], characterized by the fact that it consists of a functionally interconnected fastening module and a load lifting module, and the fastening module includes a frame, connected to the operator's body using a belt fastener, wherein the load lifting module includes an elastic energy accumulator containing a body with an elastic element and a movable rod, wherein the lower end of the accumulator body is pivotally connected by a spherical hinge to the frame, and the upper end of the movable rod is pivotally connected to a cradle to support the operator, wherein the drive body is pivotally connected to a drive kinematically connected to the lower end of the cable, and the upper end of the cable is pivotally connected to the cradle to support the operator's hand.

The described device has a number of serious disadvantages, such as the lack of compensation for the bending load on the load lifting module and constant, inherent in the design itself, non-coaxial (cantilever) loads on the elastic energy storage device, acting in two planes: due to the fastening of the cable on the spring - in a plane orthogonal to the main axis of the hinge in the fastening between the support (bar) and the load-bearing element; due to the moment of forces of interaction between the hand and the support (bar) - in the plane containing the hinge axis in the fastening between the support (bar) and the power element and the spherical hinge for attaching the support to the belt.

These shortcomings lead to a significant reduction in service life, up to several weeks or even days, an increase in the noise level due to the creaking of the device, and a decrease in efficiency. They negatively affect the dynamic characteristics of the device, including restrictions on the speed of arm lifting, resistance to free movement and movement along the operator’s body. When using gas springs in this fastening scheme, the safety mechanism incorporated into the design of such springs by many manufacturers also does not work.

Thus, the objective of the present invention was to create a similar device that is devoid of these disadvantages, has high operational reliability over a long service life, high efficiency, operates efficiently and silently, maintains comfortable (free) movement of the operator, and therefore is economically feasible to purchase industrial companies requiring such devices for their employees.

The technical results of the present invention are:

• Increasing the service life of the device by reducing bending and misaligned (cantilever) loads on the load-bearing element;

• Increased device efficiency;

• Reduced noise level during device operation;

• Reducing the risk of occupational injury, damage to equipment and production process objects in the event of a device breakdown or incorrect operation;

• Expanding the arsenal of reliable, comfortable to use, wear-resistant devices suitable for use as an industrial exoskeleton or personal protective equipment for the musculoskeletal system.

This technical result is achieved thanks to several significant improvements:

• The first and mandatory modification is the fastening of an inextensible element, which can also be a cable, carried out not to the power element, which is an elastic energy storage device, but below it, to the support, which reduces the misaligned (cantilever) load on the power element;

• The second modification is to use a bending and/or radial force compensation element, which can be, among other things, a change in the shape of the bar, so that the fastenings (9), (10) and the velocity vector of the force application point (15) belong to the same plane (Fig. 1B), changing the fastening scheme and the type of load-bearing element that allows it to bend and (or) a non-tensile element that does not allow it to bend in a plane different from the plane that is determined by the non-tensile element and fastening (10) (Fig. 1D) or compensatory element (14) for bending force, which is a device that allows changing the distance between the axes of the fastenings (17) and (16) and does not allow bending forces in the fastenings of the power element (11) (Fig. 1B), used together or separately.

• The third modification is to change the geometry of the hinges in such a way that the fastenings (9), (10) and the velocity vector of the force application point (15) belong to the same plane (Fig. 1B).

The second and third modifications can be used together or separately in addition to the first, which is mandatory.

TERMS

An “industrial exoskeleton” (IE) in the context of the present invention is a means of personal protection of the musculoskeletal system worn on a person, compensating and/or redistributing the load on the musculoskeletal system.

A "free zone" in the context of the present invention is an area in which the operator's hands can be placed, but the amount of assistance force is minimal or significantly less than the amount of support used during operation.

“Personal protective equipment for the musculoskeletal system” (PPE ODA) is a device used to prevent or reduce the negative impact of the severity of the work process on the musculoskeletal system, intended, among other things, to reduce the risk of occupational diseases and increase labor productivity (increase natural capabilities) of a person.

Terms indicating the relative position of objects should be understood as relative position with an error of no more than 5% and (or) 5 centimeters and (or) 5 degrees.

"Straight line orthogonal to the plane" or "axis orthogonal to the plane" in the context of the present invention allows a deviation from the normal of no more than 10 degrees.

“Intended for” means, but is not limited to, a specific purpose, use and/or equipment. The fact that an object is intended for a specific function must specifically mean that the object performs that specific function in at least one application and/or operational state.

"Required effort" in the context of the present invention is an effect that reduces the load on the musculoskeletal system of a person.

“Degrees of freedom” is a set of independent coordinates of movement and/or rotation that completely determines the position of the system or body.

A “fastening” in the context of the present invention is a hinged, mechanical, magnetic, or other movable connection that provides the necessary relative mobility between the connected elements.

“Hinge” in the context of the present invention is a mechanical device that allows you to realize a given (specified) degree of freedom (mobility) when attaching one element to another, the work to change the position of the hinge coordinates of which can be neglected in the context of this application of the described device or concept.

A “spherical joint” in the context of the present invention is a mechanical device or element that allows the mutual movement of connected bodies in three rotational coordinates.

“Hinge axis” in the context of the present invention is a straight line around which one structural element rotates relative to another, connected to each other by a hinge or fastener.

The “force application point” (15) in the context of the present invention is a virtual point relative to which the total moment of forces of interaction between the corresponding upper limb of the operator and the hand holder (2) is equal to zero.

"Working movement" in the context of the present invention is the movement of the hand determined by the velocity vector of the point (15).

"Operator's shoulder joint" (1) in the context of the present invention is the area on the surface of the operator's body that is minimally distant from the operator's shoulder joint, located on the upper outer surface of the shoulder.

"Arm holder" (2) in the context of the present invention is a structural element to which the upper limb of the operator is attached and through which force is transmitted from the power element to the operator.

“Support” (5) in the context of the present invention is an object that allows you to transfer the payload from the power element to the operator’s body, which little changes the geometric characteristics during the working operation, while adjusting its length can adjust the kinematics of the device to the anatomical features of the operator.

The "bar" (6) in the context of the present invention is designed as a lever for transmitting force to the hand holder.

A “support clamp” (3) in the context of the present invention is an element that allows you to fix a part of the exoskeleton on the surface of the operator’s body, preferably in the area of the hip joint, to transfer the load from the power element to the operator’s body.

“Fastening” (8, 9, 10, 12, 13, 16, 17) in the context of the present invention is a hinged, mechanical, magnetic, or other movable connection that provides the necessary relative mobility between the connected elements.

The fastening (8) has no more than two degrees of freedom and does not contain a moving axis parallel to the straight line defined by the fastenings (8) and (10). The main axis of the fastening hinge (8) is parallel or, in accordance with the geometry of the bending and/or radial force compensation element, is at an angle to the axes (9) and (10).

Fastenings (9, 12) can be of any type.

The fastening (10) when using the compensating element (14) can be a fastening of any type. Otherwise, the fastening must not contain a rotational degree of freedom about an axis parallel to the principal axis (minimum moment) of the inertia tensor of the bar.

The fasteners (13, 16, 17) are hinges that have one rotational degree of freedom, the axes of which are parallel to each other. The axis of the fastening hinge (16) can coincide with the axes of the fastening hinges (9) or (10), or is located anywhere on the bar (6) and, in one of the preferred embodiments, coincides with the axis of the fastening hinge (10).

A “support mount” (4) in the context of the present invention is a free-form mount that has at least three rotational degrees of freedom (not necessarily located in the same geometric location).

“Inextensible element” (7) in the context of the present invention is an object, the distance between the fastenings (9) and (12) of which increases slightly (by no more than 5%) relative to the initial length of the element during the execution of a working operation when applying a limited force use case. In this case, the inextensible element always allows a decrease in the distance between the fasteners (9) and (12) when the operator’s hand is raised.

The “power element” (11) in the context of the present invention can be either a passive device capable of storing mechanical energy during compression and then releasing it when the arm is raised, or an active device capable of using external energy to perform useful work.

“Compensatory element” (14) in the context of the present invention is a device that allows a change in the distance between the axes of the fastenings (17) and (16) and does not allow bending forces in the fastenings of the power element (11).

Unless otherwise specified, all technical and technical terms used in this context have their common meaning in the art.

IMPLEMENTATION OF THE INVENTION

Below are some private embodiments of the claimed invention. They illustrate the proposed solution without limiting the scope of the claims stated in the claim.

The proposed invention is a device for providing the necessary force to support at least one hand of the operator by transmitting force from the hand holder (2) to the support lock (3), through at least one power element (11), fixed to the bar on one side (6) by means of fastening (10), on the other side fixed on the support (5), which, using the support fastening (4), is attached to the support lock (3), with the necessary movement of the bar (6), to which the hand holder is attached ( 2), provides at least one inextensible element (7), fixed on one side to the specified bar (6) by means of fastening (9), on the other side by means of fastening (12) - to the specified support (5) or to the specified support fastening (4) or to the specified support clamp (3).

In one of the preferred embodiments, the device has an adjustment of the length of the support (5) and an adjustment of the length of the bar (6), allowing the mounts (9) and (10) to be positioned in the area of the operator's shoulder joint (1). The device may consist of one or two modules to support one or two hands, respectively.

In one preferred embodiment, the Fastener may generally, unless otherwise specified, be a bearing joint, a bushing, a resilient member, a weaving member, a deformable member, a ball joint, or a movable stop.

The hand holder (2) in one of the preferred embodiments may be a plastic cradle hinged on a bar (6) having a fabric lining and a belt system with adjustments for different sizes of the operator’s hand and fasteners for quick removal; it may also be a bracket with a suspension system or other part that is securely fixed on the operator’s upper limb, for example on the shoulder, or forearm, or elbow or several areas near the elbow joint. In one preferred embodiment, the element has a coating with a high coefficient of friction when moving along the hand and a low coefficient when rotating around.

The support (5) in one of the preferred embodiments may be an incompressible element or a set of elements that are fixedly fixed relative to each other, including consisting of at least one tube, rod, strip, truss, axle, pin. In one preferred embodiment, the support is made in the form of a tube and includes length adjustment for operators of different heights, which can be discrete or continuous. The support may also contain a socket for fixing the power element.

The bar (6) in one of the preferred embodiments may be a tube, bar, beam, profile, tie rod, stick or a connection of any set of these elements, both along the main axes and at an angle, to fulfill the main property of the expansion element (14 ), while adjusting its length can adjust the kinematics of the device to the anatomical features of the operator. In one of the preferred embodiments, the element consists of two elements having a fixed translational degree of freedom relative to each other, allowing its length to be adjusted.

The support retainer (3) in one of the preferred embodiments can be a belt, an overlay, an insert, an insert, a sticker, a detachable magnetic connection, a clothespin, a rivet, a clasp, a brooch, which can be either part of the device or attached to an element of the operator’s clothing , for example, a belt, put in a pocket, attached to a belt or other equipment located during the execution of the target process in a given area. The retainer can be attached to the operator's own belt. In one preferred embodiment, it is designed as a belt and has independent length adjustment on the front and back and a quick release buckle.

The fastening (8) in one of the preferred embodiments may be a rotary joint with one degree of freedom located at right angles to the bar (6).

The fastenings (9) and (12) in one of the preferred embodiments can be a rotational hinge with one degree of freedom at right angles to the bar (6) or, when using a deformable inextensible element, a rigid fixation. In one preferred embodiment, the hinge of one of the fasteners has an additional degree of freedom (rotational or translational) to adjust the length of the non-extensible element. The fastening (9) may contain a translational degree of freedom along the bar to adjust the force arm of the power element (11).

The fastening (10) in one of the preferred embodiments may be a hinge containing one (allowing movement in the plane of the working movement) and also, possibly, a second (orthogonal to the first) rotational degrees of freedom. The first degree of freedom can be realized by the tip of a gas spring or a spring loop, while the second can be realized around a screw or linear guide of the translational degree of freedom of this mount, used to adjust the force application arm of the power element. The second degree of freedom can exist in the presence of a compensatory element (14).

The fastening (13), (16) and (17) in one of the preferred embodiments may be a rotary hinge with one degree of freedom at right angles to the bar (6), while the fastening 17 may have one axis with the fastening (12), and fastening (16) with (9) or (10), if their axes are parallel.

The fastening of the support (4) in one of the preferred embodiments can be made in the form of a spherical hinge, a set of cylindrical hinges with non-parallel axes, or fastening using an elastic or non-elastic material, the properties of which allow repeated rotations or bends while maintaining mechanical properties. In this case, the rotational degree around the “axis” of the support (5) can be anywhere in the given support, contained in the adjustment of its length, or structurally included in the characteristics of the load-bearing element (11) itself.

The inextensible element (7) in one of the preferred embodiments may be a multi-link mechanism, a chain, a cable, a cord, a belt, a sling, a telescopic tube or a set of similar elements. At the same time, maintaining the possibility of reducing the distance between (9) and (12) helps to increase the range of movement of the operator without assisting force. In one of the preferred embodiments, a nylon, metal or other inextensible cable is used. This cable can be duplicated on both sides of the bar (6) and movably attached using loops on the axes of the fastening hinges (9) and (12). One cable can also be used, fixed to the axis of the fastening hinge (9) or (12), and in the area of the other hinge it can be passed through a hole, which ensures equal tension on both sides.

The power element (11) in one of the preferred embodiments may be a gas spring, gas lift, compression spring, spring or active drive, including a pneumatic cylinder, hydraulic cylinder or linear actuator, or a device consisting of a set of these elements, or another element, the geometric characteristics of which increase when external energy is used to perform useful work. In one preferred embodiment, when using a gas spring, the additional rotational degree of freedom of the hinge (10) should allow movement limited by the element (14). In one preferred embodiment, when using a spring, element (14) is not required.

The compensating element (14) in one of the preferred embodiments may be a multi-link, a set of multi-links with coinciding axes of rotation. In one of the preferred embodiments, it is made in the form of a two-link unit.

The proposed device, in one of the preferred embodiments, can be used as an industrial exoskeleton.

The proposed device, in one of the preferred embodiments, can be used as a personal protective equipment for the musculoskeletal system.

The proposed device can be used to increase the productivity of employees of industrial enterprises.

The proposed device can be used to reduce the risk of injuries and occupational diseases of employees of industrial enterprises.

The proposed device can be used to reduce the costs of enterprises associated with temporary, partial or complete loss of performance or decreased productivity and concentration of employees.

The proposed device can be used to reduce CO2 emissions due to reduced energy consumption of employees.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1A. Basic model of the device, side and rear views.

Fig. 1B. Models of a device with bending force compensation elements, side view.

Fig. 1B. Model of the device with a change in the shape of the bar and a change in the geometry of the hinges, side and top views.

Fig. 1G. Model of the device with a change in the mounting pattern and type of power element (spring), side view.

Fig. 2 Possible embodiment of the device without a compensating element (14).

Fig. 3. A possible embodiment of a device with a compensating element (14) in the form of a two-link mechanism.

1 - operator’s shoulder joint

2 - hand holder

3 - support clamp

4 - support fastening

5 - support

6 - bar

7 - inextensible element

8 - fastening

9 - fastening

10 - fastening

11 - power element

12 - fastening

13 - fastening

14 - compensatory element

15 - force application point

16 - fastening

17 - fastening

BIBLIOGRAPHY

1. RU175852U1 (Federal State Budgetary Educational Institution of Higher Education "Russian National Research Medical University named after N.I. Pirogov" of the Ministry of Health of the Russian Federation), 12.21.2017;

2. WO2019081851A1 (In TEMIA INC; SAFRAN ELECTRONICS & DEFENSE), 05/02/2019;

3. CN110181489 (KNOWGENE TAIZHOU ROBOT TECH CO LTD), 08/30/2019;

4. CN110238819 (UNIV BEIHANG), 09/17/2019;

5. RU 200733 U1 (Exomed LLC), 09.11.2020.

Claims (40)

1. A device for providing the necessary force to support at least one operator’s hand, including an operator’s hand holder (2), a support lock (3), at least one power element (11), fixed on one side to the bar (6) by means of of the third fastening (10), on the other hand, fixed on the support (5), which, using the fastening of the support (4), is attached to the support latch (3), while at least one non-extensible element (7) is configured to ensure the movement of the bar ( 6), to which the hand holder (2) is attached, fixed on one side to the specified bar (6) by means of the second fastening (9), on the other side by means of the fourth fastening (12) - to the specified support (5) or to the specified support fastening (4) or to the specified support clamp (3), designed to fix the device on the operator’s body. 2. The device according to claim 1, consisting of at least one module designed to support one hand of the operator. 3. The device according to claim 1, where the hand holder (2) can be a plastic holder, hinged on the bar (6), having a fabric lining and a belt system with adjustments for different sizes of the operator’s hand and fasteners for quick removal , can also be a bracket with a suspension system or other part that is securely fixed on the operator’s upper limb, for example on the shoulder, or forearm, or elbow, or several areas near the elbow joint. 4. The device according to claim 3, where the arm holder (2) has a coating with a high coefficient of friction when moving along the arm and a low coefficient when rotating around it. 5. The device according to claim 1, where the support retainer (3) can be, inter alia, a belt, an overlay, an insert, an insert, a sticker, a detachable magnetic connection, a clothespin, a rivet, a clasp, a brooch, which can be either part of the device or and be included in a set with it and attached to an element of the operator’s clothing, for example, a belt, placed in a pocket, attached to a belt or other equipment located during the execution of the target process in a given area. 6. The device according to claim 5, where the support lock (3) is designed to be attached to the operator’s own belt. 7. The device according to claim 5, where the support lock (3) is made in the form of a belt and has independent length adjustment on the front and back and a buckle for quick release. 8. The device according to claim 1, where the fastening of the support (4) can be made in the form of a spherical hinge, a set of cylindrical hinges with non-parallel axes, or fastening using an elastic or non-elastic material, the properties of which allow repeated rotations or bends while maintaining mechanical properties. 9. Device according to claim 8, where the support mount (4) is a hinge having at least two rotational degrees of freedom. 10. The device according to claim 8, where the support mount (4) can be a bearing connection, a bushing, an elastic element, a weaving part, a deformable part, a ball end, a movable stop. 11. The device according to claim 1, where the support (5) and the bar (6) are configured to adjust their length, which allows the second (9) and third (10) fasteners to be positioned in the area of the operator’s shoulder joint (1). 12. The device according to claim 1, where the support (5) is an incompressible element or a set of elements fixedly fixed relative to each other, including consisting of at least one tube, rod, strip, truss, axle, pin or connection of any a set of specified elements, both along the main axes and at an angle, to perform the main function of support (5). 13. Device according to claim 12, where the support (5) is made in the form of a tube and is configured to adjust the length, where said adjustment can be discrete or continuous. 14. The device according to claim 12, where the support (5) contains a socket for fixing the power element. 15. The device according to claim 1, where the support (5) has a negligibly small length. 16. The device according to claim 1, where the bar (6) is made in the form of a lever for transmitting torque to the hand holder. 17. The device according to claim 16, where the bar (6) may be a tube, bar, beam, profile, rod boss, stick or a connection of any set of these elements, both along the main axes and at an angle, to achieve the basic property of compensatory element (14). 18. The device according to claim 17, where the bar (6) consists of two elements having a fixed translational degree of freedom relative to each other, allowing its length to be adjusted. 19. The device according to claim 1, wherein the non-extensible element (7) is an object that does not elongate significantly when a load is applied to the arm holder (2). 20. The device according to claim 19, where the inextensible element (7) can be a multi-link mechanism, chain, cable, cord, belt, sling, telescopic tube or a set of similar elements. 21. The device according to claim 19, where the inextensible element (7) is a nylon, metal or other inextensible cable. 22. The device according to claim 21, where the cable is fixed to the hinge axis of the second fastening (9) or (12), and in the area of the other hinge it can be passed through a hole. 23. The device according to claim 21, where the cable can be duplicated on both sides of the bar (6) and movably attached using loops on the axes of the fastening hinges (9) and/or (12). 24. The device according to claim 1, where the first fastening (8) can be a rotary joint with one degree of freedom located at right angles to the bar (6). 25. The device according to claim 1, where the second fastener (9) and the fourth fastener (12) can be a rotary hinge with one degree of freedom at right angles to the bar (6) or, when using a deformable inextensible element, a rigid fixation. 26. The device according to claim 25, where the hinge of one of the fasteners, namely the second fastener (9) and the fourth fastener (12) has an additional degree of freedom, rotational or translational, to adjust the length of the non-extensible element. 27. The device according to claim 25, where the second fastening (9) may contain a translational degree of freedom along the bar for adjusting the force arm of the power element (11). 28. The device according to claim 1, where the third fastening (10) may be a hinge containing one, allowing movement in the plane of the working movement, and also, possibly, a second, orthogonal to the first, rotational degrees of freedom. 29. The device according to claim 28, where the first degree of freedom is implemented by the tip of a gas spring or a spring loop, while the second is implemented around a screw or linear guide of the translational degree of freedom of this fastening, used to adjust the force application arm of the power element. 30. The device according to claim 1, where the fifth fastener (13), the sixth fastener (16) and the seventh fastener (17) can be a rotary hinge with one degree of freedom at right angles to the bar (6), while the seventh fastener (17 ) may have one axis with the fourth fastening (12), and the sixth fastening (16) with the second (9) or third (10), if their axes are parallel. 31. The device according to any one of claims 24-30, where the first fastener (8), the second fastener (9), the third fastener (10), the fourth fastener (12), the fifth fastener (13), the sixth fastener (16), the seventh The fastener (17) can be a bearing connection, a bushing, an elastic element, a weaving part, a deformable part, a ball end, or a movable stop. 32. The device according to claim 1, where the power element (11) can be a gas spring, gas lift, compression spring, spring or active drive, including a pneumatic cylinder, hydraulic cylinder or linear actuator, or a device consisting of a set of these elements, or another element whose geometric characteristics increase when external energy is used to perform useful work. 33. The device according to claim 32, where when using a gas spring as a power element (11), the additional rotational degree of freedom of the hinge (10) allows movement limited by the element (14). 34. The device according to claim 1, where said device may contain a compensatory element (14), which can be a multi-link or a set of multi-links with coinciding axes of rotation. 35. The device according to claim 34, where the compensatory element (14) is made in the form of a two-link unit. 36. The device according to claim 1, which is an industrial exoskeleton of at least one upper limb. 37. Use of the device according to claim 1 to increase the productivity of employees of industrial enterprises. 38. Use of the device according to claim 1 to reduce the risk of injury and occupational diseases of the musculoskeletal system of an employee. 39. The use of a device according to claim 1 to reduce the costs of an enterprise associated with temporary, partial or complete loss of performance or a decrease in the productivity and concentration of an employee. 40. Use of the device according to claim 1 to reduce CO ₂ emissions due to a reduction in employee energy consumption.