TRNG I HC BCH KHOA H NI

BO CO
NGHIN CU KHOA HC

TI

O TR LC CHNG MI LNG
BACKSUIT-03

Sinh vin: Nguyn Quang Trung

Hng dn: PGS.TS Phan Bi Khi

H Ni, thng 4 nm 2017

 MC LC

CHNG I: Tng quan 1

1.1 Tnh cp thit ca ti 1
1.2 Mc ch, phm vi, phng php nghin cu 1
1.3 Tm tt bo co 1
CHNG 2: Gii thiu o chng mi lng BackSuit-03 2
2.1 tng 2
2.1 Yu cu sn phm 3
CHNG 3: Cu to v nguyn l lm vic ca BackSuit-03 4
3.1 Cu to chung 4
3.2 Cu to khi to momen xon 5
3.3 Nguyn l lm vic 6
3.4 Tnh ton thng s ch to 6
3.5 Kt qu t c 8
CHNG 4: Kt Lun 9
4.1 ng dng thc tin ca BackSuit-03 9
4.2 Hng nghin cu tip theo 9
Danh mc ti liu tham kho 9
 Chng 1

TNG QUAN

1.1 Tnh cp thit ca ti

Trong lao ng sn xut, con ngi lun mong mun tm ra nhng cng ngh gip gim thiu
sc lao ng ca con ngi, ch to nhng b c kh nng tr lc, tng cng sc mnh
c bp

Nhng nm gn y, cng ngh khung xng tr lc trn th gii pht trin mnh. Cc sn
phm tiu biu phi k n nh: Hybrid Assistive Limb (HAL) i hc Tsukuba ca Nht Bn,
PhoeniX, backX, legX, shoulderX, MAX ca SuitX, Ekso Work ca Ekso Bionics, PLN-01, AWN-
03 ca Panasonicv rt nhiu cc sn phm khc, websize http://exoskeletonreport.com/ c
gii thiu kh y cc mu khung xng tr lc trn th gii.

Vit Nam hin nay l mt quc gia c nn nng nghip pht trin, trn cng nghip ha
t nc. a phn l lao ng chn tay vi mc thu nhp thp so vi th gii. Vi nhng c
trng ny, thit k b khung xng tr lc phi m bo c tnh n gin, hiu qu, v gi
thnh thp . Trn c s , ti c chn l nghin cu ch to o tr lc chng mi
lng BackSuit-03.

1.2 Mc ch,phm vi v phng php nghin cu

Mc ch

Nghin cu ch to o tr lc chng mi lng BackSuit-03, tnh ton cc thng s ch to,

phn tch hiu qu v ng dng thc tin ca sn phm.

Phm vi

BackSuit-03 l mt sn phm mang tnh nguyn l, do hn ch v kh nng ch to v thi

gian nghin cu, cc tnh ton ti u sn phm gip thng mi ha s khng c nghin
cu c th. Sn phm c ch to ph hp vi vc dng ca ngi Vit

Phng php nghin cu

Xy dng m hnh nguyn l, tnh ton cc thng s, ch to th nghim v phn tch kt qu

t c

1.3 Tm tt bi bo co
Chng 1 tng quan, Chng 2 gii thiu chung v tng ca BackSuit-03 cng nh yu
cu m sn phm cn phi p ng c, Chng 3 trnh by nguyn l ch to BackSuit-03,
tnh ton thng s v kt qu t c, Chng 4 Kt lun v ng dng thc tin ca
BackSuit-03 v kin ngh

BackSuit-03 Page 1
 Chng 2

GII THIU O CHNG MI LNG BACKSUIT-03

2.1 tng
Trong lao ng sn xut, mt s cng vic nh: b bc hng ha, lm vn, lm rung, xy
dng yu cu ngi lao ng phi thng xuyn ci ngi nhiu ln, hay ci trong mt
khong thi gian di.

2.1a.Ngi nng dn lm c 2.1b. Th xy ang trn h

2.1c. M t hot ng ci ngi 2.1d. tng BackSuit-03

Khi ci ngi, c v xng lng phi chu khi lng ca na thn trn c th (phn c
khoanh hnh 2.1c) , ngay c khi khng phi b bc g, l phn cng vic v ch.

Hot ng ci ngi chia lm 3 giai on:

+ Giai on 1: T ng thng chuyn sang ci, c lng hot ng to lc hm gip

phn thn trn chuyn ng mt cch t t.

BackSuit-03 Page 2
 + Giai on 2: Duy tr trng thi ci, trong trng thi ny, c lng phi hot ng mt
cch lin tc gi na thn trn c th, y l trng thi gy mi.

+ Giai on 3: ng thng tr li, c lng to ra lc gip nng na thn trn c th, y

l giai on c lng phi hot ng vi cng sut cao nht.

Phn khi lng na thn trn c th c chng khong 25 kg - 35 kg vi ngi bnh thng
ty theo th trng.

tng: Thit k ra b tr lc gip cn bng khi lng ca na thn trn c th, tch tr
th nng trong giai on 1, cn bng trong giai on 2 v gii phng th nng tch ly giai
on 3. Hnh 2.1d. gip hnh dung r hn tng ca BackSuit-03.

2.2 Yu cu ca sn phm
BackSuit-03 c th ng dng c th sn phm cn phi m bo c cc yu cu
sau:

Cn bng vi khi lng na thn trn c th, gim ng k s hot ng ca c lng

Trng lng nh, cu to n gin, gn gng, khi mc phi thoi mi.
Tng thch vi chuyn ng ca c th: i li, vn mnh,

Phn tch i cht v yu cu ca BackSuit-03 v nhng kh khn c bn. u tin, vic xc

nh chnh xc momen cn cn bng ca na thn trn c th l khng th, do vy vic ch to
buc phi th nghim nhiu ln. Th hai, vic tng thch mt c cu c kh cng ngc trn c
th sinh hc rt kh khn, kh c th em li mt s thoi mi nht khi mc. Th ba, sn phm
cn phi phn bit c gia hot ng i li v hot ng ci ngi, hai hot ng c nhiu
im tng ng.

Da trn nhng yu cu v kh khn , nguyn l cu to ca BackSuit-03 s c trnh

by chng sau.

BackSuit-03 Page 3
 Chng 3

CU TO V NGUYN L LM VIC CA BACKSUIT-03

3.1 Cu to chung

3.1a. BackSuit-03

BackSuit-03 c cu to gm 4 phn chnh (cc phn c nh s hnh 3.1a):

Phn 1: Khung trn: y l phn tip xc vi pha trc na thn trn c th, c nhim v nng
na thn trn ngi mc.

Phn 2: Khi to momen xon: c tc dng to ra momen gip cn bng khi lng na thn
trn c th. Cu to chi tit ca khi s c trnh by sau.

Phn 3: Khung di: y l phn tip xc vi phn i ca ngi mc, kt hp vi phn khung
trn truyn momen xon cn bng t BackSuit-03 n c th

Phn 4: H thng dy ai: gip c nh BackSuit-03 vi c th

BackSuit-03 Page 4
3.2 Cu to khi to momen xon

3.2a. Khung ca BackSuit-03

3.2b. Cu to khi to momen xon

BackSuit-03 Page 5
 Phn 1,2: C cu tay lc, chi tit 1 v 2 c th quay tng i hoc c nh vi nhau ty theo
iu chnh. Khi ci ngi, chi tit 1 v 2 s c nh vi nhau truyn momen xon. Khi i li,
chi tit 1, 2 s xoay tng i vi nhau gip vic i li d dng.

Phn 3: L xo xon c nh xoay vi chi tit 2, to momen xon.

Phn 4: ln lp vi trc chi tit 2 v gi

Phn 5: Vng xit c nh l xo xon vi khung trn.

Phn 6: C cu bn l gip phn khung di linh hot hn, dnh cho cc trng hp khi
ngi s dng dng rng chn.

3.3 Nguyn l lm vic

BackSuit-03 lm vic 2 ch :

+ Ch i li (ch thng xuyn, khng truyn momen xon)

+ Ch khi ngi mc ci ngi (ch truyn momen xon)

Vic thay i ch thc hin bng cch thay i trng thi C cu tay lc (trnh by phn
trn) xoay tng i hay c nh. Vic thay i ny c th thc hin bng tay hoc t ng nh
cm bin(s c nghin cu pht trin).

ch truyn momen xon, momen xon s c truyn t l xo xon (chi tit 3) ti khung
trn v khung di qua tay lc (chi tit 1,2). Momen ny to lc nng cn bng vi khi lng
na thn trn c th.

3.4 Tnh ton thng s ch to

Theo cun Human Body Dynamics: Classical Mechanics and Human Movement ca Aydin
Tozeren, t l phn trm trung bnh cc phn ca c th bnh thng nh sau:

+ Phn thn (gm ngc, lng v bng): 50,80%

+ Bp i: 9,88%

+ u: 7,30%

+ Vai: 2,7%

+ Tay: 2,26%

Vi mt ngi Vit nng 60 kg, khi lng na thn trn c th c chng 40 kg

p dng vi khong cch 0,3m t trng tm na thn trn ti hng, momen xon theo gc gp
ca c th l M 400 0,3 cos( ) . Momen ln nht khi 900 l M 120 Nm

BackSuit-03 Page 6
 3.4a. M t momen m c v xng lng phi chu

Ta c cng thc tnh momen ca l xo xon, dy hnh trn :

Ed 4T
M
10.8 N t D

M : Momen xon ca l xo Nmm

T : Gc xoay ca l xo

D : ng knh cun dy trung bnh

N t : S vng cun.

d : ng knh dy cun

Nhn xt: Momen xon t l bc nht vi gc xoay ca l xo c th s dng cn bng

momen ca na thn trn c th sinh ra khi ci.

T y, ta c th chon c 2 l xo xon ph hp vi M 900 60 Nm cho BackSuit-03.

Phn khung trn, khung di v h thng dy ai c chn ph hp vi mu ngi.

BackSuit-03 Page 7
3.5 Kt qu t c
Sau khi tnh ton, ch to, BackSuit-03 gii quyt c cc vn t gia v t c nhng
kt qu tch cc:

+ Kt qu chng mi lng: Da trn nhn xt ca nhng ngi th nghim, p lc m c

lng phi chu gim ng k, vic ci xung cm thy rt nh nhng.

+ Tng thch vi ngi mc: Ngi mc c th i li vn ng d dng, thoi mi.

+ Khi lng sn phm: kg

+ Cu to n gin gip BackSuit-03 c th sn xut vi chi ph thp, c tnh chi ph sn

xut khong 500.000 ng trn 1 sn phm.

BackSuit-03 Page 8
 Chng 4

KT LUN

4.1 ng dng thc tin ca BackSuit-03

BackSuit-03 p ng c nhu cu chng mi lng ca ngi s dng, vi cu to n
gin, gn nh, d dng mc v ci sn phm khng phi ch mang tnh l thuyt m c th ng
dng ngay vo hot ng sn xut thc tin.

Cng vic BackSuit-03 c th p dng nh: Sn xut v thu hoch nng sn, vn chuyn,
bc d hng ha, xy dng,

Tuy nhin, do c im ca lc lng lao ng Vit Nam, a phn cha c thc v an ton
bo h lao ng, an ton sc khe trong lao ng nn cn phi kho st c th hn xc
nh c phm vi ng dng ca sn phm.

4.2 Hng nghin cu tip theo

Do c im ng dng trong nc, sn phm cn c nghin cu thit k sao cho n gin
hn, gn nh hn v gim gi thnh ch to.

Danh mc ti liu tham kho

1. Human Body Dynamics: Classical Mechanics and Human Movement ca Aydin Tozeren
2. Torsion Spring Constant Calculator and Formula article ti www.engineersedge.com

BackSuit-03 Page 9