Universal combined arms exoskeleton

FIELD: physics, robotics.

SUBSTANCE: invention relates to military robotics and can be used for proportional increase in force of combatant and at cargo handling. This exoskeleton comprises carcass system, drives, electronic control system and power supply battery. Said carcass system consists of black-reinforced plastic panel following the trunk rear shape and articulated leverage of reinforced-black tubes. Note here that carcass leverage drives are made of solid aerogel composed of carbon nanotubes with admixture of rubber shaped to 40-120 mm diameter cylinders with conical sharpening on ends. Said drives are attached to the levers by clamping of conical ends with the help of synthetic fabric bands impregnated with epoxy resin and tied by steel rivets.

EFFECT: electric power saving, increase in force and self-contained operation time, maximised combat efficiency.

2 dwg


The invention relates to the field of military robotics and can be used for a proportional increase in effort in the movements of the soldier performing a fighting task, and also in everyday life to move cargo.

Known invention, which is described in assistive devices for the movement of the person based on frame-and-lever system and the actuators (see for example No. JP 2011143243, No. US 2013231595, No. NZ 20080586912). But these devices are designed to mimic the motion of human body parts, and not to a proportional increase in muscle strength, since their main purpose is to help people with disabilities. The closest to this invention is analogous to the invention №JP2013082065, which describes a robotic device composed of a frame, the elements of which mimic parts of the human body, systems of actuators based on electric motors and control systems.

The main obstacles to obtaining a technical result, which is provided by the invention are the absence of an independent source of power, a large power consumption of the actuators, incomplete management system that provides instant feedback of propulsion and causes some additional muscle tension in the operator.

I�iversally military exoskeleton consists of a frame of the system of articulated joints and levers, the movement which provide the drives are based on solid-state aerogel of carbon nanotubes with a mixture of rubber, electronic control system and a battery power source. Frame system consists of 16 swivel and 16 elements (levers) is made of carbon fiber tubes with a diameter of 40-50 mm, fastening elements drives the movement and fixing of the control unit and the rechargeable energy source, and a flexible fastening elements of the frame to the body and carbon-fiber panels, repeating the shape of the rear of the torso of a man.

Drives the movement of the levers of the frame is made in the form of cylinders with a diameter from 40 to 120 mm with a conical bevel on two sides, the material of the actuator is made of solid aerogel of carbon nanotubes with a mixture of rubber, to the ends of the pointed parts supplied electrically conductive elements that provides the minimum power consumption with maximum working movement of the levers. The mounting of the actuators to the levers at the expense of crushing cone ends synthetic fabric tape impregnated with epoxy resin and strapped with steel rivets. The electronic control system of the exoskeleton consists of a minimum of 24 sensors positioning of the frame elements relative to the human body, the control unit drives based�wow-integrated controllers, and the radio, electrically conductive elements connecting the control unit drives movement of the levers. The rechargeable battery pack based on lithium-manganese cells, may be formed in a different geometric shape with weight not exceeding 50 kg with specific capacity in the range from 378 to 418 watt-hours per kilogram, is attached to the frame from the backside of the exoskeleton by spring clamps.

The technical result of the invention aims at reducing the consumption of the exoskeleton of electricity, while increasing the accuracy of repetition of movements of the elements of the exoskeleton, their maximum efforts and time of Autonomous work, which will ensure the most effective execution of military missions. This technical result is possible when performing the above-described design features, as specified amount of leverage allows you to exactly copy the possible trajectories of motion of human body parts and all possible degrees of freedom of the joints of the human skeleton. Design acquires such property due to the identical proportions of the lengths of the levers relative to osteoarticular apparatus, resulting in loading of the frame there is no additional resistance to the muscles of the operator of the exoskeleton. The linear dimensions of the actuators motion�tion is based on the fact that the change in the magnitude of their geometrical parameters, under the influence of external forces, generates isometries loads of up to 4.0 MPa cm3/g that is 32 times higher than that of natural skeletal muscle. Use as attachment to the levers drives the synthetic fabric tape impregnated with epoxy resin is the most affordable and technologically advanced way, which allows not to deform or damage to the material of the actuators, which in turn affects the number and the geometrical dimensions of the latter.

Fig. 1 shows three projections of the combined arms of the exoskeleton, where the levers of carbon fiber tubes are connected with pivot joints in zones 1 elbow, knee and shoulder joints of a person swivels 2 in the zone of brushes, swivel 3 in the area of hips, swivel 6 in the area of ankle. The connecting element 4 consists of two halves and attached to the Central tube of the frame by bolting, covering it from both sides, on the back side of the holder has two symmetrical spherical element, which, in connection with the pipes of the shoulder levers form the hinges. The connecting element 5 comprises two hinge joints that connect the Central pipes of the lumbar frame. Drives the movement of the levers of the frame 7 1-718made of flexible aerogel carbon nanotubes are fixed to the frame tubes and result in movement of the levers, being reduced in length when exposed to an electric current. The electronic control system 8 exoskeleton and the battery power source 9 are fixed to the Central tube of the frame from the backside of the exoskeleton spring grippers. Carbon fibre panel 10 is fixed to the Central tube of the frame on the front side. Fig. 2 shows types of hinge joints, applied in the frame arms of the exoskeleton.

The implementation of the universal military exoskeleton can be made in the following example. Soldier (operator) provides for yourself with flexible retention in the arms, legs, and torso frame of the exoskeleton shown in Fig. 1. Further, by performing the task according to the movement in the specified location or the movement of any cargo, the operator commits human movement of body parts (legs, arms, torso). Management system exoskeleton defines in time and space, speed and coordinates of body parts and elements of the frame and sends corresponding electrical signals to the actuators of movement of the lever frame, which begin to decline, repeating human movement with simultaneous proportional�to enhance increased vector control efforts in the direction of movement. Thus, the operator of the exoskeleton gets the opportunity to accelerate the movement or the movement of goods with the lowest cost own efforts that improves the efficiency of task execution.

The versatility of ECOSLATE due to the possibility of its application in order to move cargo, such as ammunition (missiles, bombs, missiles) aircraft or armored vehicles, but also as a battle suit that will accelerate the movement of the soldier and to ensure its survivability at the expense of additional weapons and defense. Universal military exoskeleton is designed for all genera and species of troops, since the main tasks of all units (infantry, aviation, river and sea fleet, etc.) imply as a combat support, and direct participation in them, where the necessary strength, speed and endurance of the troops.

Military exoskeleton containing frame, drives traffic, electronic control system and a battery power source, characterized in that the frame system consists of a carbon fiber panel that reproduces the shape of the rear of the torso of a man, and 16 levers made of carbon fiber tubes with a diameter of 40-50 mm and 16 United articulated with�disiniame, the mutual arrangement which repeats the basic anatomical mechanisms of the musculoskeletal system the human skeleton, wherein the drive movement of the levers of the frame is made of solid aerogel of carbon nanotubes mixed with rubber in the form of cylinders with a diameter from 40 to 120 mm with a conical bevel on two sides attached to the levers by means of crushing cone ends synthetic fabric tape impregnated with epoxy resin and strapped with steel rivets.


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