阅读说明：本技术 一种提高人体侧向稳定性和降低人体代谢消耗的动力背包 (Power backpack for improving lateral stability of human body and reducing metabolic consumption of human body ) 是由 梁杰俊一 汪涛 熊蔡华 张秦浩 刘阳 孙晨露 于 2021-08-31 设计创作，主要内容包括：本发明公开了一种提高人体侧向稳定性和降低人体代谢消耗的动力背包,属于动力背包技术领域。包括背包本体、第一负载、第二负载、滑动组件、运动输出单元、运动控制单元和数据采集单元；第一负载和第二负载分别安装于滑动组件；传动组件包括齿轮、第一齿条和第二齿条,齿轮安装于驱动组件的输出端,第一齿条和第二齿条分别沿第一负载和第二负载相向的侧面设置并与齿轮啮合；运动控制单元根据运动信息控制驱动组件驱动齿轮转动使第一负载和第二负载沿滑动组件反相移动,从而使第一负载和第二负载的运动幅度与人体运动过程中的上下运动幅度相同、运动频率为人体运动频率的1/2。本发明增强人体负重行走时的侧向稳定性,降低负重行走过程中的受伤风险。(The invention discloses a power backpack for improving the lateral stability of a human body and reducing the metabolic consumption of the human body, and belongs to the technical field of power backpacks. The backpack comprises a backpack body, a first load, a second load, a sliding assembly, a motion output unit, a motion control unit and a data acquisition unit; the first load and the second load are respectively arranged on the sliding component; the transmission assembly comprises a gear, a first rack and a second rack, the gear is arranged at the output end of the driving assembly, and the first rack and the second rack are respectively arranged along the opposite side surfaces of the first load and the second load and are meshed with the gear; the motion control unit controls the driving assembly to drive the gear to rotate according to the motion information so that the first load and the second load move in opposite phases along the sliding assembly, and therefore the motion amplitude of the first load and the second load is the same as the up-down motion amplitude in the human body motion process, and the motion frequency is 1/2 of the human body motion frequency. The invention enhances the lateral stability of the human body when walking with load, and reduces the injury risk in the process of walking with load.)

1. A power backpack for improving the lateral stability of a human body and reducing the metabolic consumption of the human body comprises a backpack body (100), wherein the backpack body (100) can be fixed on the back of the human body through a shoulder strap (1) and a waist belt (16), and is characterized by further comprising a first load (3), a second load (21), a sliding assembly, a motion output unit (35), a motion control unit (34) and a data acquisition unit (37);

the sliding components are symmetrically arranged on a base plate of the backpack body (100); the first load (3) and the second load (21) are respectively mounted on the sliding assembly; the motion output unit (35) is arranged on the substrate, and the motion output unit (35) comprises a driving component and a transmission component;

the transmission assembly comprises a gear (4), a first rack (6) and a second rack (20), the gear (4) is mounted at the output end of the driving assembly, and the first rack (6) and the second rack (20) are respectively arranged along the opposite side surfaces of the first load (3) and the second load (21) and are meshed with the gear (4);

the data acquisition unit (37) is used for acquiring motion information of a mass center of a human body and transmitting the motion information to the motion control unit (34), and the motion control unit (34) is used for controlling the driving assembly to drive the gear (4) to rotate according to the motion information so as to enable the first load (3) and the second load (21) to respectively move along the sliding assembly in opposite phases, so that the motion amplitude of the first load (3) and the second load (21) is the same as the up-down motion amplitude in the motion process of the human body, and the motion frequency is 1/2 of the motion frequency of the human body.

2. The power backpack for improving the lateral stability and reducing the metabolic consumption of the human body according to claim 1, wherein the sliding assembly comprises a sliding rail (2), a first sliding block (8), a second sliding block (23) and a sliding block limiting block (18); the two sliding rails (2) are arranged on the substrate in parallel and in a staggered manner; the first sliding block (8) and the second sliding block (23) are respectively installed on the two sliding rails, the sliding block limiting blocks (18) are arranged at the two ends of the sliding rails (2), and the sliding block limiting blocks (18) are fixed on the base plate through sliding block limiting block fixing screws (15).

3. The power backpack for improving the lateral stability and reducing the metabolic consumption of the human body according to claim 2, wherein the first slider (8) is disposed on the sliding rail (2) near the outer side of the base plate, and the second slider (23) is disposed on the sliding rail (2) near the center of the base plate; the number of the first sliding blocks (8) is two, and a connecting line of the two first sliding blocks (8) and the second sliding block (23) forms a triangular stable structure.

4. The power backpack for improving the lateral stability and reducing the metabolic consumption of the human body according to claim 1, wherein the driving assembly comprises a motor bracket (5), a motor (25), a speed reducer (26) and a locking unit (38), the motor bracket (5) is fixed on the base plate through a motor bracket fixing bolt (22), and the symmetry plane of the motor bracket (5) is coincident with the symmetry plane of the base plate; the motor (25) is fixed with the motor bracket (5) through a motor fixing bolt (27), and an output shaft of the motor (25) is fixedly connected to the gear (4) through a set screw (28); the speed reducer (26) is arranged between the motor (25) and the gear (4); the locking unit (38) is used for locking the gear (4) when the driving assembly is not operated so as to prevent the first load (3) and the second load (21) from moving due to gravity difference.

5. The backpack according to claim 4, wherein the locking unit (38) comprises an electromagnetic lock (24) and a locking hole (401), the locking hole (401) is three holes distributed in an arc shape on the lower side of the gear (4), the electromagnetic lock (24) is used for extending the lock cylinder of the electromagnetic lock and inserting the lock cylinder into the locking hole (401) under the control of the motion control unit (34) to stop the rotation of the gear (4); the diameter of the locking hole (401) is larger than the diameter of the lock cylinder of the electromagnetic lock (24).

6. The power backpack of claim 5, wherein the motion control unit (34) comprises an electromechanical governor (12) and a controller (13), the controller (13) is disposed on the base plate, and the electromechanical governor (12) is disposed on the controller (13); the motor electric controller (12) is used for driving the motor (25), reading motor encoder information and controlling the motion condition of the motor (25); the controller (13) is used for outputting a control signal, the control signal is amplified by a driving chip and then controls the electromagnetic lock (24) to be bounced open, so that the lock cylinder of the electromagnetic lock (24) is inserted into the locking hole (401) in an extending mode, and therefore the gear (4) is stopped from rotating.

7. The backpack of claim 6, wherein the data acquisition unit (37) comprises a first displacement sensor (10), a second displacement sensor (14), an acceleration sensor (29) and a plantar pressure sensing assembly; the first displacement sensor (10) is arranged on the substrate and connected to the first load (3), the second displacement sensor (10) is arranged on the substrate and connected to the second load (21), and the first displacement sensor (10) and the second displacement sensor (14) are respectively used for measuring displacement data of the first load (3) and the second load (21) and transmitting the displacement data to the controller (13) so as to realize feedback control; the acceleration sensor (29) is arranged at the hip joint of the human body and used for measuring the motion data of the mass center of the human body so as to obtain the average walking speed of the human body in a certain time period;

the plantar pressure sensing assembly comprises a left foot front foot sole force sensor (30), a left foot rear heel force sensor (31), a right foot front foot sole force sensor (32) and a right foot rear heel force sensor (33), the left foot front foot sole force sensor (30), the left foot rear heel force sensor (31), the right foot front foot sole force sensor (32) and the right foot rear heel force sensor (33) are respectively used for measuring the contact time of the left foot tip and the right foot tip and the contact time of the heel, and transmitting pressure data to the controller (13), the controller (13) is used for analyzing and dividing human gait cycles according to the pressure data, and the motor (25) is controlled to move according to the gait cycle information.

8. The power backpack of claim 1, further comprising an electric power unit (36), wherein the electric power unit (36) comprises a power source (7), a mode switch (17) and a voltage conversion module; the mode switch (17) and the power supply (7) are respectively and fixedly arranged on the left side and the right side of the waistband (16), the voltage conversion module is used for modulating power supply voltage into direct current voltage for supplying power to the motion control unit (34) and the data acquisition unit (37), and the mode switch (17) is used for switching the working state of the backpack.

9. The power backpack of claim 1, further comprising a bluetooth module disposed on the base plate for transmitting data of the backpack to a display terminal.

10. The power backpack of any one of claims 1-9, wherein the base plate is provided with a cutout for reducing the weight of the base plate.

Technical Field

The invention belongs to the technical field of power backpacks, and particularly relates to a power backpack for improving the lateral stability of a human body and reducing the metabolic consumption of the human body.

Background

Weight-bearing walking is a common activity in human life, and for combat soldiers, the average weight is 53 kilograms, and weight-bearing injuries are 4 times as much as combat injuries, so that the performance of a battlefield is reduced, and even the survival of the combat soldiers is threatened. For backpackers, students, and other groups, the weight is often far more than fifteen percent of the weight of the person carrying the weight. The heavy-load walking can greatly increase the metabolic consumption and easily generate fatigue, the fighting capacity is reduced, and in addition, the heavy-load walking can also generate acceleration force 2-3 times greater than the gravity, so that lumbar vertebra, muscle and joint injuries and shoulder tissue contusion are easily caused. Therefore, the reduction of the energy consumption of load-bearing metabolism is of great significance. By adopting the exoskeleton robot, the load bearing quality can be enhanced, but the action is slow, the metabolic consumption is greatly increased, and the problems that the joints cannot be aligned, the action is limited and the like exist.

In order to improve the load-bearing walking capability of the human body, people adopt a dynamic load movement mode to improve the load-bearing capability of the human body and reduce the harm of the load-bearing of the human body. In order to reduce the peak value of the pressure on the shoulders of the human body and reduce the metabolic consumption of the shoulders of the human body during loading, a foreign scholars develop a load-reducing suspension backpack using elastic ropes and pulleys as a flexible connecting system by using the principle of a spring damping model (Rome, L.C., Rubber band reduction of the cost of bearing loads, Nature,444(7122),1023 + 1024, 2006). The related results have been applied for patent of invention by LIGHTNING PACKS corporation in 2007 (US2008185411A 1). Although the device can reduce metabolism and shoulder pressure, when a pre-stretching flexible connecting structure is adopted, a large space is needed for placing quite long pre-stretching elastic ropes and a plurality of groups of pulley blocks, and the device is complex in structure and large in size. On the basis, the southern China university applies for a plurality of inventions (CN107588312A, CN107594857A, CN107616617A and CN108887863A) of load-reducing backpacks or devices with similar structures, adopts an oscillating system formed by a spring and a load, reduces the dynamic load applied when a human body is loaded to walk, and has a more compact structure compared with an elastic rope structure.

However, the amplitude-frequency-phase-frequency characteristic of the suspension backpack is fixed, the suspension backpack is only suitable for specific walking speed and load-bearing quality, and to achieve the load-reducing effect, the resonance frequency of the suspension backpack is far less than the walking frequency of a human body, otherwise, the dynamic load and the metabolic consumption are increased. In order to enhance the adaptability of the device to different speeds, the specification of the Chinese invention patent application CN111000361A discloses a power backpack device for assisting the weight-bearing walking of a human body, the device takes an elastic rope as a passive system, a motor regulation and control as an active system, the up-and-down movement of a load is regulated and controlled through the combined action of the elastic rope and the motor, a data acquisition unit acquires the acceleration of the human body in the vertical direction during the movement and transmits the acquired acceleration to a controller, and the controller sets the ideal acceleration of the load in the vertical direction according to the acceleration, so that the load and the human body move in opposite directions, and the load acceleration reaches the minimum. The dynamic load force of the backpack is reduced and the metabolic consumption of the human body is reduced. However, the technical scheme also adopts the elastic rope as a main elastic element, and needs to bypass a plurality of groups of pulley blocks, so that the redundancy volume of the whole structure is large.

In the walking movement of human body, the lateral stability of human body is also one of the important points, and it has been pointed out by research that the energy for maintaining the lateral stability of human body occupies twenty percent of the metabolic consumption of human body, and the existing suspension backpack can reduce the stability of human body, because the existing suspension backpack adopts the principle of load and human body mass centre inverse motion, and delays the load movement by 180 deg. phase of human body mass centre motion, so that the load acceleration of human body is minimum when the two legs are supporting phase, the load acceleration is maximum when the single leg is supporting phase, the downward load force given to human body is also maximum when the single leg is supporting phase, and the load acceleration does not fall right above the pressure centre of sole when the single leg is supporting phase, so as to form a large overturning moment, and the additional increased load force can result in reducing the stability of human body, and at the same time, the metabolic consumption of human body can not be further reduced.

The power backpack capable of improving the lateral stability of the human body and reducing the metabolic consumption of the human body is designed aiming at the problems that the conventional suspension backpack is insufficient in terms of various aspects, such as fixed amplitude-frequency-phase-frequency characteristics, incapable of adapting to different walking speeds and load bearing qualities, redundant in backpack structure, large in size, incapable of further reducing the metabolic consumption of the human body, capable of reducing the lateral stability of the human body and the like.

Disclosure of Invention

Aiming at the defects or the improvement requirements of the prior art, the invention provides a power backpack for improving the lateral stability of a human body and reducing the metabolic consumption of the human body, and aims to drive a gear rack mechanism through a driving assembly to enable loads on two sides to move in opposite phases, reduce the walking load acceleration of the human body and the overturning moment when a single support is in phase, reduce the metabolic consumption of the human body and increase the lateral stability of the human body, thereby solving the technical problems that the existing suspension backpack is large in size, cannot adapt to different walking speeds and load qualities, therefore, the lateral stability of the human body is reduced and the metabolic consumption of the human body cannot be further reduced.

To achieve the above objects, according to one aspect of the present invention, there is provided a power pack for improving lateral stability of a human body and reducing metabolic consumption of the human body, comprising a pack body fixable to a back of the human body by a shoulder strap and a waist belt, the pack further comprising a first load, a second load, a sliding assembly, a motion output unit, a motion control unit, and a data acquisition unit;

the sliding assemblies are symmetrically arranged on the base plate of the backpack body; the first load and the second load are respectively arranged on the sliding component; the motion output unit is arranged on the substrate and comprises a driving assembly and a transmission assembly;

the transmission assembly comprises a gear, a first rack and a second rack, the gear is mounted at the output end of the driving assembly, and the first rack and the second rack are respectively arranged along the opposite side surfaces of the first load and the second load and are meshed with the gear;

the data acquisition unit is used for acquiring motion information of a mass center of a human body and transmitting the motion information to the motion control unit, and the motion control unit is used for controlling the driving assembly to drive the gear to rotate according to the motion information so as to enable the first load and the second load to respectively move along the sliding assembly in opposite phases, so that the motion amplitude of the first load and the second load is the same as the up-and-down motion amplitude in the motion process of the human body, and the motion frequency is 1/2 of the motion frequency of the human body, so that the lateral stability of the human body is increased, and the metabolic consumption of the human body is reduced.

Further preferably, the first load and the second load can contain different loads, a user can approximately and uniformly place the required loads on the left and right sides of the loads, so that the weights of the loads on the two sides are mutually offset, the loads on the two sides are controlled by small external force to carry out opposite-phase motion, the motion amplitude of the loads on the two sides is the same as the up-and-down motion amplitude of a human body, the motion frequency is one half of the walking frequency of the human body, when one leg on one side is in a single support phase, the downward acceleration force of the load on the same side corresponding to the leg on one side is the largest, and the downward acceleration force of the load on the opposite side is the smallest, so that the lateral stability of the human body is enhanced, and the energy consumed by the human body for maintaining lateral balance is reduced; compared with the common backpack, the movement mode can reduce the total acceleration force of the human body in the double-support phase, reduce the burden of the human body in the walking process, effectively reduce the metabolic consumption and the lateral balance of the human body in the walking process, reduce the injury risk and reduce the muscle fatigue and the shoulder pressure in the load bearing process.

Further preferably, the base plate is connected with the backpack belt and the straps through snap rivets and locking screws, so that discomfort of a human body carrying part is reduced.

Preferably, the sliding assembly comprises a sliding rail, a first sliding block, a second sliding block and a sliding block limiting block; the two sliding rails are arranged in parallel and are arranged on the substrate in a staggered manner; the first sliding block and the second sliding block are respectively installed on the two sliding rails, the sliding block limiting blocks are arranged at the two ends of the sliding rails and fixed on the base plate through sliding block limiting block fixing screws.

Preferably, the first slider is arranged on a slide rail close to the outer side of the substrate, and the second slider is arranged on a slide rail close to the center of the substrate; the two first sliding blocks are arranged, and connecting lines of the two first sliding blocks and the second sliding block form a triangular stable structure.

Preferably, the driving assembly comprises a motor bracket, a motor, a speed reducer and a locking unit, the motor bracket is fixed on the substrate through a motor bracket fixing bolt, and a symmetry plane of the motor bracket is superposed with a symmetry plane of the substrate; the motor is fixed with the motor bracket through a motor fixing bolt, and an output shaft of the motor is fixedly connected to the gear through a set screw; the speed reducer is arranged between the motor and the gear; the locking unit is used for locking the gear when the driving assembly is not operated so as to prevent the first load and the second load from moving due to gravity difference.

Preferably, the locking unit comprises an electromagnetic lock and a locking hole, the locking hole is a three-hole structure distributed in an arc shape on the lower side of the gear, and the electromagnetic lock is used for extending a lock cylinder of the electromagnetic lock under the control of the motion control unit and inserting the lock cylinder into the locking hole to stop the rotation of the gear; the diameter of the locking hole is larger than that of the electromagnetic lock core.

Preferably, the motion control unit comprises a motor electric regulation and a controller, the controller is arranged on the substrate, and the motor electric regulation is arranged on the controller; the motor electric controller is used for driving the motor and reading motor encoder information to control the motor motion condition; the controller is used for outputting a control signal, and the control signal controls the electromagnetic lock to be bounced open after being amplified by the driving chip so that the lock cylinder of the electromagnetic lock is inserted into the locking hole in an extending mode, and therefore the gear is stopped from rotating.

Preferably, the data acquisition unit comprises a first displacement sensor, a second displacement sensor, an acceleration sensor and a plantar pressure sensing assembly; the first displacement sensor is arranged on the substrate and connected to the first load, the second displacement sensor is arranged on the substrate and connected to the second load, and the first displacement sensor and the second displacement sensor are respectively used for measuring displacement data of the first load and the second load and transmitting the displacement data to the controller so as to realize feedback control; the acceleration sensor is arranged at the hip joint of the human body and used for measuring the motion data of the mass center of the human body so as to obtain the average walking speed of the human body in a certain time period;

the sole pressure sensing assembly comprises a left foot and front foot sole force sensor, a left foot and rear heel force sensor, a right foot and front foot sole force sensor and a right foot and rear heel force sensor, the left foot and front foot sole force sensor, the left foot and rear heel force sensor, the right foot and front foot sole force sensor and the right foot and rear heel force sensor are respectively used for measuring the contact time of the toes and the heels of the left foot and the right foot and transmitting pressure data to the controller, and the controller is used for analyzing the pressure data to divide the gait cycle of a human body and controlling the motor to move according to the gait cycle information.

Preferably, the power supply further comprises a power unit, wherein the power unit comprises a power supply, a mode switching switch and a voltage conversion module; the mode switch and the power supply are respectively and fixedly arranged on the left side and the right side of the waistband, the voltage conversion module is used for modulating power supply voltage into direct current voltage for supplying power to the motion control unit and the data acquisition unit, and the mode switch is used for switching the working state of the backpack.

Preferably, the backpack comprises a backpack body, and the backpack body further comprises a Bluetooth module arranged on the substrate and used for transmitting various data of the backpack to the display terminal.

Preferably, the substrate is provided with a hollow structure for reducing the weight of the substrate.

In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:

1. according to the power backpack for improving the lateral stability of the human body and reducing the metabolic consumption of the human body, the rack and pinion mechanism is driven by the driving assembly to enable loads on two sides to move in opposite phases, so that the walking load acceleration of the human body and the overturning moment of a single support during phase are reduced, the metabolic consumption of the human body is reduced, the lateral stability of the human body is increased, and the injury risk in the process of load walking is reduced.

2. The power backpack for improving the lateral stability of the human body and reducing the metabolic consumption of the human body has the beneficial effects of reducing the metabolic consumption of the human body and reducing the shoulder pressure, can reduce the overturning moment of the human body when the human body is supported by one leg, reduces the energy for maintaining the balance of the human body when the human body is supported by one leg, reduces the acceleration force when the human body is supported by two legs, reduces the peak value of the shoulder pressure in the process of weight bearing walking of the human body, reduces the leg work when the human body is supported by two legs in the process of weight bearing walking, and reduces the injury risk in the process of weight bearing walking.

3. Compared with other suspended backpacks, the power backpack for improving the lateral stability of the human body and reducing the metabolic consumption of the human body, provided by the invention, has no elastic element, does not need to adopt complex structures such as a plurality of springs or elastic ropes, pulley blocks and the like to form a spring damping system, but adopts a gear and rack mechanism, has a compact structure, and greatly reduces the size of the backpack.

4. The power backpack for improving the lateral stability of the human body and reducing the metabolic consumption of the human body, which is provided by the invention, has the advantages that the loads are arranged approximately symmetrically left and right, the motion of the left and right loads can be regulated and controlled by a motor with smaller power, and compared with the existing various suspended backpacks which are only fixed in amplitude frequency-phase frequency, the backpack provided by the invention can be suitable for loads with different masses.

5. The power backpack for improving the lateral stability of the human body and reducing the metabolic consumption of the human body, which is provided by the invention, collects the mass center movement data of the human body in real time through the acceleration sensor, and regulates and controls the movement of left and right loads through the motor, so that the movement of the loads is matched with the movement state of the human body in real time, and the backpack can be suitable for load walking conditions with different walking speeds.

Drawings

FIG. 1 is a schematic diagram of a sensor arrangement for a power pack of the present invention for improving lateral stability and reducing metabolic consumption of the human body;

FIG. 2 is a front view of the power pack of the present invention for improving lateral stability and reducing metabolic consumption of the human body;

FIG. 3 is a three-dimensional schematic view of the power pack of the present invention with the load on the whole except the left side for improving the lateral stability and reducing the metabolic consumption of the human body;

FIG. 4 is a schematic diagram of the structure of the motion output unit of the power pack of the present invention for improving the lateral stability and reducing the metabolic consumption of the human body;

FIG. 5 is a schematic structural diagram of a locking unit of the power pack for improving the lateral stability and reducing the metabolic consumption of the human body according to the present invention;

FIG. 6 is a schematic view of the control frame of the power pack of the present invention for improving lateral stability and reducing metabolic consumption of the human body;

FIG. 7 is a schematic view of the power pack of the present invention for increasing the lateral stability and reducing the metabolic consumption of the human body during the use of the power pack;

FIG. 8 is a schematic view of the lateral loading acceleration force of the power backpack for improving the lateral stability and reducing the metabolic consumption of the human body.

The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-shoulder straps; 2-a slide rail; 3-a first load; 4-a gear; 5-a motor bracket; 6-a first rack; 7-a power supply; 8-a first slider; 9-a gear limiting block; 10-a first displacement sensor; 11-a gear limiting block fixing bolt; 12-motor electric regulation; 13-a controller; 14-a second displacement sensor; 15-fixing screws by using slide block limiting blocks; 16-waistband; 17-a mode switch; 18-a slider stop block; 19-displacement sensor connection; 20-a second rack; 21-a second load; 22-motor bracket fixing bolt; 23-a second slide; 24-an electromagnetic lock; 25-a motor; 26-a reducer; 27-motor fixing bolt; 28-set screw; 29-an acceleration sensor; 30-left forefoot force sensor; 31-left heel force sensor; 32-right foot forefoot force sensor; 33-right heel force sensor; 34-a motion control unit; 35-a motion output unit; 36-a power unit; 37-a data acquisition unit; 38-a locking unit; 100-a backpack body; 200-load; 401 — locking hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

In the description of the present invention, it is to be understood that the terms "central," "lateral," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

Referring to fig. 1-6, the present invention provides a power backpack for improving the lateral stability of a human body and reducing the metabolic consumption of the human body, the backpack includes a load 200 and a backpack body 100, the load 200 includes a first load 3 and a second load 21, both sides of the first load and the second load are respectively used for holding a load, and a user can approximately uniformly place the load on the left and right sides of the backpack body. The backpack body 100 comprises a motion control unit 34, a motion output unit 35, an electric power unit 36, a data acquisition unit 37, a locking unit 38, a shoulder strap 1, a waist belt 16, a base plate, a slide rail 2, a first slide block 8, a second slide block 23, a slide block limiting block 18 and a mode switching switch 17; the motion control unit 34 is connected with the motion output unit 35, the power unit 36, the data acquisition unit 37 and the locking unit 38, and is configured to realize data acquisition and processing of each unit, control the motion output unit 35 according to processed data information, so that the loads 200 on the left and right sides move up and down, the motion output unit 35 is connected with the motion control unit 34 through a CAN bus and a power line, and is configured to convert control information into a desired motion mode and drive the first load 3 and the second load 21 to move up and down, the power unit 36 includes a 24V dc power supply 6, a mode switch 17 and a voltage conversion module, and CAN supply power to the motion control unit 35 and the motion output unit 36. The data acquisition unit 37 comprises a first displacement sensor 10, a second displacement sensor 14, an acceleration sensor 29, a left forefoot force sensor 30, a left heel force sensor 31, a right forefoot force sensor 32 and a right heel force sensor 33, and is used for measuring weight-bearing movement displacement data and human body displacement and gait data. The locking unit 38 comprises an electromagnetic lock 24 and a locking hole 401, and is used for locking the mechanism when the mechanism is in operation and preventing the heavy objects on two sides from moving due to gravity difference.

Further, as shown in fig. 1, 2, 3 and 6, the backpack body 100 includes a motion control unit 34, a motion output unit 35, an electric power unit 36, a data acquisition unit 37, a locking unit 28, a shoulder strap 1, a waist belt 16, a base plate, a slide rail 2, a first slider 8, a second slider 23, a slider stopper 18 and a mode switch 17, the backpack body 100 is connected to the human body through the shoulder strap 1 and the waist belt 16, and the shoulder strap 1 and the waist belt 16 are connected to the base plate through rivets, so that the smoothness of the connection can be ensured, and the discomfort of the human body can be eliminated.

As shown in fig. 2, fig. 3 and fig. 6, the motion control unit 34 reads data information of the data acquisition unit 37 through a serial port, processes and analyzes sensor information through the control unit MCU, and the motion control unit 34 drives the motor 25 of the motion output unit through the motor electric controller 12, reads motor encoder information, and controls the motion condition of the motor 25. The motion control unit 34 controls the locking of the motion output unit 35 by connecting the driving chip to the electromagnetic lock 24 of the locking unit 38.

To explain further, as shown in fig. 6, the data acquisition unit 37 includes an acceleration sensor 29, a first displacement sensor 10, a second displacement sensor 14, a left forefoot force sensor 30, a left heel force sensor 31, a right forefoot force sensor 32 and a right heel force sensor 33, the acceleration sensor 29 is fixed on the hip joint of the human body and is used for measuring the mass center movement data of the human body to obtain the average walking speed of the human body in a certain time period, and the movement amplitude of the mass center of the human body is calculated by the following formula (1).

Then calculating the walking frequency of the human body by the formula (2)

The motion equation of the mass center of the human body can be obtained

x＝A*sin(ωt)

The first displacement sensor 10 and the second displacement sensor 14 are respectively configured to measure displacement data of the first load 3 and the second load 21, and transmit the displacement data to the controller 13, so as to implement feedback control. The left forefoot sole force sensor 30, the left heel rear force sensor 31, the right forefoot sole force sensor 32 and the right heel rear force sensor 33 are respectively used for measuring the contact time of the left tiptoe and the heel and transmitting pressure data to the controller 13, the controller 13 divides the gait cycle of the human body by analyzing the pressure data and controls the motor 25 to move according to the gait cycle information, so that the load and the gait cycle of the human body conform to the movement relation shown in fig. 7.

As shown in fig. 1 and 6, the power unit 36 includes a power source 7, a mode switch 17 and a voltage conversion module, and the power source 7 is fixed on the right side belt 16 of the backpack. Preferably, the power supply 7 is a 24V lithium battery. The voltage conversion module can modulate the 24V voltage into a 5V dc voltage to supply power to the motion control unit 34 and the data acquisition unit 37. The mode switch 17 is fixed on the left side belt 16 of the backpack and used for switching the working state of the backpack.

As shown in fig. 2 and 3, two slide rails 2 are fixed on the left and right of the substrate through bolts, the two slide rails 2 are arranged in a vertically staggered manner, two first slide blocks 8 are arranged on the slide rail 2 close to the outer side, a second slide block 23 is arranged on the slide rail 2 close to the inner side, the first slide blocks 8 and the second slide blocks 23 form a triangular stable structure, and the first slide blocks 8 and the second slide blocks 23 are connected with the second load 21 and the first load 3 through bolts, so that the second load 21 and the first load 3 move vertically along the slide rails 2 on the left and right sides. And the two ends of the sliding rail 2 are provided with sliding block limiting blocks 16 which are respectively fixed on the base plate through sliding block limiting block fixing bolts 15, so that the sliding block is prevented from sliding out of the sliding rail or the loaded movement distance exceeds a limiting interval. The first displacement sensor 10 and the second displacement sensor 14 are fixed on the lower portion of the substrate, and the second displacement sensor 14 and the first displacement sensor 10 are respectively connected with the second load 21 and the first load 3 through displacement sensor connecting pieces 19 and used for measuring actual displacement data of the left backpack and the right backpack and transmitting the data to the controller 12. The controller 13 and the motor electric controller 12 are arranged in the middle of the lower portion of the base plate, and the controller 13 and the motor electric controller 12 form a motion control unit 34 for controlling the motion output of the motor 25. The motor electric controller 12 is connected with the controller 13 through a CAN bus and a power line, modulated three-phase alternating current is input into the motor 25, and the motor encoder transmits motion data to the motor electric controller 12 and returns the motion data to the controller 13, so that closed-loop control is realized.

As shown in fig. 4 and 5, the motion output unit 35 includes a motor bracket 5, a motor 25, a gear 4, a first rack 6, a second rack 20, a gear stopper 9, a gear stopper fixing bolt 11, and a speed reducer 26, the motor bracket 5 is fixed to the substrate by a motor bracket fixing bolt 22, a symmetry plane of the motor bracket 5 coincides with a symmetry plane of the substrate, the motor 25 is fixed to the motor bracket 5 by a motor fixing bolt 27, the gear 4 is fixed to an output shaft of the motor 25 by a set screw 28, left and right sides of the gear 4 are respectively engaged with the first rack 6 and the second rack 20, and the first rack 6 and the second rack 20 respectively move in opposite directions at opposite speeds when the gear 4 rotates. Gear limiting blocks 9 are fixed at two ends of the first rack 6 and the second rack 20 respectively, and are fixed with the first load 3 and the second load 21 respectively through gear limiting block fixing bolts 11 to drive the loads to move up and down.

To be further described, as shown in fig. 5, the locking unit 38 includes a locking hole 401 and an electromagnetic lock 24, the motion control unit 34 may be connected to the electromagnetic lock 24 of the locking unit 38 through a driving chip, and in order to prevent the left and right unbalanced loads or the disordered motion of the left and right loads caused by the system disturbance in the working state, the controller 13 outputs a control signal, and controls the electromagnetic lock 24 to be unlocked after being amplified by the driving chip, so that the lock cylinder of the electromagnetic lock 24 is extended and inserted into the locking hole 401, and the gear 4 cannot rotate, thereby locking the motion output unit 35; the locking hole 401 is the three poroid structure that is arc distribution of 4 downside of gear, just the locking hole 401 size is a bit bigger than 24 lock cores of electromagnetic lock, conveniently lock fast.

As shown in figures 7 and 8, when the human body is positioned at the highest point of the single-support phase of the left leg with the upright left leg, the motion equation of the mass center of the human body is as follows

x＝A*cos(ωt)

The left load moves to the lowest point and the left load moves

x_{Left side of}＝-A*cos(2ωt)

The left side of the body bears the weight of the force applied to the body

F_{Left side of}＝[g+A²*cos(2ωt)]*m_{Left side of}

The right side of the body bears the weight to exert force on the body

F_{Right side}＝[g-A²*cos(2ωt)]*m_{Right side}

Because the left leg is the supporting point, the left load and the human body side do not generate overturning moment,

M_{(left and right)}＝0

the right side load has the overturning moment because the stress direction is not coincident with the human body supporting point due to the existence of the human body step width

M_{Right side}＝[g-A²*cos(2ωt)]*m_{Left side of}*W

Wherein W is the human body step width.

If the backpack is a common suspension backpack, the acceleration of the load is the maximum when the backpack is supported by one bearing, so a large overturning moment is generated

When the left and right loads are approximately equal

We can easily know

M_{Left side of}+M_{Right side}＜M₀

Therefore, the backpack can reduce the lateral overturning moment when a human body walks under load and improve the lateral stability of the human body.

In addition, when the human body is positioned in the double-support phase, the loads on the two sides of the backpack move to the same horizontal position, and the loads on the left side and the right side do not apply acceleration force to the human body. However, studies indicate that the improvement of the lateral stability of the human body can reduce the metabolic consumption of the human body, and the metabolic consumption is mainly used for the maintenance of the human body, the up-and-down oscillation of the load and the lateral balance of the human body when the human body walks with the load, so the metabolic consumption in the process of walking with the load of the human body can be expressed as follows:

from the above formula, the invention can reduce the energy consumption W of the human body for the up-and-down movement of the mass center₁Simultaneously reduces the metabolic consumption W for maintaining the balance of the human body in the walking process of the human body₂From this, it can be seen that the backpack set forth in the present inventionCan reduce the metabolic consumption of the human body in the process of weight bearing walking.

When the right leg of the human body is positioned in the single-support phase, the left load reaches the highest point, the acceleration force of the left load to the human body is the smallest, the right load reaches the lowest point, the acceleration force of the right load to the human body is the largest, the lateral overturning moment of the human body during walking under load is also reduced, and the lateral stability of the human body is improved.

By the reciprocating circulation, the backpack can improve the lateral stability of the human body, reduce the shoulder pressure of the human body and reduce the metabolic consumption of the human body.

The operation of the present invention will be specifically described below.

The specific process when the power backpack is used for carrying load and walking is as follows:

the user is fixed in the knapsack human body through baldric 1 and waistband 16, turns on switch, and the knapsack gets into the initialization state, and controller 13 passes through the shrink of drive chip control electromagnetic lock 24 lock core for gear 4 of motion output unit 35 can rotate, and the motor 25 of controlling again drives the left and right sides knapsack through motion output unit 35 and moves, confirms the initial position of knapsack respectively through second displacement sensor 14 and first displacement sensor 10. Then the backpack defaults to enter a standby mode, in the standby mode, the motor 25 forms closed-loop PID control through displacement data of the first displacement sensor 10 and the second displacement sensor 14, the left and right sides of the backpack move through the conveying output unit to enable the displacements to be the same, the left and right sides of the backpack are located at the same horizontal position, the acceleration sensor 29 measures the average walking speed of the human body within a short period of time through a sliding window and transmits the data to the controller 13, and the controller obtains an approximate trigonometric function of the human body movement through real-time processing of the data of the acceleration sensor 29. After the mode switch 17 of the left waistband is pressed down, the backpack enters a working state, the controller 13 reads data of the left foot and foot sole force sensor 30, the left foot and foot heel force sensor 31, the right foot and foot sole force sensor 32 and the right foot and foot heel force sensor 33 to divide human gait parameters, the controller 13 controls a motor motion rule according to a real-time motion trigonometric function of a human body and the human gait parameters, the motor 25 drives the first rack 6 and the second rack 20 to move up and down by driving the gear 4, the controller 13 sends a current signal to the motor electric controller 12 by a command generated by a control algorithm, the motor electric controller 12 works and then controls a current control mode, the motor 25 is controlled to generate corresponding load motion output, the left backpack and the right backpack move according to the motion rule shown in figure 7, the lateral overturning moment when the human body walks is reduced, and the lateral stability of the human body is improved, reduces the shoulder pressure and metabolic consumption of human body.

It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.