CN110861069B - Support assembly and exoskeleton robot - Google Patents

Abstract

The application provides a supporting component and an exoskeleton robot, wherein the supporting component comprises a waist component, a chest component and a chest supporting frame, one end of the chest supporting frame is fixedly connected to the chest component, the other end of the chest supporting frame is arranged on the waist component, and the other end of the chest supporting frame can be elastically stretched so as to enable the length of the chest supporting frame to be adjustable. Because the length of the chest support frame is adjustable, the chest support frame can adapt to the change of the body size of a user in the bending process, so that the fitting degree of the support assembly and the body of the user is increased, and the support and protection effects of the support assembly on the body of the user are further improved.

Description

Support assembly and exoskeleton robot

Technical Field

The application relates to the technical field of walking robots, in particular to a supporting component and an exoskeleton robot.

Background

Exoskeleton robot is a non-invasive mechanical device that is equipped directly on the human body. After the user wears the exoskeleton robot, the exoskeleton robot can play roles in supporting a human body, assisting the human body to move, relieving the load feeling and the like.

Currently, operators who work in industries such as logistics transportation, construction transportation, automobile assembly, and aircraft assembly often need to work in a stooped state for a long period of time, and the operators easily feel tired, and the waist is easily subjected to serious injuries such as lumbar vertebra strain, lumbar disc herniation, and the like.

Disclosure of Invention

The application mainly provides a supporting component and an exoskeleton robot, and aims to solve the problem that supporting and protecting effects on operators in a bending state are poor in the prior art.

In order to solve the technical problems, the application provides a supporting assembly, which comprises a waist assembly, a chest assembly and a chest supporting frame, wherein one end of the chest supporting frame is fixedly connected with the chest assembly, the other end of the chest supporting frame is arranged on the waist assembly, and the other end of the chest supporting frame can elastically stretch and retract, so that the length of the chest supporting frame can be adjusted.

In order to solve the technical problems, the application also provides an exoskeleton robot, which comprises the supporting assembly.

The beneficial effects of the application are as follows: compared with the prior art, the support assembly provided by the application comprises a waist assembly, a chest assembly and a chest support frame, wherein one end of the chest support frame is fixedly connected to the chest assembly, the other end of the chest support frame is arranged on the waist assembly, and the other end of the chest support frame can be elastically stretched, so that the length of the chest support frame can be adjusted. Because the length of the chest support frame is adjustable, the chest support frame can adapt to the change of the body size of a user in the bending process, so that the fitting degree of the support assembly and the body of the user is increased, and the support and protection effects of the support assembly on the body of the user are further improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is a schematic structural view of an embodiment of an exoskeleton robot provided by the present application;

FIG. 2 is an exploded schematic view of the structure of the leg assembly of FIG. 1;

FIG. 3 is an exploded schematic view of the structure of the lumbar assembly of FIG. 1;

FIG. 4 is an exploded view of the structure of the elastic assembly of FIG. 1;

FIG. 5 is a schematic cross-sectional view of the structure of FIG. 4 in which the second mounting portion is rotatably coupled to the first mounting portion;

FIG. 6 is a schematic view of the first and second stoppers and the torsion elastic member of FIG. 4 relative to each other;

FIG. 7 is an exploded view of the construction of the chest assembly of FIG. 1;

FIG. 8 is an exploded view of the structure of the chest support frame of FIG. 1;

FIG. 9 is a schematic cross-sectional view of the structure of the elastic telescoping portion of FIG. 8;

FIG. 10 is a front schematic view of the exoskeleton robot of FIG. 1 being worn by a user and in an upright state;

FIG. 11 is a side schematic view of the exoskeleton robot of FIG. 1 being worn by a user and in an upright state;

fig. 12 is a side schematic view of the exoskeleton robot of fig. 1 being worn by a user and in a bent down state.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Exoskeleton robot is a non-invasive mechanical device that is equipped directly on the human body. After the user wears the exoskeleton robot, the exoskeleton robot can play roles in supporting a human body, assisting the human body to move, relieving the load feeling and the like.

The inventor of the present application has found through long-term study that: operators who are engaged in industries such as logistics transportation, construction transportation, automobile assembly, aircraft assembly and the like often need to work in a stooped state for a long period of time, and the operators easily feel tired, and the waist is easily subjected to great injuries such as lumbar vertebra strain, lumbar disc herniation and the like. If the wearable exoskeleton robot realizes power assistance through power driving, components such as a battery, a gear motor, a driver, a sensor and a control system occupy one third of the weight of the exoskeleton robot, so that the load sense of a user is increased, the man-machine coupling degree is poor, and the equipment cost is high. For this purpose, the application provides the following examples.

Referring to fig. 1, fig. 1 is a schematic structural view of an exoskeleton robot according to an embodiment of the present application.

The exoskeleton robot 10 of the present embodiment includes a leg unit 11, a waist unit 12, an elastic unit 13, and a chest unit 14, the waist unit 12 is rotatable with respect to the leg unit 11, the elastic unit 13 is connected between the leg unit 11 and the waist unit 12, and the chest unit 14 is connected with the waist unit 12.

Wherein the elastic members 13 are capable of elastically deforming during rotation of the lumbar assembly 12 relative to the leg assembly 11 to generate elastic restoring forces to support the lumbar assembly 12.

In this embodiment, the leg unit 11, the waist unit 12, and the elastic unit 13 may constitute a support unit for the hip joint, and the waist unit 12 and the chest unit 14 may constitute a support unit for the chest.

Optionally, the exoskeleton robot 10 further comprises a leg connection seat 15 for connection with the leg assembly 11 and a waist connection seat 16 for connection with the waist assembly 12.

Optionally, the leg connecting seat 15 and the waist connecting seat 16 are arranged in a disc shape or a circular ring shape.

Optionally, the exoskeleton robot 10 further includes a chest support frame 17, one end of the chest support frame 17 is fixedly connected to the chest assembly 14, the other end of the chest support frame 17 is disposed on the waist assembly 12, and the other end of the chest support frame 17 can be elastically stretched so that the length of the chest support frame 17 can be adjusted.

Referring to fig. 2, fig. 2 is an exploded view of the structure of the leg assembly 11 of fig. 1.

The leg assembly 11 includes a leg support plate 111, a leg tying band 112, and a leg link 113, the leg support plate 111 is movably connected with the leg link 15, and the leg support plate 111 is not rotatable relative to the leg link 15 in a first direction and a direction opposite to the first direction, the leg link 113 is connected with both ends of the leg tying band 112 so that the leg tying band 112 is looped, and the leg link 113 is fixedly connected with the leg support plate 111, thereby tying the leg assembly 11 to a user's leg.

The "user" described in the embodiments of the present application may be an adult, and there may be a difference in sex, height, weight, etc. among different users, so that there may be a difference in the position where the leg assembly 11 is fastened to the legs of the user.

In this embodiment, the first direction may be the direction in which the lumbar assembly 12 rotates relative to the leg assembly 11 during bending of the user.

Optionally, leg support plate 111 is an integral component with leg attachment base 15, which reduces the complexity and assembly difficulty of exoskeleton robot 10.

Alternatively, the leg support plate 111 is hinged with the leg link 15, and the leg support plate 111 is rotatable relative to the leg link 15 in a direction perpendicular to the first direction. In this embodiment, when the leg assembly 11 is fastened to the leg of the user, the leg support plate 111 and the leg connecting seat 15 are generally located on the outer side of the user, and since the diameter of the thigh generally decreases from the waist to the lower leg, when the leg connecting seat 15 is located at the waist position, the leg support plate 111 can rotate in the direction perpendicular to the first direction relative to the leg connecting seat 15 during the process of fastening the leg support plate 111 to the thigh of the user, that is, the leg support plate 111 can be tightly attached to the thigh of the user, so as to increase the fit between the leg support plate 111 and the thigh of the user.

Alternatively, the leg support plate 111 is partially provided in a bent arrangement. In this embodiment, the end of the leg supporting plate 111 near the leg connecting seat 15 is bent, and when the leg assembly 11 is fastened to the leg of the user, the bent portion of the end of the leg supporting plate 111 near the leg connecting seat 15 extends toward the thigh to reduce the distance between the leg supporting plate 111 and the waist assembly 12, thereby increasing the fitting degree of the leg assembly 11 to the leg of the user.

Optionally, the leg support plate 111 has a curvature to accommodate variations in the curvature of the user's leg, e.g., the leg support plate 111 is attached to the user's thigh, which generally tapers in diameter from the waist to the lower leg, thereby increasing the fit between the leg support plate 111 and the user's thigh.

Optionally, the leg binder 112 is made of textile fibers, leather, or the like, so that the leg binder 112 has a certain strength and flexibility, thereby increasing the binding effect between the leg assembly 11 and the user's leg.

Alternatively, the leg support plate 111 may have a length corresponding to the length of the user's thigh, and the number of leg-tying bands 112 may be plural, with plural leg-tying bands 112 tying the leg assembly 11 to the user's leg at different positions, thereby increasing the tying effect.

In this embodiment, the user can adjust the size of the leg band 112 to be looped through the leg link 113, thereby increasing the binding effect.

In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

Referring again to fig. 2, the leg assembly 11 further includes a leg link 114 and a leg shield 115, one end of the leg link 114 being connected to the leg shield 115, and the other end of the leg link 114 being connected to an end of the leg support plate 111 remote from the leg link seat 15.

Alternatively, the leg link 114 may be a curved arrangement, such as a circular arc shaped member, with a portion of the leg link 114 being located on the front side of the user's leg and another portion of the leg link 114 being located on the outside of the user's leg when the leg assembly 11 is secured to the user's leg.

Optionally, the leg guard 115 is disc-shaped to increase the area of action of the leg guard 115 with the user's legs, thereby increasing the comfort of the leg assembly 11.

In other embodiments, the leg link 114 and leg shield 115 may be integrally formed as a single piece, which may reduce the complexity and assembly difficulty of the leg assembly 11.

In this embodiment, the user rotates the lumbar assembly 12 in a first direction relative to the leg assembly 11 during bending, and at the same time, the leg guard 115 abuts against the front side of the user's leg to prevent the leg assembly 11 from following the rotation of the lumbar assembly 12 in the first direction, thereby increasing the reliability of the exoskeleton robot 10.

Optionally, the connection position of the leg connecting rod 114 and the leg supporting plate 111 is adjustable, so that the distance between the leg baffle 115 and the leg supporting plate 111 is adjustable, so as to adapt to the difference of leg sizes of different users, and further increase the application range of the exoskeleton robot 10.

Optionally, a connecting slot 1141 is formed at an end of the leg connecting rod 114 away from the leg baffle 115, a connecting hole 1111 is formed at an end of the leg supporting plate 111 away from the leg connecting seat 15, and the leg connecting rod 114 and the leg supporting plate 111 are connected through the connecting slot 1141 and the connecting hole 1111 by passing through the fastener 116.

In this embodiment, after the fastening member 116 is inserted into the connecting slot 1141 and the connecting hole 1111, the fastening member 116 is tightened to fixedly connect the leg connecting rod 114 with the leg supporting plate 111, whereas, by loosening the fastening member 116, the distance between the leg baffle 115 and the leg supporting plate 111 can be adjusted, and the adjustment-before-fixing manner can prevent the leg assembly 11 from rotating along the waist assembly 12 in the first direction, so as to ensure the elastic support of the elastic assembly 13, and adapt to the difference of leg sizes of different users.

Alternatively, the connecting slot 1141 is a chute, but may be a plurality of holes arranged at intervals.

In this embodiment, the exoskeleton robot 10 may include two leg assemblies 11, one leg assembly 11 is tied to the left leg of the user, and the other leg assembly 11 is tied to the right leg of the user, so that the reliability of the exoskeleton robot 10 may be increased.

Referring to fig. 3, fig. 3 is an exploded view of the structure of the lumbar assembly 12 of fig. 1.

The lumbar assembly 12 includes a lumbar support plate 121, two lumbar binding bands 122, and a lumbar connecting buckle 123, the lumbar support plate 121 is fixedly connected with the lumbar connecting seat 16, the lumbar connecting buckle 123 is used to connect opposite ends of the two lumbar binding bands 122 such that the two lumbar binding bands 122 are looped, and the lumbar connecting buckle 123 is fixedly connected with the lumbar support plate 16, thereby binding the lumbar assembly 12 to the lumbar of the user.

In this embodiment, the sex, height, weight, etc. may be different for different users, so that the position where the waist member 12 is fastened to the waist of the user may also be different.

In this embodiment, since the lumbar connection seat 16 can be fixedly connected with the elastic assembly 13, the lumbar support plate 121 is fixedly connected with the lumbar connection seat 16, which is also understood to mean that the lumbar support plate 121 is fixedly connected with the elastic assembly 13.

Alternatively, the lumbar support plate 121 is an integral component with the lumbar attachment seat 16, which reduces the complexity and assembly difficulty of the exoskeleton robot 10.

Optionally, the lumbar support plate 121 is provided with a snap groove 1211 at an end near the lumbar connection seat 16.

Optionally, the end of the lumbar support plate 121 remote from the lumbar connection seat 16 is provided with a first catch 1212.

Optionally, the first clamping portion 1212 is detachably connected to the lumbar support plate 121 for easy replacement after the first clamping portion 1212 is damaged, thereby increasing the useful life of the lumbar assembly 12. In other embodiments, the first latch 1212 and the lumbar support plate 121 may be integrally formed together, which may reduce the complexity and difficulty of assembly of the lumbar assembly 12.

Optionally, the lumbar support plate 121 has a curvature to accommodate variations in the curvature of the user's lumbar region, thereby increasing the fit between the lumbar support plate 121 and the user's lumbar region.

Alternatively, the waist binder 122 is made of textile fiber, leather, or the like, so that the waist binder 122 has a certain strength and flexibility, thereby increasing the binding effect between the waist member 12 and the waist of the user.

Alternatively, the number of waist connector links 123 is two. In this embodiment, the lumbar assembly 12 may include two lumbar support plates 121, one lumbar support plate 121 being located on the left side of the user's body and the other lumbar support plate 121 being located on the right side of the user's body such that one lumbar connector 123 is fixedly attached to the left support plate 121 and the other lumbar connector 123 is fixedly attached to the right support plate 121.

In this embodiment, the user can adjust the size of the waist tying band 122 to be looped through the waist connecting buckle 123, thereby increasing the tying effect.

Referring to fig. 4, fig. 4 is an exploded view of the structure of the elastic assembly 13 of fig. 1.

The elastic assembly 13 includes a torsion elastic member 131, a first stopper 132, and a second stopper 133, the first stopper 132 is used for stopping a first end 1311 of the torsion elastic member 131, the second stopper 132 is used for stopping a second end 1312 of the torsion elastic member 131, during rotation of the lumbar assembly 12 relative to the leg assembly 11, the first stopper 132 follows the leg assembly 11, the second stopper 133 follows the lumbar assembly 12, and the second end 1312 can follow the second stopper 132 and move relative to the first end 1311, thereby enabling elastic deformation of the torsion elastic member 131.

The terms "first" and "second" in the present application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.

Optionally, the torsion elastic member 131 is an elastic rod or a torsion spring, and the first end 1311 and the second end 1312 thereof are respectively connected with the first stopper 132 and the second stopper 133, so that during the rotation of the waist member 12 relative to the leg member 11, the first stopper 132 moves along with the leg member 11, the second stopper 133 moves along with the waist member 12, and the second end 1312 rotates along with the second stopper 132, so that the second end 1312 generates a relative displacement relative to the first end 1311, and the torsion elastic member 131 is elastically deformed to generate an elastic restoring force.

In this embodiment, parameters such as the size and the elastic coefficient of the torsion elastic member 131 can be designed according to factors such as the elastic restoring force required to be generated by the torsion elastic member 131.

The elastic component 13 further includes a first mounting portion 134 and a second mounting portion 135, the first mounting portion 134 is fixedly connected with the leg connecting seat 15, the second mounting portion 135 is fixedly connected with the waist connecting seat 16, the second mounting portion 135 is cooperatively connected with the first mounting portion 134, the second mounting portion 135 can rotate relative to the first mounting portion 134, the torsion elastic member 131 is located between the first mounting portion 134 and the second mounting portion 135, the first end 1311 is adjacent to the first mounting portion 134, the second end 1312 is adjacent to the second mounting portion 135, the first stopper 132 is disposed on the first mounting portion 134, and the second stopper 133 is disposed on the second mounting portion 135.

In other embodiments, the first mounting portion 134 and the leg connecting base 15 may be integrally formed, which may reduce complexity and assembly difficulty of the exoskeleton robot 10.

In other embodiments, the second mounting portion 135 and the leg connecting base 16 may be integrally formed, which may reduce the complexity and assembly difficulty of the exoskeleton robot 10.

Optionally, the second mounting portion 135 is coaxially disposed with the first mounting portion 134 to increase the smoothness of rotation of the second mounting portion 135 relative to the first mounting portion 134, thereby increasing the reliability of the exoskeleton robot 10.

Optionally, the first stopper 132 is detachably connected to the first mounting portion 134, so that the first stopper 132 can be conveniently replaced after being damaged, thereby prolonging the service life of the elastic assembly 13. In other embodiments, the first stopper 132 and the first mounting portion 134 may be integrally formed, so as to reduce the processing difficulty of the elastic component 13 and reduce the complexity and assembly difficulty of the elastic component 13.

Optionally, the second stopper 133 is detachably connected to the second mounting portion 135 to be easily replaced after the second stopper 133 is damaged, thereby extending the service life of the elastic assembly 13. In other embodiments, the second stop 133 and the second mounting portion 135 may be integrally formed, so as to reduce the processing difficulty of the elastic component 13 and reduce the complexity and assembly difficulty of the elastic component 13.

Referring to fig. 4 and 5 together, fig. 5 is a schematic cross-sectional view of the structure of fig. 4 in which the second mounting portion 135 is rotatably connected to the first mounting portion 134.

The first mounting portion 134 is formed with a first accommodation space 1341 towards one side of the second mounting portion 135, the second mounting portion 135 is provided with a protruding portion 1351 towards one side of the first mounting portion 134, a second accommodation space 1353 is formed between a side wall 1352 of the second mounting portion 135 and the protruding portion 1351, the torsion elastic member 131 is arranged in a spring shape and sleeved on the protruding portion 1351, the second end 1312 is located in the second accommodation space 1353, the protruding portion 1351 penetrates into the first accommodation space 1341 and is rotationally connected with the first mounting portion 134 through a bearing 136, and the first end 1311 is located in the first accommodation space 1341.

Optionally, the protruding portion 1351 is cylindrically disposed, one end of the protruding portion 1351 adjacent to the first mounting portion 134 is recessed to form a step portion 1354, the first mounting portion 134 is provided with a mounting hole 1342 communicating with the first accommodating space 1341, the bearing 136 is accommodated in the mounting hole 1342, and the protruding portion 1351 is disposed through the bearing 136, so that the first mounting portion 134 is rotationally connected with the second mounting portion 135.

Alternatively, the protruding portion 1351 is provided in a hollow shape, which may not only reduce the weight of the second mounting portion 135, but also increase the carrying capacity of the second mounting portion 135.

Optionally, the sidewall 1352 of the second mounting portion 135 has a through hole 1355 corresponding to the second stopper 133, the through hole 1355 is communicated with the second accommodating space 1353, and the second stopper 133 is disposed through the through hole 1355.

In this embodiment, the bearing 136 may be a deep groove ball bearing, an outer ring of which is tightly fitted with the first mounting portion 134 through the mounting hole 1342, and an inner ring of which is tightly fitted with the second mounting portion 135 through the step portion 1354, so that the first mounting portion 134 is rotatably connected with the second mounting portion 135.

Referring to fig. 4 and 6, fig. 6 is a schematic diagram illustrating a relative positional relationship between the first stopper 132 and the second stopper 133 in fig. 4 and the torsion elastic member 131.

The first stopper 132 is disposed at a distance from the end surface of the first end 1311, and/or the second stopper 133 is disposed at a distance from the end surface of the second end 1312, such that the first stopper 132 abuts the end surface of the first end 1311 and the second stopper 133 abuts the end surface of the second end 1312 after the second mounting portion 135 is rotated by a predetermined angle in the first direction with respect to the first mounting portion 134.

After the second mounting portion 135 is rotated a predetermined angle in the first direction with respect to the first mounting portion 134, the second mounting portion 135 may be further rotated with respect to the first mounting portion 134 such that the second stopper 133 is further rotated with respect to the first stopper 132 to elastically deform the torsion elastic member 131, thereby causing the torsion elastic member 131 to generate an elastic restoring force to support the lumbar assembly 12.

Alternatively, the first direction is the direction indicated by arrow a in fig. 6, which is the direction in which the lumbar assembly 12 rotates relative to the leg assembly 11 during bending of the user, that is, the direction in which the second stopper 133 rotates relative to the first stopper 132 to elastically deform the torsion elastic member 131.

In this embodiment, the spacing arrangement may be understood as the first stop 132 not directly abutting the end face of the first end 1311 and/or the second stop 133 not abutting the end face of the second end 1312 when the user is in an upright state. In addition, when the magnitude of the user bending down is too small, although the second mounting portion 135 rotates with respect to the first mounting portion 134, the first stopper 132 may be close to only the end face of the first end portion 1311 and/or the second stopper 133 may be close to only the end face of the second end portion 1312. At this time, the first stopper 132 and the second stopper 133 do not elastically deform the torsion elastic member 131, so that the flexibility of the exoskeleton robot 10 can be increased.

In this embodiment, the preset angle may correspond to a distance between the second stopper 133 and an end surface of the second end 1312, in other words, the second mounting portion 135 rotates a certain angle in the first direction with respect to the first mounting portion 134, the second stopper 133 moves a corresponding distance following the second mounting portion 135, and after rotating to the preset angle, the second stopper 133 abuts an end of the second end 1312.

It should be noted that, after the user wears the exoskeleton robot 10, the degree of bending may be different due to different working contents, and the angle of rotation of the second mount 135 relative to the first mount 134 in the first direction may be different, and accordingly, the magnitude of the elastic restoring force generated by the torsion elastic member 131 may also be changed.

Optionally, the first end 1311 is fixedly connected to the first mounting portion 134, so that the first stopper 132 abuts against an end surface of the first end 1311 in the first direction, which can increase the stability of the acting force exerted by the first stopper 132 and the second stopper 133 on the torsion elastic member 131, thereby increasing the reliability of the exoskeleton robot 10.

In this embodiment, the user may consider the leg assembly 11 to be stationary, mainly the lumbar assembly 12 to rotate relative to the leg assembly 11, or the first stop 132 to be stationary, mainly the second stop 133 to follow the second mounting seat 135 and move relative to the first stop 132, that is, the second end 1312 to move relative to the first end 1311, during bending. Thus, to simplify the relevant structure in the drawings, the position of the second stop 133 relative to the first stop 132 can be considered to be the position of the lumbar assembly 12 relative to the leg assembly 11.

In other embodiments, the first stopper 132 is fixedly connected to the first mounting portion 134, the second stopper 133 is fixedly connected to the second mounting portion 135, and when the second mounting portion 135 rotates in the first direction relative to the first mounting portion 134, the second stopper 133 is driven to rotate relative to the first stopper 132, and after the rotation angle is greater than the preset angle, the second mounting portion 135 can further rotate relative to the first mounting portion 134, so that the second stopper 133 further rotates relative to the first stopper 132 to elastically deform the torsion elastic member 131, and further the torsion elastic member 131 generates an elastic restoring force to support the lumbar assembly 12.

Referring to fig. 4 to 6 together again, the elastic component 13 further includes a pulling member 137, the pulling member 137 is disposed on the lumbar connecting seat 16, one end of the pulling member 137 is exposed on the lumbar connecting seat 16, the other end of the pulling member 137 is connected to the second stopping member 133, and the pulling member 137 is configured to enable the second stopping member 133 to movably extend into or withdraw from the second accommodating space 1353 through the through hole 1355.

Optionally, the stirring member 137 is disposed in an "L" shape, and a corner of the stirring member 137 is rotatably connected with the lumbar connecting seat 16, so as to drive the second stop member 133 to extend into or withdraw from the second accommodating space 1353 through the through hole 1355 when the stirring member 137 rotates relative to the lumbar connecting seat 16.

In this embodiment, since the waist connecting seat 16 and the waist connecting seat 121 can be integrally formed, the poking piece 137 is disposed on the waist connecting seat 16, and it can be understood that the poking piece 137 is disposed on the waist connecting seat 121.

Optionally, the toggle member 137 includes a pressing portion 1371 and a fastening portion 1372, the pressing portion 1371 is connected to the second stop member 133, and the fastening portion 1372 corresponds to the fastening slot 1211.

In this embodiment, since the lumbar connecting seat 16 and the lumbar support plate 121 may be integrally formed, the opening of the fastening groove 1211 in the lumbar support plate 121 may also be understood as the opening of the fastening groove 1211 in the lumbar connecting seat 16.

Optionally, the elastic component 13 further includes a resilient member 138, the resilient member 138 is sleeved on the second stop member 133, when the toggle member 137 rotates relative to the lumbar connecting seat 16 to the process that the fastening portion 1372 is accommodated in the fastening groove 161, the pressing portion 1371 elastically deforms the resilient member 138 and pushes the second stop member 133 to extend into the second accommodating space 1353 through the through hole 1355, and when the fastening portion 1372 is separated from the fastening groove 161, the resilient member 138 can elastically recover, so that the second stop member 133 is pulled out of the second accommodating space 1353 through the through hole 1355.

In this embodiment, parameters such as the size and the elastic coefficient of the resilient member 138 can be designed according to factors such as the elastic restoring force required to be generated by the resilient member 138.

In other embodiments, the pressing portion 1371 may not be connected to the second stopper 133, but the second stopper 133 abuts against the pressing portion 1371 under the action of the resilient member 138, so that the complexity and the assembly difficulty of the elastic assembly 13 can be reduced.

In this embodiment, before bending down, the user can make the second stopper 133 extend into the second accommodating space 1353 through the through hole 1355 by using the striking member 137, and at this time, the second stopper 133 is disposed at a distance from the end surface of the second end 1312. Further, the user rotates the waist assembly 12 relative to the leg assembly 11 in the first direction during bending, drives the second stop member 133 to rotate relative to the first stop member 132, and after the rotation angle is greater than the preset angle, the second stop member 133 further rotates relative to the first stop member 132 to elastically deform the torsion elastic member 131, so that the torsion elastic member 131 generates elastic restoring force to support the bending part of the body of the user, and thus the waist bending state required by the production operation can be maintained more easily for the user, and the waist fatigue is relieved, and the damage to the waist is reduced or even eliminated.

Of course, if the support of the elastic member 13 is not required when the user bends down, the second stopper 133 may be pulled out of the second receiving space 1353 through the through-hole 1355 by the toggle 137 before bending down.

Referring to fig. 7, fig. 7 is an exploded view of the structure of chest assembly 14 of fig. 1.

The chest assembly 14 includes a front chest strap 141, a back strap 142, and a chest strap 143, the chest strap 143 fixedly connects the front chest strap 141 and the back strap 142, and the front chest strap 141 is fixedly connected with the chest support frame 17, thereby binding the chest assembly 14 to the chest of the user.

In this embodiment, the gender, height, weight, etc. of the users may be different, so that the chest unit 14 may be different in the position of being fastened to the chest of the users.

Optionally, the chest flap 141 has a curvature to accommodate changes in the curvature of the user's chest, thereby increasing the fit between the chest flap 141 and the user's chest.

Optionally, a cushion (not shown) is provided on the side of the chest flap 141 near the user's chest, and the cushion may be attached to the chest flap 141 by velcro, glue, rivets, stitching, or the like to increase the comfort of the chest assembly 14.

Optionally, the back stop 142 has a curvature to accommodate variations in the curvature of the user's back, thereby increasing the fit between the back stop 142 and the user's back.

Optionally, a cushion (not shown) is provided on the side of the back baffle 142 adjacent the back of the user, and the cushion may be attached to the back baffle 142 by velcro, glue, rivets, stitching, or the like to increase the comfort of the chest assembly 14.

Alternatively, the area of the front breast shield 141 is larger than the area of the back shield 142. In this embodiment, since the user can receive a larger force on the chest of the user than on the back during bending, a stronger pressing feeling is caused, and obviously, the front chest baffle 141 with a larger force receiving area can relieve the pressing feeling, thereby increasing the comfort level of the chest assembly 14.

Alternatively, the chest strap 143 is made of textile fiber, leather, etc., so that the chest strap 143 has a certain strength and flexibility, thereby increasing the binding effect between the chest assembly 14 and the waist of the user.

Alternatively, the number of chest straps 143 is at least four, wherein at least two chest straps 143 are connected between the side of the front chest flap 141 remote from the lumbar assembly 12 and the side of the back flap 142 remote from the lumbar assembly 12, and the other chest straps 143 are connected between the side of the front chest flap 141 near the lumbar assembly 12 and the side of the back flap 142 near the lumbar assembly 12.

Optionally, the chest assembly 14 further includes a plurality of chest fasteners 144, where the plurality of chest fasteners 144 are disposed on the front chest panel 141 and the back panel 142, and are used to fixedly connect the chest binding belt 143 with the front chest panel 141 and the back panel 142.

In this embodiment, the user can adjust the tightness of the chest binding 143 via the chest connector 144 to increase the binding between the chest component 14 and the waist of the user.

In this embodiment, taking the number of chest binding bands 143 as four as an example, four chest connecting buckles 144 are provided on the front chest baffle 141, and four corresponding chest connecting buckles 144 are provided on the back baffle 142. When a user ties the chest component 14 on the chest, the front chest baffle 141 is attached to the front chest of the user, the back baffle 142 is attached to the back of the user, one chest tying belt 143 is wound on the left shoulder of the user, one chest tying belt 143 is wound on the right shoulder of the user, one chest tying belt 143 is wound on the left armpit of the user, and one chest tying belt 143 is wound on the right armpit of the user, so that stress points of the chest component 14 can be reasonably distributed, and the tying effect of the chest component 14 is improved.

Optionally, the line between the two waist connector buckles 123 is perpendicular or at a predetermined angle to the line between the front chest baffle 141 and the back baffle 142 to facilitate better support of the chest assembly 14 on the user's chest.

Referring to fig. 8, fig. 8 is an exploded view of the structure of the chest support bracket 17 of fig. 1.

The chest support 17 includes a chest support rod 171 and an elastic expansion and contraction portion 172, one end of the chest support rod 171 is fixed to the chest unit 14, the other end of the chest support rod 171 is fixed to the elastic expansion and contraction portion 172, the elastic expansion and contraction portion 172 is fixed to the waist unit 12, and the elastic expansion and contraction portion 172 is provided to be elastically expandable and contractible in a direction from the waist unit 12 to the chest unit 14.

Alternatively, one end of the chest support frame 17 is fixedly connected to the front chest baffle 141 by means of hinging, sewing, or the like, and the other end of the chest support frame 17 is fixedly connected to the waist connecting buckle 123.

Optionally, the chest support 17 is configured to accommodate differences in the spatial positions of the lumbar assembly 12 and the chest assembly 14, e.g., the lumbar assembly 12 is located primarily on the left and right sides of the user and the chest assembly 14 is located primarily on the front and back sides of the user, thereby facilitating connection of the chest support 17 to the lumbar assembly 12 and the chest assembly 14.

All directional indications (such as up, down, left, right, front, back … …) in embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular gesture (as shown in the drawings), and if the particular gesture changes, the directional indication changes accordingly.

Optionally, the chest support bar 171 has a curvature to accommodate variations in the curvature of the user's chest, thereby increasing the fit of the chest support bar 171 to the user's chest.

In this embodiment, the exoskeleton robot 10 can include two chest support frames 17, one chest support frame 17 is connected to the chest assembly 14 and the waist assembly 12 located on the left side of the user, and the other chest support frame 17 is connected to the chest assembly 14 and the waist assembly 12 located on the right side of the user, so that reliability of the exoskeleton robot 10 can be increased.

Referring to fig. 8 and 9 together, fig. 9 is a schematic cross-sectional view of the structure of the elastic expansion portion 172 of fig. 8.

The elastic telescopic part 172 comprises a connecting seat 1721, a first sleeve 1722, a second sleeve 1723 and an elastic telescopic member 1724, wherein the connecting seat 1721 is fixed on the waist component 12, the first sleeve 1722 is fixedly connected with the connecting seat 1721, the second sleeve 1723 is fixedly connected with the chest supporting rod 171, the elastic telescopic member 1724 penetrates through the first sleeve 1722 and extends towards the chest component 14, the second sleeve 1723 is sleeved on the first sleeve 1722, one end of the elastic telescopic member 1724 abuts against one end of the connecting seat 1721 or the first sleeve 1722, which is far away from the chest component 14, the other end of the elastic telescopic member 1724 abuts against one end of the second sleeve 1723, which is far away from the connecting seat 1721, and the second sleeve 1723 can slide relative to the first sleeve 1722.

Alternatively, the direction indicated by arrow B in fig. 9 is the sliding direction of the second sleeve 1723 relative to the first sleeve 1722.

Optionally, the attachment seat 1721 is secured to the end of the lumbar support plate 121 remote from the elastic assembly 13.

Optionally, a receiving hole 1725 is formed on a side of the connection base 1721 facing the chest component 14, and the first sleeve 1722 is inserted into the receiving hole 1725 and is tightly matched with the receiving hole 1725, so that the first sleeve 1722 is fixed to the connection base 1721.

Optionally, the connection base 1721 is provided with an air hole (not labeled in the figure), and the air hole is communicated with the accommodating hole 1725.

In other embodiments, the first sleeve 1722 and the connecting seat 1721 may be integrally formed, which may reduce complexity and assembly difficulty of the chest support 17.

Optionally, the first sleeve 1722 is hollow, and the elastic member 1724 may penetrate through two ends of the first sleeve 1722, at this time, one end of the elastic member 1724 abuts against the connecting seat 1721. In other embodiments, the first sleeve 1722 may be provided as a blind tube, and the elastic member 1724 may only penetrate through one end of the first sleeve 1722, where one end of the elastic member 1724 abuts against one end of the first sleeve 1722 away from the chest component 14.

Optionally, the second sleeve 1723 is disposed in a blind tube, and an air hole (not labeled in the figure) is formed on the surface of the second sleeve 1723 abutting against the telescopic elastic member 1724, and the air holes formed on the second sleeve 1723 and the connecting seat 1721 are used for balancing the air pressure inside the second sleeve 1723 and the first sleeve 1722 with the air pressure outside, so that the resistance generated by the air pressure difference in the sliding process of the second sleeve 1723 relative to the first sleeve 1722 is reduced, and the sliding efficiency of the second sleeve 1723 relative to the first sleeve 1722 is further increased, that is, the telescopic efficiency of the telescopic elastic member 1724 is increased.

For example, when the second sleeve 1723 slides relative to the first sleeve 1722 and compresses the expansion elastic member 1724, the air in the first sleeve 1722 and the second sleeve 1723 can be discharged through the air holes, so that the sliding of the second sleeve 1723 can be prevented due to the excessive air pressure in the first sleeve 1722 and the second sleeve 1723.

For example, when the telescopic elastic member 1724 stretches and pushes the second sleeve 1723 to slide relative to the first sleeve 1722, air can be sucked into the first sleeve 1722 and the second sleeve 1723 through the air holes, so that the sliding of the second sleeve 1723 is prevented due to too small air pressure in the first sleeve 1722 and the second sleeve 1723.

Optionally, the telescoping resilient member 1724 is a telescoping spring.

In this embodiment, parameters such as the size and the elastic coefficient of the elastic member 1724 can be designed according to the elastic restoring force required to be generated by the elastic member 1724.

In this embodiment, the first locking portion 1212 provided in the lumbar assembly 12 is provided in the lumbar support plate 121.

Referring to fig. 8 and 9 again, a second locking portion 1726 is disposed at an end of the second sleeve 1723 near the connection seat 1721, when the second sleeve 1723 is elastically supported by the elastic member 1724, the second sleeve 1723 can slide relative to the first sleeve 1722 toward the chest component 14, so that the chest support 17 can adapt to the change of the body size of the user during bending of the user, and when the first locking portion 1212 and the second locking portion 1726 are locked and engaged, the second sleeve 1723 is restricted from continuing to move toward the chest component 14, so as to prevent the second sleeve 1723 from separating from the first sleeve 1722, thereby increasing the reliability of the exoskeleton robot 10.

Optionally, the second locking portion 1726 is provided in a groove, and the first locking portion 1212 is located in the groove.

Alternatively, the telescopic elastic member 1724 retains a certain compression amount when the first locking portion 1212 and the second locking portion 1726 are locked and engaged, which can increase the compactness of the chest support frame 17.

In the present embodiment, during the process of sliding the second sleeve 1723 relative to the first sleeve 1722 and compressing the telescopic elastic member 1724, the second sleeve 1723 can be abutted against the connecting seat 1721 and/or the first sleeve 1722 to limit the second sleeve 1723 from sliding continuously.

In this embodiment, during the process of bending the user, the waist component 12 rotates in the first direction relative to the leg component 11, so as to drive the second stop member 133 to rotate relative to the first stop member 132, and after the rotation angle is greater than the preset angle, the second stop member 133 further rotates relative to the first stop member 132 to elastically deform the torsion elastic member 131, so that the torsion elastic member 131 generates elastic restoring force to support the bending portion of the body of the user, and thus the waist fatigue is relieved, and the injuries to the waist are reduced or even eliminated. At the same time, the second sleeve 1723 can slide relative to the first sleeve 1722 toward the chest assembly 14 during the user's bending to adjust the length of the chest support 17 so that the chest support 17 can accommodate the changes in the body dimensions of the user during bending, which can increase the fit of the exoskeleton robot 10 to the body of the user.

Referring collectively to fig. 10-12, fig. 10 is a front view of fig. 1 with exoskeleton robot 10 worn by a user in an upright position, fig. 11 is a side view of fig. 1 with exoskeleton robot 10 worn by a user in an upright position, and fig. 12 is a side view of fig. 1 with exoskeleton robot 10 worn by a user in a stoop position.

In this embodiment, when the user wears the exoskeleton robot 10, the leg unit 11 is tied to the left leg and the right leg of the user, the waist unit 12 is tied to the waist of the user, the chest unit 14 is tied to the chest of the user, the elastic unit 13 is connected to the leg unit 11 and the waist unit 12, and the chest support 17 is connected to the waist unit 12 and the chest unit 14.

Unlike the prior art, the lumbar assembly of the present application is rotatable relative to the leg assemblies and the elastic assemblies are elastically deformed during rotation of the lumbar assembly relative to the leg assemblies to generate elastic restoring forces to support the lumbar assembly. The user can support the bending part of the body of the user by the elastic restoring force in the bending process, so that the user is assisted to maintain the bending state required by production operation more easily, further, the fatigue of the waist is relieved, and the damage to the waist is relieved or even eliminated.

Further, as the chest support is adjustable in length, the chest support can adapt to the change of the body size of a user in the bending process, so that the fit degree of the exoskeleton robot and the body of the user is increased.

Furthermore, the exoskeleton robot disclosed by the application can realize power assistance without power driving, so that components such as a battery, a gear motor, a driver, a sensor and a control system are definitely reduced, the load sense of a user is reduced, the man-machine coupling degree is increased, and the equipment cost is reduced.

The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.

Claims (8)

1. A support assembly for an exoskeleton robot, comprising:

a waist assembly for being tied to a waist of a user when the exoskeleton robot is worn on the user;

a chest assembly for being tied to a chest of a user when the exoskeleton robot is worn on the user;

A leg assembly for attachment to a leg of a user;

the chest support comprises a chest support rod and an elastic telescopic part, one end of the chest support rod is fixed on the chest component, the elastic telescopic part comprises a connecting seat, a first sleeve, a second sleeve and an elastic telescopic part, the connecting seat is fixed on the waist component, the first sleeve is fixedly connected with the connecting seat, the second sleeve is fixedly connected with the other end of the chest support rod, the elastic telescopic part penetrates through the first sleeve and extends towards the chest component, the second sleeve is sleeved on the first sleeve, one end of the elastic telescopic part is abutted against one end of the connecting seat or one end of the first sleeve away from the chest component, the other end of the elastic telescopic part is abutted against one end of the second sleeve away from the connecting seat, and the second sleeve can slide relative to the first sleeve, so that the elastic telescopic part can elastically stretch in the direction from the waist component to the chest component, the length of the chest support frame can be adjusted, and the waist support frame can adapt to the change of the chest component in the bending process of the user; the waist component is provided with a first clamping part, one end of the second sleeve, which is close to the connecting seat, is provided with a second clamping part, when the second sleeve is elastically supported by the telescopic elastic piece, the second sleeve can slide towards the chest component relative to the first sleeve, and when the first clamping part and the second clamping part are clamped and matched, the second sleeve is limited to move towards the chest component continuously, and the telescopic elastic piece keeps a certain compression amount;

And an elastic assembly including a torsion elastic member, a first stopper and a second stopper, the first stopper is disposed on the leg assembly for stopping a first end of the torsion elastic member, the second stopper is disposed on the waist assembly for stopping a second end of the torsion elastic member, wherein the first stopper is disposed at a distance from the first end of the torsion elastic member, and/or the second stopper is disposed at a distance from the second end of the torsion elastic member,

the waist component is used for rotating in a first direction relative to the leg component in the process of bending down of a user, driving the second stop piece to rotate relative to the first stop piece, and after the rotation angle is larger than a preset angle, the second stop piece further rotates relative to the first stop piece to enable the torsion elastic piece to elastically deform, so that the torsion elastic piece generates elastic restoring force to support the bending part of the body of the user.

2. The support assembly of claim 1, wherein a receiving hole is formed in a side of the connection seat facing the chest assembly, and the first sleeve is inserted into the receiving hole and is tightly fitted with the receiving hole, so that the first sleeve is fixed to the connection seat.

3. The support assembly of claim 1, wherein the lumbar assembly comprises two lumbar ties and a lumbar connector for connecting opposite ends of the two lumbar ties such that the two lumbar ties are looped, the other end of the chest support frame being connected to the lumbar connector.

4. A support assembly according to claim 3, wherein the chest assembly comprises a chest shield, a back shield and a chest strap fixedly connected to the chest shield and back shield, the chest shield being fixedly connected to the chest support frame.

5. The support assembly of claim 4 wherein the number of chest straps is at least four, wherein at least two of the chest straps are connected between a side of the chest panel remote from the lumbar assembly and a side of the back panel remote from the lumbar assembly, and the other chest straps are connected between a side of the chest panel proximate to the lumbar assembly and a side of the back panel proximate to the lumbar assembly.

6. The support assembly of claim 5, wherein the area of the front chest baffle is greater than the area of the back baffle.

7. The support assembly of claim 6, wherein the number of waist connectors is two, and a connecting line between the two waist connectors is perpendicular to or forms a preset included angle with a connecting line between the front chest baffle and the back baffle; the chest support frame is in a bending arrangement, one end of the chest support frame is fixedly connected with the front chest baffle, and the other end of the chest support frame is fixedly connected with the waist connecting buckle.

8. An exoskeleton robot comprising a support assembly according to any one of claims 1 to 7.