CN113116675B

CN113116675B - Flexible waist and hip mechanism and portable power assisting device thereof

Info

Publication number: CN113116675B
Application number: CN202010027949.6A
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Shenzhen Conchin Technology Co ltd
Current assignee: Shenzhen Conchin Technology Co ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2023-02-10
Anticipated expiration: 2040-01-10
Also published as: CN113116675A

Abstract

The embodiment of the invention discloses a flexible waist and hip mechanism and portable power assisting equipment thereof. The flexible waist and hip mechanism comprises a waist belt, a back plate and a waist rod, the waist belt is arranged around the waist of a wearer, and the back plate is fixed on the waist belt; one end of the waist rod is in transmission connection with the back plate, and the other end of the waist rod is in transmission connection with the hip mechanism; the joint of the waist rod and the back plate can slide up and down to adapt to different waist heights, the length of the waist rod can be adjusted to adapt to different waist widths, and the joint of the waist rod and the hip mechanism can be adjusted back and forth to adapt to different waist depths. The flexible waist and hip mechanism has multiple degrees of freedom, so that power can be well transmitted from the back to the waist and the legs, and the flexible waist and hip mechanism can well adapt to the matching problem caused by various motions of the lower limbs of a human body; the portable power assisting device is light in structure, compact, close-fitting and high in reliability.

Description

Flexible waist and hip mechanism and portable power assisting device thereof

Technical Field

The invention relates to the technical field of wearable exoskeletons, in particular to a flexible waist and hip mechanism and portable power assisting equipment thereof.

Background

Human beings often encounter the situation that the strength of human legs is hoped to be enhanced in daily work and life, and wearable exoskeleton robots are devices meeting the application, in particular powered lower limb assistance exoskeleton robots. Such devices are often cumbersome in the prior art, as disclosed in patent 200680006514.1 and patent 200780027195.7, which are poor in the wearing experience for the user of the device.

Among the prior art, there is the device that carries out the helping hand specially to the knee joint, and this type of device is tailor to above-mentioned heavy equipment by a wide margin to can alleviate equipment weight greatly, patent US9532894B2 discloses a knee joint helping hand's technique, and it adopts comparatively light booster unit to realize the helping hand to the wearer's low limbs, and the user wears to experience and has great improvement. However, this type of technique also has some significant drawbacks: the power device is placed at the knee joint, the motor, the speed reducer and the related transmission mechanism which are contained by the power device can bring weight, the weight of the power device increases the weight and inertia of the legs of a wearer, and great resistance and inconvenience can be brought to the lower limb movement of the wearer. The hip joint of the device does not have assistance, and a wearer can feel heavy when lifting legs or going upstairs, so that the long-time wearing experience is poor.

Chinese patents CN201810865580.9 and CN201811252375.1 both disclose a cable-driven portable power assisting device, and CN201810865580.9 discloses a concept of arranging a cable-driven power system at the waist of a wearer but does not give a specific embodiment; the contradiction between human body matching and power transmission can be caused when the power system is arranged at the waist of a wearer, the relative positions of the hip and the waist can be greatly changed when the legs of the wearer extend outwards and contract inwards or rotate inwards and outwards, and the problem of how to guide the power arranged at the back into the hip joint and the knee joint positioned at the legs of the wearer is solved; the patent CN201811252375.1 provides a solution to this problem, namely, a guy cable sleeve is used to connect a back power system and a hip joint, and a deformable guy cable sleeve is used to adapt to the relative position change of the hip and the waist of a human body and transmit power at the same time. In addition, the size and the shape of the waist of the human body are greatly different, the motion state is complex, how to realize that the portable power assisting equipment is tightly attached to the waist of a wearer, and the complex motion of the waist can adapt to the walking of the human body is a difficult problem.

Disclosure of Invention

The embodiment of the invention provides a flexible waist and hip mechanism and portable power assisting equipment thereof, and aims to solve one or more problems of the conventional power assisting equipment.

In order to achieve the above object, a first aspect of the embodiments of the present invention provides a flexible lumbar hip mechanism. The flexible waist and hip mechanism comprises a waist belt, a back plate and a waist rod, the waist belt is arranged around the waist of a wearer, and the back plate is fixed on the waist belt; one end of the waist rod is in transmission connection with the back plate, and the other end of the waist rod is in transmission connection with the hip mechanism; the joint of the waist rod and the back plate can slide up and down to adapt to different waist heights, the length of the waist rod can be adjusted to adapt to different waist widths, and the joint of the waist rod and the hip mechanism can be adjusted back and forth to adapt to different waist depths.

The second aspect of the embodiment of the invention provides a portable power assisting device. The portable power assisting device comprises a stay cable driving device, a hip mechanism and the flexible waist-hip mechanism as described above: the hip mechanism comprises a hip upper arm, a hip lower arm, a hip pulley and a hip rotating shaft, the hip upper arm and the hip lower arm are rotationally connected based on the hip rotating shaft, and the hip pulley is fixed on the hip rotating shaft and can freely rotate relative to the hip upper arm and the hip lower arm; the cable driving device includes: the power output end can rotate relative to the power base, the top end of the inhaul cable is fixed to the power output end, and the inhaul cable cuts into the hip pulley downwards.

Compared with the prior art, the invention has the beneficial effects that: the flexible waist and hip mechanism has multiple degrees of freedom, so that power can be well transmitted from the back to the waist and the legs, and the flexible waist and hip mechanism can well adapt to the matching problem caused by various motions of the lower limbs of a human body; the portable power assisting device is light in structure, compact and close-fitting, and high in reliability; the power system with larger weight can be transferred to the waist and the back of a wearer by providing power assistance for the lower limbs of the wearer in a cable driving mode, so that the weight and inertia of the lower limbs are greatly reduced, the lower limbs of the wearer are more flexible and light, and the wearer can be supported to move more flexibly, swiftly and comfortably when using the device disclosed by the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

Fig. 1 is a schematic rear view of a flexible lumbar hip structure provided by an embodiment of the present invention;

FIG. 2 is a schematic side view of a portable power assist apparatus provided by an embodiment of the present invention;

FIG. 3 is a schematic perspective view of the cable driving device, the flexible waist and hip mechanism and the leg lever mechanism according to the present invention;

FIG. 4 is a rear view of the ankle mechanism and lower leg bar system of the present invention in cooperation.

The reference numbers are as follows:

11-cable drive device; 111-a power base; 1111-power chute; 112-power output end; 113-a pull cable; 114-a cable sleeve; 1141-fixing the head on the sleeve; 1142-a sleeve lower fixing head; f1, assisting the waist; f2, assisting power of the upper thigh; f3, assisting power of the lower thigh; f4, assisting the shank; t1-hip extension moment; t2-knee extension moment;

21-waistband; 211-upper waistband; 212-lower waistband; a hip and waist connecting band 213; 22-a back plate; 221-upper backplane; 222 — a lower back plate; 2221 — first adjustment runner; 223-a back panel hinge; 23-waist bar; 231-waist rod upper section; 2311-a second regulating chute; 2312, fixing the waist width and the waist height; 2313-power sling; 232-middle section of waist bar; 233-lower part of waist rod; 2331-waist depth adjusting chute; 234-first rotation axis of waist bar; 235-waist bar second rotation axis; 24-power fixing plate; 25-hip mechanism; 251-upper hip arm; 252-lower hip arm; 253-hip spindles; 254-hip pulley;

31-thigh bar system; 311-thigh bar; 312-thigh upper shield; 3121-upper thigh shield bar; 3122-upper thigh crusts; 3123-a sheath rod rotation shaft; 313-upper thigh strap; 314-under thigh shell; 315-under thigh strap; 32-a knee mechanism; 321-knee upper arm; 322-lower knee arm; 323-knee pulley; 324-knee pivot; 33-a shank rod system; 331-a shank rod; 332-type C slider; 333-ankle internal and external retraction shaft; 334-calf strap;

41-upper ankle seat; 411-C chute; 412-a lower extension plate; 42-lower ankle block; 421-thin bottom plate; 422 — upper extension plate; 43-ankle axis; 44-ankle strap; 45-ankle horizontal rotation axis;

51-cable tension sensor.

Detailed Description

The technical solutions in the embodiments will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, wherein like reference numerals represent like elements in the drawings. It is apparent that the embodiments to be described below are only a part of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the embodiments of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the invention. As used in this description of embodiments of the invention and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Fig. 1 is a rear view schematic diagram of a flexible waist hip structure provided by an embodiment of the invention. The flexible waist and hip mechanism corresponds to the corresponding position of the body of a wearer and is symmetrical left and right, and the structure and the operation mechanism of the flexible waist and hip mechanism are described by taking the right side as an example.

As shown in fig. 1, the flexible waist and hip mechanism comprises a waist belt 21, a back plate 22 and a waist rod 23. The waist belt 21 is arranged around the waist of the wearer, and the back plate 22 is arranged near the back waist of the wearer and fixed on the waist belt 21; one end of the waist rod 23 is in transmission connection with the back plate 22, and the other end of the waist rod 23 is in transmission connection with the hip mechanism 25; the joint of the waist rod 23 and the back plate 22 can slide up and down to adapt to different waist heights, the length of the waist rod 23 can be adjusted to adapt to different waist widths, and the joint of the waist rod 23 and the hip mechanism 25 can be adjusted back and forth to adapt to different waist depths.

The waist bar 23 comprises a waist bar upper section 231, a waist bar middle section 232 and a waist bar lower section 233; the waist bar upper section 231 is horizontally arranged near the back plate 22, one end of the waist bar upper section is in transmission connection with the back plate 22, and the other end of the waist bar upper section is in rotary connection with the waist bar middle section 232 based on a waist bar first rotating shaft 234; the waist bar middle section 232 is vertically arranged, one end of the waist bar middle section 232 is rotationally connected with the waist bar upper section 231, and the other end of the waist bar middle section 232 is rotationally connected with the waist bar lower section 233 based on a waist bar second rotating shaft 235; the lower lumbar rod segment 233 is horizontally disposed, and has one end rotatably coupled to the middle lumbar rod segment 232 and the other end drivingly coupled to the hip mechanism 25, and the first lumbar rod rotation axis 234 and the second lumbar rod rotation axis 235 are perpendicular to the coronal plane.

The flexible waist and hip mechanism can be well matched with the adduction and abduction movement of legs of a human body, and the working principle is as follows: when the legs of the wearer abduct or adduct, the lower lumbar rod section 233, the middle lumbar rod section 232, and the upper lumbar rod section 231 are sequentially driven to rotate relatively, so as to change the relative position between the backboard 22 and the hip mechanism 25, thereby not hindering the adduction and abduction of the wearer.

The back panel 22 comprises an upper back panel 221 and a lower back panel 222, the upper back panel 221 and the lower back panel 222 are rotatably coupled through a back panel hinge 223, and the back panel hinge 223 is horizontally arranged, so that the relative angle between the upper back panel 221 and the lower back panel 222 can be changed to adapt to different waist shapes of wearers, and thus, better fit with the waist of the wearer can be realized.

The lower back plate 222 is provided with a first adjusting sliding groove 2221 vertically arranged, the waist bar upper section 231 is provided with a second adjusting sliding groove 2311 horizontally arranged, and the first adjusting sliding groove 2221 and the second adjusting sliding groove 2311 are provided with a waist width and waist height fixing block 2312 for locking the lower back plate 222 and the waist bar upper section 231. Namely, the waist width and waist height fixing block 2312 is simultaneously arranged on the first adjusting sliding groove 2221 and the second adjusting sliding groove 2311, and when the waist width and waist height fixing block 2312 is locked, the relative positions of the lower back plate 222 and the waist rod upper section 231 are locked to form a rigid connection.

The waist rod lower section 233 is provided with a horizontally arranged waist depth adjusting sliding groove 2331, and a waist depth fixing block for locking the waist rod lower section 233 with the hip mechanism 25 is arranged on the waist depth adjusting sliding groove 2331, so that the coupling position between the waist rod lower section 233 and the hip mechanism 25 can be horizontally adjusted, namely adjusted forwards and backwards, and locked to form a rigid coupling.

The flexible waist and hip mechanism can conveniently realize the adjustment of three sizes of the waist, and the working principle is as follows: when the waist width and height fixing block 2312 is loosened, the relative positions of the lower back plate 222 and the waist rod upper section 231 can slide up and down, left and right, so that a wearer can conveniently realize the adjustment of waist width and waist height at the same time; when the waist depth fixing block between the waist rod lower section 233 and the hip mechanism 25 is loosened, the adjustment of the waist depth can be realized; therefore, the adjustment of three dimensions of waist height, waist width and waist depth of a wearer can be realized by loosening and screwing 2 fixing blocks such as 2 screws, and the adjustment is simple and convenient.

The waist belt 21 includes an upper waist belt 211 and a lower waist belt 212, which are respectively disposed around the waist of the wearer. The waist belt 21 may be made of a flexible material and may be adapted to the waist structure of different sizes and shapes of the wearer.

The flexible waist and hip mechanism further comprises a power fixing plate 24 for fixing the cable driving device 11, and the power fixing plate 24 is fixed on the waist belt 21 and close to two sides of the waist of a wearer.

A power hanging strip 2313 is fixed on the upper section 231 of the waist rod, and the power hanging strip 2313 is fixedly connected with the inhaul cable driving device 11. The power harness 2313 may prevent the cable driving device 11 from falling down due to gravity.

The portable power assisting device provided by the embodiment of the invention corresponds to the corresponding position of the body of a wearer and is symmetrical left and right, and the structure and the operation mechanism of the portable power assisting device are described by taking one side as an example. As shown in fig. 2, the portable power assisting device comprises a cable driving device 11, a hip mechanism 25 and a flexible waist hip mechanism as described above; hip mechanism 25 is disposed outside the hip of the wearer, hip mechanism 25 comprises a hip upper arm 251, a hip lower arm 252, a hip pulley 254 and a hip rotating shaft 253, hip upper arm 251 and hip lower arm 252 are rotatably coupled based on hip rotating shaft 253, hip pulley 254 is fixed on hip rotating shaft 253 and can freely rotate relative to hip upper arm 251 and hip lower arm 252, hip upper arm 251 is fixedly coupled with lower lumbar rod segment 233; the cable drive device 11 includes: the power output end 112 can rotate relative to the power base 111, the top end of the pull cable 113 is fixed on the power output end 112, and the pull cable 113 cuts into the hip pulley 254 downwards.

The power base 111 is provided with a horizontally arranged power sliding groove 1111, the power fixing plate 24 vertically penetrates through the power sliding groove 1111, and the power base 111 can slide up and down, left and right relative to the power fixing plate 24.

The cable driving device 11 further comprises a flexible cable sleeve 114 sleeved outside the cable 113, the upper end of the flexible cable sleeve 114 is fixedly connected with the power base 111, the lower end of the flexible cable sleeve 114 is fixedly connected with the hip upper arm 251, and the flexible cable sleeve 114 generally adopts a bowden cable or a brake cable, can bear axial tension of the cable and has flexibility. Namely, the guy cable driving device 11 and the hip upper arm 251 are in transmission connection through a flexible guy cable sleeve 114, and the guy cable 113 penetrates through the flexible guy cable sleeve 114 and cuts into the hip pulley 254 downwards. The guy cable driving device 11 is connected with the hip upper arm 251 through the flexible guy cable sleeve 114 instead of rigid connection, the guy cable 113 is transmitted through the flexible guy cable sleeve 114, and the guy cable driving device has the advantages of flexible transmission of guy cable tension, high power transmission efficiency, matching with the waist shape of a wearer, small abrasion to the guy cable, good reliability and the like.

With the above mechanism, although the length of the flexible cable sleeve 114 is not adjustable, the cable driving device 11 can be easily adapted to the position and angle change between the hip mechanism 25 and the flexible cable sleeve when the waist size of the human body is adjusted and the lower limbs of the human body move: the cable driving device 11 and the waist belt 21 can slide horizontally or vertically, the flexible cable sleeve 114 is flexible, when the waist rod 23 is adjusted back and forth, up and down, left and right relative to the back plate 22 and the hip upper arm 251, the cable driving device 114 can adapt to size changes caused by adjustment by sliding up and down, left and right on the waist belt 21 and deformation of the flexible cable sleeve 114, and can realize self-adaptive matching with human bodies with different waist size forms without independent adjustment, so that the wearing and use convenience of different wearers is greatly improved.

The upper end of the flexible cable sleeve 114 is fixed on the power base 111 through an upper sleeve fixing head 1141, and the lower end is fixed on the hip upper arm 251 through a lower sleeve fixing head 1142. The cable sleeve 114 has a rigid outer casing that can flex while transmitting axial pressure. Generally, the cable drive device 11 is disposed at the back waist of the wearer, the hip pulley 254 is disposed outside the hip of the wearer, and the flexible cable sleeve 114 has an arc-shaped configuration to guide the cable 113 to match the waist shape of the human body when coupling the cable drive device 11 and the hip mechanism 25, and at the same time, to axially transmit the tension of the cable 113, i.e., to axially carry the tension of the cable 113.

As shown in fig. 2, the portable power assist apparatus further includes: a leg lever mechanism, the leg lever mechanism comprising: a thigh bar system 31, a knee mechanism 32, and a lower leg bar system 33. The lower end of the hip lower arm 252 is in transmission connection with the leg rod mechanism, the cable driving device 11 drives the hip mechanism 25 and the knee mechanism 32 to extend through the cable 113, and the extending moment is applied to the waist and the legs of the wearer through the flexible waist-hip mechanism and the leg rod mechanism.

The knee mechanism 32 comprises a knee upper arm 321, a knee lower arm 322, a knee rotating shaft 324 and a knee pulley 323, wherein the knee upper arm 321 and the knee lower arm 322 are rotationally coupled based on the knee rotating shaft 324, and the knee pulley 323 is fixed on the knee rotating shaft 324 and can freely rotate relative to the knee upper arm 321 and the knee lower arm 322; the thigh rod system 31 comprises a thigh rod 311, the upper end of the thigh rod 311 is fixedly connected with the hip lower arm 252, and the lower end of the thigh rod 311 is fixedly connected with the knee upper arm 321.

The shank rod system 33 comprises a shank rod 331, the upper end of the shank rod 331 is fixedly connected with the knee lower arm 322, one end of the stay 113 is fixed on the power output end 112, and is wound through the power output end 112, cut into the hip pulley 254 anticlockwise, wound through the hip pulley 254, cut out, cut into the knee pulley 323 downwards and clockwise, wound and cut out, and fixed on the stay tension sensor 51 on the knee lower arm 322.

As shown in fig. 3, by arranging the cable 113 in different winding directions, the cable driving device 11 can tighten the cable 113 during the actual operation of the cable driving device 11. Under the drive of the cable 113, hip extending torque T1 is generated in the hip mechanism 25, knee extending torque T2 is generated in the knee mechanism 32, the hip pulley 254 is rotated clockwise, the knee pulley 323 is rotated counterclockwise, the hip upper arm 251 is correspondingly driven to extend relative to the hip lower arm 252 and the knee upper arm 321 relative to the knee lower arm 322, thus, the waist rod 23, the thigh rod system 31 and the shank rod system 33 which are fixedly connected with the waist rod, the thigh rod system and the shank rod system respectively apply a waist assisting force F1 which is obliquely backward, a thigh assisting force F2 which is forward, a thigh assisting force F3 which is backward and a shank assisting force F4 which is forward to the waist, the thigh and the shank of the wearer, so that the wearer is promoted to extend the hip and the knee; the aim of outputting the power of the inhaul cable driving device 11 to a human body to realize supporting power assistance is fulfilled; by changing the hip pulley 254 and the knee pulley 323, it is possible to change the torque exerted by the cable drive 11 on the hip mechanism 25 and the knee mechanism 32 without changing the tension of the cable 113.

As shown in fig. 1, the lower lumbar rod segment 233 is drivingly coupled to the back plate 22 through a first lumbar rod rotation axis 234 and a first lumbar rod rotation axis 235, and the first lumbar rod rotation axis 234 and the first lumbar rod rotation axis 235 are perpendicular to the hip extension moment T1, so that the first rotation axis 234 and the first lumbar rod rotation axis 235 can rotate freely to adapt to the adduction-abduction motion of the legs relative to the waist of the human body during the exercise of the flexible hip mechanism while applying the hip extension moment T1 to the wearer.

The lower end of the cable 113 is fixed on the cable tension sensor 51, the cable tension sensor 51 can accurately measure the tension of the cable 113 because the knee pulley 323 can rotate freely, the torque applied by the cable 113 to the hip mechanism 25 and the knee mechanism 32 can be calculated through the radius of the hip pulley 254 and the knee pulley 323, and the cable tension sensor 51 is simple, reliable and low in cost.

The thigh bar system 31 further comprises: an upper thigh shell 312, an upper thigh strap 313, a lower thigh shell 314, and a lower thigh strap 315, wherein the upper thigh shell 312 and the lower thigh shell 314 are respectively fixedly connected to the upper end and the lower end of the thigh rod 311, and the upper thigh strap 313 and the lower thigh strap 315 respectively surround the upper thigh portion and the lower thigh portion of the wearer with the upper thigh shell 312 and the lower thigh shell 314, so as to fix the thigh rod 311 to the thigh of the wearer. The upper thigh shield 312 includes an upper thigh shield rod 3121, an upper thigh shield hard pad 3122, and a shield rod rotation shaft 3123; the upper thigh shield bar 3121 is fixed to the upper thigh shield hard pad 3122, and the upper thigh shield bar 3121 is rotatable about the shield bar rotation axis 3123, so that it can be adapted to various wearers.

The portable power assist apparatus may further comprise: hip and waist connecting band 213. The hip and waist connecting band 213 is respectively connected with the lower waist strap 212 and the upper hip arm 251, and is used for preventing the hip mechanism 25 from moving towards the back of the human body when the guy cable driving device 11 applies torque to the hip mechanism 25, so that the force application stability is increased.

The shank rod system 33 further comprises a C-shaped slider 332 and an ankle abduction and adduction shaft 333, and the lower end of the shank rod 331 is rotatably connected with the C-shaped slider 332 through the ankle abduction and adduction shaft 333 so as to adapt to adduction and abduction of the foot of the human body relative to the shank; the C-shaped slider 332 is fixedly coupled to the wearer's ankle by a lower leg strap 334. The C-shaped slider 332 is fixedly coupled to the wearer's ankle by the lower leg strap 334.

The portable power assisting apparatus further comprises an ankle mechanism, as shown in fig. 4, the ankle mechanism comprises an upper ankle block 41, a lower ankle block 42 and an ankle block shaft 43, the upper ankle block 41 comprises a C-shaped sliding groove 411 and a lower extension plate 412 with two sides extending downwards, the upper ankle block 41 is arranged on the rear side of the ankle part of the wearer, the lower ankle block 42 comprises a thin bottom plate 421 and an upper extension plate 422 with two sides extending upwards, the thin bottom plate 421 is arranged below the foot of the wearer, and the upper extension plate 412 and the lower extension plate 422 are rotatably coupled through the ankle block shaft 43 to adapt to the expansion and back extension of the foot of the human body relative to the lower leg. The ankle mechanism is secured to the wearer's foot and ankle by the ankle strap 44.

The C-shaped sliding block 332 is arranged in the C-shaped sliding chute 411 and can rotate relative to the C-shaped sliding chute 411 based on the ankle horizontal rotation axis 45 vertical to the ground so as to adapt to the horizontal rotation movement of the foot of the human body relative to the lower leg; a flat surface is arranged below the C-shaped sliding groove 411 to support the C-shaped sliding block 332, so as to support the shank 331 and the power assisting device which are connected with the C-shaped sliding block.

When the power assisting device works, the main power assisting device helps a wearer to straighten the legs to support the weight of the upper limbs of the wearer, and the working process is as follows: as shown in fig. 2, 3 and 4, when the power output end 112 of the cable driving device 11 rotates counterclockwise relative to the power base 111, the cable 113 will be fed or loosened; when the power output end 112 rotates clockwise, the pull cable 113 will be retracted or tensioned; the extension or retraction of the cable 113, and thus the hip and

knee mechanisms

25, 32, can be controlled to produce a power assist torque or follow the rotation of the wearer's legs by controlling the rotation of the power output 112.

The invention adopts a flexible waist and hip mechanism to realize the assistance to a wearer in a motion state and realize the bionic matching of a human body, and under the tightening state of the guy cable 113, the back plate 22, the upper thigh protective shell 312, the lower thigh bandage 315 and the C-shaped sliding block 332 in the embodiment of the invention are respectively attached to the back waist, the upper thigh lower part and the rear ankle of the wearer to realize the stable assistance to the human body; meanwhile, the first waist bar rotating shaft 234 and the second waist bar rotating shaft 235 can support the legs of the human body to be freely folded and unfolded, the C-shaped slider 332 and the C-shaped sliding groove 411 can rotate relatively, so that the feet, the legs and the waist of the human body can be supported to be twisted relatively, and the ankle inner and outer folding and unfolding shaft 333 can support the feet of the human body to be folded or unfolded relatively to the shanks; when the pull rope 113 is in a relaxed state, the rotating shaft can support the flexible movement of the human body.

The cable driving device 11 can precisely control the magnitude of the cable tension by means of the cable tension sensor 51, and thus can control the magnitude of the assisting torque provided to the wearer by the portable power assisting apparatus of the present invention at the hip mechanism 25 and the knee mechanism 32.

The leg rod 331 of the present invention is also advantageous to apply the assisting force F4 to the wearer when turning to the rear side of the leg, and the bilateral rotation coupling of the upper extension plate 422 and the lower extension plate 412 in the ankle mechanism is more advantageous to the stability of the leg rod 331 when applying the assisting force F4 to the ankle mechanism.

In order to improve the reliability and the aesthetic property of the device, the thigh rod 311 is a hollow tube structure, and the pull cable 113 is arranged in the thigh rod 311.

The flexible waist and hip mechanism supports multi-dimensional waist size adjustment, and has the advantages of good human body adaptability, good close fitting performance of the flexible structure and high wearing comfort level; the inhaul cable driving device is separated from the rigid force transmission mechanism, so that the space of the waist of a human body can be fully utilized, the body is compact and close-fitting, and the design is simplified; the portable power assisting device adopting the flexible waist and hip mechanism is portable next to the skin, wide in application range, capable of keeping the flexibility of movement during power assisting, and good in wearing and using experience.

The portable power assisting device can be used by one leg or two legs.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, while the invention has been described with respect to the above-described embodiments, it will be understood that the invention is not limited thereto but may be embodied with various modifications and changes.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and various equivalent modifications and substitutions may be easily made by those skilled in the art within the technical scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The flexible waist and hip mechanism is characterized by comprising a waistband, a back plate and a waist rod, wherein the waistband is arranged around the waist of a wearer, and the back plate is fixed on the waistband; one end of the waist rod is in transmission connection with the back plate, and the other end of the waist rod is in transmission connection with the hip mechanism; the joint of the waist rod and the back plate can slide up and down to adapt to different waist heights, the length of the waist rod can be adjusted to adapt to different waist widths, and the joint of the waist rod and the hip mechanism can be adjusted back and forth to adapt to different waist depths; the back plate comprises an upper back plate and a lower back plate, the upper back plate and the lower back plate are rotatably connected through a back plate hinge, and the back plate hinge is horizontally arranged; the lower back plate is provided with a first adjusting sliding groove which is vertically arranged, the upper section of the waist rod is provided with a second adjusting sliding groove which is horizontally arranged, and the first adjusting sliding groove and the second adjusting sliding groove are provided with a waist width and waist height fixing block which is used for locking the lower back plate and the upper section of the waist rod;

the waist rod comprises a waist rod upper section, a waist rod middle section and a waist rod lower section; the waist rod upper section is horizontally arranged, one end of the waist rod upper section is in transmission connection with the lower back plate through a waist and hip high fixing block, and the other end of the waist rod upper section is in rotation connection with the waist rod middle section based on a waist rod first rotating shaft; the middle section of the waist rod is vertically arranged, one end of the middle section of the waist rod is rotationally connected with the upper section of the waist rod, and the other end of the middle section of the waist rod is rotationally connected with the lower section of the waist rod based on a second rotation shaft of the waist rod; the waist rod lower section is horizontally arranged, one end of the waist rod lower section is rotationally connected with the waist rod middle section, the other end of the waist rod lower section is in transmission connection with the hip mechanism, and the first waist rod rotating shaft and the second waist rod rotating shaft are both perpendicular to a coronal plane;

the power fixing plate is used for fixing the inhaul cable driving device and is fixed on the waistband;

the lower section of the waist rod is provided with a horizontally arranged waist depth adjusting chute, and a waist depth fixing block used for locking the lower section of the waist rod and the hip mechanism is arranged on the waist depth adjusting chute;

and a power hanging strip is fixed on the upper section of the waist rod and fixedly connected with the inhaul cable driving device.

2. The flexible hip and waist mechanism of claim 1, wherein said waist belt comprises an upper waist belt and a lower waist belt, each of which is disposed around the waist of the wearer.

3. A portable power assisting device, characterized by comprising a guy cable driving device, a hip mechanism and a flexible waist-hip mechanism according to any one of claims 1-2, wherein the hip mechanism comprises a hip upper arm, a hip lower arm, a hip pulley and a hip rotating shaft, the hip upper arm and the hip lower arm are rotationally connected based on the hip rotating shaft, and the hip pulley is fixed on the hip rotating shaft and can freely rotate relative to the hip upper arm and the hip lower arm; the cable driving device includes: the power output end can rotate relative to the power base, the top end of the inhaul cable is fixed to the power output end, and the inhaul cable cuts into the hip pulley downwards.

4. The portable power assisting device of claim 3, wherein the inhaul cable driving device further comprises a flexible inhaul cable sleeve sleeved outside the inhaul cable, the upper end of the flexible inhaul cable sleeve is fixedly connected with the power base, and the lower end of the flexible inhaul cable sleeve is fixedly connected with the hip upper arm.

5. The portable power assist device of claim 4, wherein the flexible cable sleeve is an arcuate structure for axially carrying tension of the cable.

6. The portable power assisting device of claim 3, wherein the power base is provided with a horizontally arranged power sliding groove, the power fixing plate of the flexible lumbar hip mechanism vertically penetrates through the power sliding groove, and the power base can slide up and down, left and right relative to the power fixing plate.

7. The portable power assist device of claim 3, further comprising: a leg lever mechanism, the leg lever mechanism comprising: the knee mechanism comprises a knee upper arm, a knee lower arm, a knee rotating shaft and a knee pulley, wherein the knee upper arm and the knee lower arm are rotationally connected based on the knee rotating shaft, and the knee pulley is fixed on the knee rotating shaft and can freely rotate relative to the knee upper arm and the knee lower arm; the upper leg rod system comprises an upper leg rod, the upper end of the upper leg rod is fixedly connected with the lower hip arm, and the lower end of the upper leg rod is fixedly connected with the upper knee arm; the shank rod system comprises a shank rod, the upper end of the shank rod is fixedly connected with the lower knee arm, one end of the stay cable is fixed on the power output end, and is cut into the hip pulley anticlockwise after passing through the power output end, cut out after passing through the hip pulley, cut into the knee pulley downwards and clockwise, cut out after passing through, and fixed on a stay cable tension sensor on the lower knee arm.

8. The portable power assist device of claim 7, wherein the thigh bar system further comprises: the upper thigh binding band and the lower thigh binding band respectively encircle the upper thigh part and the lower thigh part of a wearer with the upper thigh protective shell and the lower thigh protective shell so as to realize fixation of the thigh rod and the thigh of the wearer.

9. The portable power assist device of claim 7, wherein the calf pole train further includes a C-shaped slider and an ankle adduction abduction shaft, the lower end of the calf pole being rotationally coupled with the C-shaped slider via the ankle adduction abduction shaft; the C-shaped sliding block is fixedly connected with the ankle of a wearer through a calf bandage.

10. The portable assistive device of claim 9, further comprising an ankle mechanism comprising an upper ankle block, a lower ankle block, and an ankle block shaft, wherein the upper ankle block comprises a C-shaped chute and two downwardly extending lower extension plates, wherein the lower ankle block comprises a thin bottom plate and two upwardly extending upper extension plates, wherein the upper extension plates and the lower extension plates are rotatably coupled by the ankle block shaft to accommodate the flexion and extension of the human foot relative to the lower leg; the C-shaped sliding block is arranged in the C-shaped sliding groove and can rotate relative to the C-shaped sliding groove based on an ankle horizontal rotation axis vertical to the ground so as to adapt to the horizontal rotation movement of the foot of the human body relative to the lower leg; and a plane is arranged below the C-shaped sliding groove to support the C-shaped sliding block.