CN114952796A - Exoskeleton enhancement auxiliary system - Google Patents

Abstract

The invention is suitable for the technical field of auxiliary walking, and provides an exoskeleton enhancement auxiliary system which comprises a waist belt body structure, an auxiliary carrying structure and a leg fixing device which is used for fixing legs of a human body, wherein the waist belt body structure comprises a waist ring frame and two driving modules which are respectively arranged at two ends of the waist ring frame; the auxiliary carrying structure is connected with the waist ring frame, and the two leg fixing devices are respectively in transmission connection with the corresponding driving modules. The exoskeleton enhancement auxiliary system provided by the invention can effectively reduce the pressure on the back of a user when the back supporting structure is enough to support the back of the user, and can also meet the requirement that a human body has an auxiliary supporting effect on the waist when carrying articles.

Description

Exoskeleton enhancement auxiliary system

Technical Field

The invention belongs to the technical field of walking assistance, and particularly relates to an exoskeleton enhancement assistance system.

Background

The exoskeleton enhancement auxiliary system is a device for assisting and supporting walking or other actions of a human body or improving force application through an external mechanical assistance structure, and is commonly used for the action improvement or rehabilitation training of patients with hemiplegia or other patients with muscle weakness. The exoskeleton enhancement assistance systems on the market generally have the following disadvantages:

the exoskeleton enhancement auxiliary system comprises a waist belt body structure for fixing the waist of a human body, wherein the height difference between a waist ring frame of the existing waist belt body structure and a driving module connected to the end part of the waist ring frame is small, so that the moment of the driving module relative to the waist ring frame is short, and when a user uses the exoskeleton enhancement auxiliary system to assist walking, a waist supporting structure arranged in the middle of the waist ring frame needs to use large force to support the back of the user;

secondly, the existing exoskeleton enhancement auxiliary system can only assist a user in lifting thighs to assist walking movement, but cannot assist the human body in supporting the waist and other parts when carrying articles.

Therefore, a product that can solve the above problems is needed.

Disclosure of Invention

The invention aims to provide an exoskeleton enhancement auxiliary system, and aims to solve the technical problems that a waist belt body structure of the existing exoskeleton enhancement auxiliary system can sufficiently support the back of a user by using large force, and the exoskeleton enhancement auxiliary system cannot assist a human body to carry articles.

In order to solve the technical problem, the invention provides an exoskeleton enhancement auxiliary system, which adopts the following technical scheme:

an exoskeleton enhancement auxiliary system comprises a waist belt body structure, an auxiliary carrying structure and a leg fixing device which is used for fixing legs of a human body, wherein the waist belt body structure comprises a waist ring frame and two driving modules which are arranged at two ends of the waist ring frame respectively, the waist ring frame comprises a back supporting part and two connecting belts, the two connecting belts are arranged at two ends of the back supporting part respectively, each connecting belt is obliquely arranged compared with the back supporting part, and the two driving modules are connected to the end parts of the two connecting belts respectively; the auxiliary carrying structure is connected with the waist ring frame, and the two leg fixing devices are respectively in transmission connection with the corresponding driving modules.

Specifically, the connecting band includes the area body that sets up relatively back support component slope, the one end of area body with back support component is articulated mutually, and/or, the other end with correspond drive module links to each other.

Further, the connecting belt further comprises a first connecting component which is arranged at the end part of the back supporting component and is used for enabling the corresponding belt body to incline relative to the back supporting component, and the first connecting component is hinged with one end of the belt body; and the second connecting component is arranged on the corresponding driving module and is hinged with the other end of the belt body.

The waist belt body structure further comprises a flexible waist belt fixedly connected with the waist ring frame and positioned on one side, close to a human body, of the waist ring frame, the flexible waist belt comprises a main belt and an elastic assembly which is embedded in the main belt and is made of rigid materials, the elastic assembly is rigid and used for enhancing the rigidity of the main belt, and the elastic assembly is elastic and capable of bending along with the bending of the flexible waist belt; the elastic component comprises at least one elastic piece which extends along the length direction of the main belt.

Further, the flexible waistband is fixedly connected with the waist ring frame through an intermediate connecting component, the intermediate connecting component comprises a third connecting component and a fourth connecting component, and the third connecting component and the fourth connecting component are arranged at intervals.

Specifically, the third connecting member includes a first connecting rib and a second connecting rib arranged at an included angle with the first connecting rib, the first connecting rib is fixedly connected with the main belt, and the second connecting rib is fixedly connected with the waist ring frame.

Furthermore, the fourth connecting member comprises a third connecting rib and a fourth connecting rib arranged at an included angle with the third connecting rib, the third connecting rib is connected with the main belt, and the fourth connecting rib is fixedly connected with the waist ring frame; the third connecting rib and the fourth connecting rib are located in a non-same plane.

Furthermore, the auxiliary carrying structure comprises a support body and a back supporting unit arranged at one end of the support body, the other end of the support body is connected with the waist ring frame and is bent towards the direction far away from the back of the human body, one side of the back supporting unit is attached to the back of the human body, and the other side opposite to the back supporting unit is rotatably connected with one end of the support body in the first degree of freedom direction.

Specifically, the back support unit comprises a backup plate, a middle plate elastically connected with the backup plate and an outer plate rotationally connected with the middle plate, the backup plate faces the back of the human body, and the backup plate, the middle plate and the outer plate are arranged in a stacked mode.

Specifically, the backup plate with the intermediate plate passes through an at least elastic module elastic connection, the elastic module includes the elastic component, elastic component one end with the backup plate is connected, and the other end inlays to be located in the intermediate plate.

Compared with the prior art, the exoskeleton enhancement auxiliary system provided by the invention mainly has the following beneficial effects:

the exoskeleton enhancement auxiliary system comprises a waist belt body structure, wherein the waist belt body structure comprises a waist ring frame and two driving modules which are respectively arranged at two ends of the waist ring frame, two connecting belts of the waist ring frame are respectively arranged at two ends of a back supporting part, each connecting belt is obliquely arranged compared with the back supporting part, the two driving modules are respectively connected with the end parts of the two connecting belts, so that the height difference is respectively formed between the middle position of the waist ring frame (namely the back supporting structure) and the two ends of the waist ring frame (namely the end parts of the connecting belts connected with the two driving modules), the height difference between the driving modules and the middle position of the waist ring frame is further increased, namely, the moment between the driving modules and the middle position of the waist ring frame is increased, and when a user uses the exoskeleton enhancement auxiliary system with the waist structure to assist walking, the pressure on the back of the user can be effectively reduced when the back of the user is sufficiently supported by the back supporting structure, the experience is effectively improved; meanwhile, the output end of the driving module can be closer to the hip joint through the obliquely arranged connecting belt, so that the stability and the wearing comfort of the exoskeleton enhanced auxiliary system can be improved.

Secondly, the exoskeleton enhancement auxiliary system further comprises an auxiliary carrying structure, and the exoskeleton enhancement auxiliary system can assist a user in lifting thighs to assist walking movement, and meanwhile can also meet the requirement that a human body plays a role in auxiliary supporting to parts such as a waist when carrying objects, so that the human body is easier and more labor-saving when carrying the objects, and carrying efficiency is higher.

Drawings

Fig. 1 is a perspective view of an exoskeleton enhancement assistance system according to an embodiment of the present invention;

FIG. 2 is an exploded view of one of the exoskeleton augmentation assistance systems of FIG. 1;

FIG. 3 is a second exploded view of the exoskeleton augmentation assistance system of FIG. 1;

FIG. 4 is one of the schematic perspective views of the belt structure of FIG. 1;

FIG. 5 is a perspective view of the lumbar ring mount of FIG. 4;

FIG. 6 is an enlarged fragmentary exploded view at A in FIG. 4;

FIG. 7 is a second schematic perspective view of the belt structure of FIG. 1;

FIG. 8 is a schematic perspective view of the flexible waistband of FIG. 7;

fig. 9 is one of the exploded views of the lumbar strap construction of fig. 7;

FIG. 10 is a second exploded view of the waist belt structure of FIG. 7

FIG. 11 is one of the schematic perspective views of the auxiliary handling structure of FIG. 1;

FIG. 12 is an exploded view of the auxiliary handling structure of FIG. 11;

FIG. 13 is an exploded view of the second auxiliary handling structure of FIG. 11;

FIG. 14 is a second perspective view of the auxiliary handling structure of FIG. 1;

fig. 15 is a second perspective view of the exoskeleton enhancement assistance system according to the embodiment of the present invention.

The reference numbers in the drawings are as follows:

100. an exoskeleton enhancement assistance system;

10. a waist belt structure; 1a, a waist ring frame; 11a, a back support member; 12a, connecting belts; 121a, a belt body; 1211a, weight reduction grooves; 122a, a first connecting member; 123a, a second connecting member; 13a, a reinforcing structure; 131a, a reinforcement; 132a, a rib; 2a, a driving module;

3a, a flexible waistband; 31a, a main belt; 32a, an elastic component; 321a, an elastic member;

4a, a fixing component; 42a, a locking fastener;

5a, an intermediate connecting member; 51a, a third connecting member; 511a, a first connecting rib; 512a, a second connecting rib; 52a, a fourth connecting member; 521a, a third connecting rib; 522a, fourth connecting rib; 6a, a convex pad;

20. an auxiliary carrying structure;

1b, a stent body; 11b, a trunk; 12b, branching; 121b, mounting grooves;

2b, a back support unit; 21b, a backup plate; 22b, a middle plate; 23b, an outer plate; 231b, a base; 232b, mounting parts; 233b, punching; 3b, mounting pieces;

4b, an elastic module; 41b, an elastic member; 42b, a connecting rod; 43b, a hook; 5b, a rotating shaft;

30. a leg fixing device;

1c, a connecting rod; 2c, leg fixing pieces.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.

It should be noted that the terms of orientation such as left, right, up, down, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting.

As shown in fig. 1 and 2, an exoskeleton enhancement assistance system 100 is provided for an embodiment of the present invention, and includes a waist belt structure 10, an auxiliary carrying structure 20, and two leg securing devices 30. The waist belt structure 10 includes a belt-shaped waist ring frame 1a and two driving modules 2a respectively disposed at two ends of the waist ring frame 1a, the carrying structure 20 can be specifically disposed at a middle position of the waist ring frame 1a, and the carrying structure 20 can be detachably connected to the waist ring frame 1 a. The waist ring frame 1a surrounds the waist of the human body to play a rigid supporting role, and the waist ring frame 1a can be made of metal materials such as stainless steel and the like. The lumbar ring frame 1a includes a back support part 11a, two connecting straps 12a, and two drive modules 2 a. The two connection belts 12a may be separately provided at both ends of the back support member 11a, and the two driving modules 2a may be separately connected to the ends of the two connection belts 12 a. Also, each connecting strap 12a may be disposed obliquely to the back support part 11a to increase a height difference between each driving module 2a and the back support part 11a and to bring the output end of the driving module 2a closer to the hip joint. Specifically, in the present embodiment, the side of the connection strap 12a closer to the user is inclined downward by a set angle with respect to the time when the user wears the exoskeleton enhancement assistance system 100, so that the connection strap 12a is gradually inclined downward in a direction extending from one end of the connection strap 12a connected to the back support part 11a to the other end, so that the height difference between the driving module 2a and the back support part 11a can be increased.

As shown in fig. 13, the auxiliary carrying structure 20 can be connected to the waist belt structure 10, and particularly, the auxiliary carrying structure 20 can be detachably connected to the waist ring frame 1a of the waist belt structure 10, so that the exoskeleton enhancement assistance system 100 can increase the function of assisting the human body to carry articles. It can be understood that when the waist part of the human body is the gravity center of force when the human body carries an article, the upper half part of the human body also rotates and bends around the hip joint to a certain degree, the auxiliary carrying structure 20 can provide auxiliary support for the waist part and the back part, so that the human body can provide auxiliary support when the human body bends over for carrying, namely, the auxiliary carrying structure 20 can reduce the pressure of the waist part, the back part and other body parts when the human body carries an article, thereby being more labor-saving and easier to carry.

As shown in fig. 1, the two leg fixing devices 30 can be respectively connected to the corresponding driving modules 2a in a transmission manner, wherein one leg fixing device 30 can be used for fixing one leg of the human body, so that the leg fixing device 30 can be driven to perform corresponding actions when the driving module 2a drives the leg fixing device 30 to rotate. The other leg fixing device 30 is similar in structure and will not be described in detail.

In summary, compared with the prior art, the exoskeleton enhancement assistance system 100 has at least the following advantages:

first, the lumbar strap structure 10 includes a lumbar strap frame 1a, two connection straps 12a of the lumbar strap frame 1a are respectively disposed at two ends of a back support part 11a, and each connection strap 12a is disposed obliquely with respect to the back support part 11a, two driving modules 2a are respectively connected to the ends of the two connection straps 12a, such that a height difference is respectively provided between a middle position of the lumbar strap frame 1a (i.e., the back support part 11 a) and two ends of the lumbar strap frame 1a (i.e., ends of the two driving modules 2a connected with the connection straps 12 a), i.e., a moment between the driving modules 2a and the middle position of the lumbar strap frame 1a is increased, so as to effectively reduce a pressure applied to the back of a user when the back support part 11a is sufficiently supporting the back of the user when the user uses the exoskeleton-enhanced assisting system 100 having the lumbar strap structure 10 to assist walking, the experience is effectively improved; meanwhile, the connecting band 12a arranged obliquely can enable the output end of the driving module 2a to be closer to the hip joint, so that the overall stability and the wearing comfort of the whole exoskeleton enhancement auxiliary system can be improved, and the power assisting performance is better.

Secondly, the auxiliary carrying structure 20 of the exoskeleton assisting system 100 can help the user to lift the thigh for assisting walking movement, and simultaneously can also help the human body to carry objects, such as the waist, and the like, so that the human body can carry objects more easily and labor-saving.

As a specific embodiment, the driving module 2a may include a motor, a gearbox, and other components (not shown in the figure), that is, the driving module 2a is mainly a regulation control module driven by the motor and the gearbox performs speed change.

In some embodiments, the angle of inclination of the connection band 12a may be set to 15-25 °. It can be understood that when the inclination angle a of the connecting belt 12 relative to the back support structure 11a is set to 15 ° to 25 °, the relative height difference between the back support structure 11a and the driving module 2a can be in a proper range, and the driving module 2a is closer to the hip joint, so that the stability of the whole lumbar belt body structure 10 can be improved, the pressure on the back of the user can be reduced, and the wearing comfort is better.

Preferably, the inclination angle of the connection strap 12a is set to 18 °, which can maximally relieve the pressure that the back of the user may be subjected to when walking.

In some embodiments, as shown in fig. 4 and 5, the connection belt 12a includes a belt body 121a disposed obliquely to the back support member 11a due to the difference in the width of the waist of different users. Specifically, in the present embodiment, based on the time when the user wears the exoskeleton enhancement assistance system 100, the side of the belt body 121a close to the user is inclined downward by a set angle, so that the belt body 121a is gradually inclined downward in a direction extending from one end of the belt body 121a connected to the back support part 11a to the other end, so as to increase the height difference between the driving module 2a and the back support part 11 a. One end of the belt body 121a may be hinged to the back support part 11a, and/or the other end of the belt body 121a may be connected to the corresponding driving module 2a, so that the lumbar ring frame 1a can be adaptively adjusted according to the width of the user's waist.

In some embodiments, as shown in fig. 5 and 6, the connection strap 12a further includes a first connection member 122a disposed at an end of the back support part 11a, the first connection member 122a may be disposed obliquely with respect to the back support part 11a so that the corresponding strap body 121a can be tilted with respect to the back support part 11a, and the first connection member 122a may be hinged with one end of the strap body 121 a.

In some embodiments, as shown in fig. 5 and 6, the connection strap 12a further includes a second connection member 123a provided on the corresponding driving module 2a, and the second connection member 123a may be hinged to the other end of the strap body 121 a.

It can be understood that both ends of the belt body 121a are respectively hinged to the first connecting member 122a and the second connecting member 123a, that is, the connecting belt 12a is hinged to both the back supporting part 11a and the driving module 2a, so as to further improve the self-adaptive adjustment performance of the lumbar ring frame 1 a.

In some embodiments, as shown in fig. 6, a wire receiving groove 1211a may be formed on one side of the belt body 121a to receive and fix the wire wound around the waist ring. Specifically, in the embodiment, the wire receiving groove 1211a is located on a side of the belt body 121a close to the user, so that the wire receiving groove 1211a and the wires placed in the wire receiving groove 1211a can be hidden, thereby effectively improving the aesthetic property of the waist ring frame 1 a.

In some embodiments, as shown in fig. 5 and 6, a reinforcing structure 13a may be disposed in the wire receiving groove 1211a, and the reinforcing structure 13a may enhance the rigidity of the belt 121 a. The reinforcing structure 13a includes a reinforcing member 131a and two ribs 132a, wherein the two ribs 132a can be disposed on two opposite sides of the wire accommodating groove 121a1, specifically, on two opposite sides of the wire accommodating groove 1211a in the width direction of the belt body 121 a; both ends of the reinforcing member 131a may be respectively connected to the two ribs 132a, and specifically, both ends of the reinforcing member 131a may be respectively fixed to the two ribs 132a by fasteners such as screws and rivets.

In some embodiments, as shown in fig. 7 and 8, the lumbar strap structure 10 further includes a flexible waist band 3 a. The flexible waistband 3a is fixedly connected with the waist ring frame 1a and is positioned on one side of the waist ring frame 1a close to the human body, when the waist ring frame is worn, the flexible waistband 3a is in contact with the human body in a fitting manner, and the waist belt body structure 10 is fixed on the waist of the human body through the fixing component 4a at the end part of the flexible waistband 3 a. The flexible waist belt 3a comprises a flexible main belt 31a and an elastic component 32a embedded in the main belt 31a, and the elastic component 32a is a semi-rigid structure as a whole and can be made of rigid metal materials.

As can be understood, on the one hand, the elastic component 32a has certain rigidity to reinforce the rigidity of the main belt 31a and provide certain rigid support for the main belt 31a, so that the main belt 31a is not easily deformed, thereby ensuring the structural stability of the belt structure 10 when being worn on the human body, and making the structure of the waist ring frame 1a relatively more stable, so that the related data monitored by the sensor mounted on the waist ring frame 1a is more accurate, the changes of angle, distance and the like brought by the human body during movement can be more truly fed back, and then the next action command can be more accurately sent according to the fed back data; on the other hand, elastic component 32a possesses certain elastic deformation ability, can be crooked along with the bending of flexible waistband 3a to can satisfy when dressing and produce corresponding deformation because of the human physiology curve of needs adaptation, make flexible waistband 3a can more laminate the human body, thereby more laborsaving when the motion.

In some embodiments, as shown in fig. 7 and 8, the fixing element 4a includes a buckle element and a locking element 42a detachably connected to the buckle element, and the buckle element and the locking element 42a are respectively disposed at two ends of the main belt 31a, so that the flexible waist belt 3a can be detachably worn around the waist of the human body. The buckle piece and the locking piece 42a can be both magnetic buckles, one end of the main belt 31a penetrates through the locking piece 42a and then is folded back and adhered to the outer side of the main belt 31a, the flexible waistband 3a is fixed on the waist by magnetically fastening the buckle piece and the locking piece, and the size enclosed by the flexible waistband 3a is adjusted by adjusting the folding length of the end part of the main belt 31a penetrating through the locking piece 42a, so that the waist belt is suitable for different waist circumference conditions (the more the folding is, the lower the circumference is, the less the folding is, the larger the circumference is); the end of the main belt 31a is folded back through the locking piece 42a and then adhered to the main belt 31a by means of a hook and loop fastener. Of course, the fastener and the locking element 42a can also be used in other known fastener and locking structure for locking and fixing, and it is sufficient to fix the flexible waist belt 3a on the waist by the fastener and the locking element 42 a.

In some embodiments, as shown in fig. 8, the elastic members 32a are provided in two sets, and the two sets of elastic members 32a are provided near the ends of both ends of the main belt 31a, respectively. The end position of the main belt 31a is in a suspended state relative to the waist ring frame 1a, and the position close to the end is not connected with the waist ring frame 1a, so that the rigid support of the waist ring frame 1a cannot be obtained, and the deformation is easy to occur when the waist ring frame is pulled by external force, and because the flexible waistband 3a is fixedly connected with the waist ring frame 1a, the flexible waistband 3a after the deformation can drive the waist ring frame 1a to shake, so that the data monitored by the sensor on the waist ring frame 1a is inaccurate, two groups of elastic components 32a are respectively arranged at the two ends of the main belt 31a of the flexible waistband 3a, so that the two end parts of the main belt 31a can obtain certain rigid support, the overall strength of the flexible waistband 3a is improved, the flexible waistband cannot be easily deformed when the waist ring frame is pulled by external force, and the angle generated by the relevant position when the human body moves can be fed back more truly, Distance, location, etc.

In some embodiments, as shown in fig. 8, the elastic component 32a includes at least one elastic member 321a, and the elastic member 321a extends along the length direction of the main belt 31 a; in practical use, the waist belt structure 10 is usually connected to the leg fixing device 30 fixed on the thigh for assisting in lifting the leg, and the waist belt structure 10 will pull the flexible waist belt 3a to generate a downward bending deformation tendency due to the downward reaction force of the leg fixing device 30, and the elastic member 321a is extended along the length direction of the main belt 31a, so that the main belt 31a is prevented from generating a large bending deformation by the aid of the rigidity and elastic resilience stress of the elastic member 321a, and the stability of the whole waist ring frame 1a after being worn is ensured.

In this embodiment, as shown in fig. 8, two elastic members 321a may be disposed, and the two elastic members 321a are disposed side by side. The two elastic members 321a are arranged side by side at intervals to further enhance the rigidity of the flexible waist belt 3a and ensure the stability of the waist ring frame 1 a. The specific arrangement position and number of the elastic elements 321a can be set according to the specific situation of the main belt 31a, and are not limited herein.

In this embodiment, the elastic member 321a may be a fish scale spring. The fish scale spring has certain elastic deformation, can bend along with the bending of the flexible waistband 3a, has better rigidity compared with a common spiral spring, and can bear certain radial pressure, thereby meeting the requirement that the flexible waistband 3a needs to keep semi-rigidity.

In some embodiments, as shown in fig. 9 and 10, the fixed connection of the flexible waist belt 3a and the waist ring frame 1a may be connected by an intermediate connecting member 5a, the intermediate connecting member 5a includes a third connecting member 51a and a fourth connecting member 52a, and the third connecting member 51a and the fourth connecting member 52a are spaced apart. Because the flexible waistband 3a is of an annular structure, in order to ensure the stability of the connection between the flexible waistband 3a and the waist ring frame 1a, two third connecting members 51a can be respectively arranged at two sides of the flexible waistband 3a, correspondingly, two fourth connecting members 52a are also arranged, the two third connecting members 51a are symmetrically arranged, and the two fourth connecting members 52a are also symmetrically arranged, so that the special structure of the annular flexible waistband 3a and the special structure of the waist ring frame 1a can be adapted, and the connection between the two is more stable.

In some embodiments, as shown in fig. 9 and 10, the third connecting member 51a includes a first connecting rib 511a and a second connecting rib 512a disposed at an angle to the first connecting rib 511a, the first connecting rib 511a is fixedly connected to the main belt 31a in the vertical direction, the second connecting rib 512a is fixedly connected to the inner side of the waist ring frame 1a, and the first connecting rib 511a and the second connecting rib 512a can be connected by disposing a plurality of rivets spaced side by side when being connected to the flexible waist belt 3a and the waist ring frame 1 a; the first connecting rib 511a and the second connecting rib 512a are both in the shape of a strip, and compared with a planar connecting structure, the connecting contact area can be reduced, the connecting structure is better suitable for the annular flexible waistband 3a and the waist ring frame 1a, and meanwhile, the first connecting rib 511a and the second connecting rib 512a are arranged in a structure form with an included angle, so that the situation that the connection fails due to too concentrated stress caused by unidirectional connection can be avoided.

In some embodiments, as shown in fig. 9 and 10, the included angle between the first and second connection ribs 511a and 512a may be greater than 90 degrees. Because the flexible waistband 3a has a tendency of being pulled downwards in actual use, and the first connecting rib 511a is vertically arranged, an included angle between the first connecting rib 511a and the second connecting rib 512a can be set to be an obtuse angle larger than 90 degrees, and compared with the arrangement of the first connecting rib 511a and the second connecting rib 512a in a right angle or an acute angle, the stress borne by the second connecting rib 512a can be correspondingly reduced.

In some embodiments, as shown in fig. 9 and 10, the fourth connecting member 52a includes a third connecting rib 521a, a fourth connecting rib 522a disposed at an angle to the third connecting rib 521a, the third connecting rib 521a is connected to the main belt 31a, and the fourth connecting rib 522a is fixedly connected to the waist ring frame 1 a; the third connecting rib 521a lies in a non-coplanar manner with the fourth connecting rib 522 a. Because the waist curve of the human body is not a straight line, in order to better adapt to the physiological curve of the waist of the human body and ensure that the flexible waistband 3a and the waist ring frame 1a are tightly attached as much as possible, the third connecting rib 521a connected to the main belt 31a and the fourth connecting rib 522a connected to the waist ring frame 1a can be arranged in a non-same plane, so that the connection stability and the attachment can be considered.

In some embodiments, the second connecting rib 512a and the fourth connecting rib 522a are disposed at an included angle, so that the second connecting rib 512a and the fourth connecting rib 522a are disposed at an included angle and are staggered, and can be in mutual compensation fit with the third connecting member 51a and the fourth connecting member 52a as a whole, thereby enabling the connection between the flexible waist belt 3a and the waist ring frame 1a to be more stable; in addition, still can set up a plurality of protruding pads 6a in one side of main belt 31a towards human waist, the interval sets up between each protruding pad 6a, protruding pad 6a can adopt same material manufacturing with main belt 31a, protruding pad 6a can adopt the mode of magic subsides adhesion to be connected with flexible waistband 3a, protruding pad 6a not only can play the cushioning effect, still can play certain isolation effect simultaneously, because protruding pad 6a dismantles easily, the user can dismantle protruding pad 6a from flexible waistband 3a and wash after using a period of time, thereby avoid flexible waistband 3a direct and the long-time contact of waist use to make dirty abluent problem of being not convenient for, there is certain clearance simultaneously between each protruding pad 6a, the air current circulation of can being convenient for, satisfy demands such as heat dissipation.

In some embodiments, as shown in fig. 11 and 12, the auxiliary handling structure 20 includes a stand body 1b, a back support unit 2 b. The support body 1b is bent towards the direction far away from the back of the human body, so that when the human body bends over and bows up at the back, the bent support body 1b can avoid abutting interference with the back, and sufficient activity space is provided for the back of the human body; as an embodiment, an installation component 3b may be disposed at an end of the support body 1b for installing the support body 1b, that is, one end (i.e., "upper end") of the support body 1b is connected to the back support unit 2b, the other end (i.e., "lower end") of the support body 1b is fixedly connected to the installation component 3b, one end of the installation component 3b is fixedly connected to the support body 1b, and the other end is a free end, and the free end is detachably connected to the lumbar strap structure 10, so that when auxiliary transportation is required, the auxiliary transportation structure 20 provided by the present invention may be selectively installed on the lumbar strap structure 10 through the installation component 3b, and when auxiliary transportation is not required, the auxiliary transportation structure 20 provided by the present embodiment may be detached from the lumbar strap structure 10, and may be selectively used by a user; of course, as another embodiment, the aforementioned mounting member 3b may be eliminated, and a connecting member is directly disposed at the other end (i.e., "lower end") of the bracket body 1b to connect with the lumbar strap structure 10, i.e., the connecting member is a part of the bracket body 1b and is integrally formed with the bracket body 1b, which also achieves the purpose of connecting the bracket body 1b to the lumbar strap structure 10.

As shown in fig. 13, one side of the back support unit 2b is attached to the back of the human body, and the other side opposite to the one side is rotatably connected to one end (i.e., "upper end") of the support body 1b in the first direction of freedom a, it can be understood that the first direction of freedom a is substantially the same as the bending direction of the back of the human body when the human body bends, and since the support body 1b is rotatably connected to the back support unit 2b, the back support unit 2b can also rotate relative to the support body 1b when the human body bends to be transported, so as to be attached to the back of the human body as much as possible.

It can be understood that the auxiliary carrying structure 20 of the exoskeleton enhancement auxiliary system 100 is provided with the support body 1b and the back support unit 2b rotatably connected with the support body 1b, so that the back support unit 2b can rotate correspondingly along with the bending of the waist of the human body when the human body is carried, the back support unit 2b can be attached to the back of the human body as much as possible, and the back support unit 2b is attached to the human body and abuts against the human body, so that the parts of the shoulder, the back, the spine, the waist and the like of the human body can be rigidly supported by the back support unit 2b and the support body 1b, thereby reducing the pressure on the body parts of the spine, the waist muscles and the like, making the carrying easier, and thus saving labor and improving the carrying efficiency.

In some embodiments, as shown in fig. 11 and 12, the back support unit 2b includes a backrest 21b, an intermediate plate 22b elastically connected to the backrest 21b, and an outer plate 23b rotatably connected to the intermediate plate 22b, the backrest 21b is disposed toward the back of the human body, the intermediate plate 22b is disposed between the backrest 21b and the outer plate 23b, and the backrest 21b, the intermediate plate 22b, and the outer plate 23b are stacked in parallel, and the backrest 21b is elastically connected to the intermediate plate 22b, so that the backrest 21b directly attached to the back of the human body can have a certain elastic movement space with respect to the intermediate plate 22b and the outer plate 23b, and thus the backrest 21b can be finely adjusted in multiple directions with respect to the back of the human body, thereby better adapting to the shape of the back of the human body when performing different postures such as normal bending and lateral bending, for example, when the back of the human body bends toward one side, because the leaning plate 21b is not kept in a completely parallel state with the middle plate 22b and the outer plate 23b due to the propping action of the back of the human body, the leaning plate 21b is elastically connected with the middle plate 22b, so that the leaning plate 21b can correspondingly slightly incline, the leaning plate 21b still can keep a larger contact area with the back of the human body, and the back supporting unit 2b can play a supporting role as much as possible. On the other hand, when people carry out the carrying action, main joint parts of the upper half of the body such as shoulders, waist, back and the like all rotate relative to the hip joint to a certain degree, the rotating track of the main joint parts is in a continuous changing state along with the change of the carrying action, the backup plate 21b and the middle plate 22b are elastically connected, so that the auxiliary carrying structure can better adapt to the continuous changing, the backup plate 21b can be kept in a tight state with the human body all the time during carrying, compared with the rigid connection, the elastic connection can avoid the conditions of degree of freedom conflict, clamping stagnation and auxiliary failure caused by the continuous changing of the moving track of the parts such as the shoulders, the waist, the back and the like during carrying, thereby being better adapted to the change of the moving track, having better auxiliary carrying effect and more stable performance.

Specifically, in the present embodiment, as shown in fig. 13, the support body 1B is rotatably connected to the outer plate 23B, the rotation direction thereof is the first degree of freedom direction a, and the outer plate 23B is rotatably connected to the intermediate plate 22B in the second degree of freedom direction B; in a natural state, the plane of the first degree of freedom direction a is perpendicular to the plane of the second degree of freedom direction B, and it can be understood that the plane of the first degree of freedom direction a is a direction substantially perpendicular to the back of the human body, and the plane of the second degree of freedom direction B is a direction substantially parallel to the back of the human body.

Further, as shown in fig. 12, the backup plate 21b is elastically connected to the middle plate 22b through at least one elastic module 4b, the elastic module 4b includes an elastic member 41b, one end of the elastic member 41b is connected to the backup plate 21b, the other end of the elastic member 41b is embedded in the middle plate 22b, the middle plate 22b is provided with an accommodating cavity for accommodating the elastic member 41b, and the elastic member 41b is accommodated in the accommodating cavity in the middle plate 22b, so that the space utilization rate is higher, and the structure is more compact. In some embodiments, as shown in fig. 12, the elastic module 4b further includes a connecting rod 42b connected to one end of the elastic member 41b, and a hooking piece 43b connected to the other end of the elastic member 41 b; the connecting rod 42b is fixedly arranged on one side, away from the back of the human body, of the backup plate 21b, the hooking piece 43b is embedded on one side, away from the back of the human body, of the middle plate 22b, and the elastic component 41b can be a spiral spring which has good flexibility and certain torsion capacity, so that fine adjustment of the backup plate 21b in multiple directions can be well met, and multi-degree-of-freedom adjustment can be achieved.

Specifically, in the present embodiment, a plurality of elastic modules 4b may be disposed, and the plurality of elastic modules 4b are respectively disposed at each corner of the backup plate 21 b. For example, four sets of elastic modules 4b may be disposed as shown in fig. 13, and the four sets of elastic modules 4b are respectively disposed at four corners of the backrest 21b, i.e. at four corners of the middle plate 22b, so that the stress can be dispersed uniformly, the back support unit 2b can be more stable, and the backrest 21b can be better adjusted in micro-angle and multi-direction.

In an embodiment, the middle plate 22B and the outer plate 23B may be rotatably connected by a bearing assembly 24, and a plane of the rotation direction is a plane of the second degree of freedom direction B.

In some embodiments, as shown in fig. 11, 14 and 15, the support body 1b includes a trunk 11b extending obliquely downward from one end connected to the back support unit 2b, and two branches 12b provided at an end of the extending end of the trunk 11b, the two branches 12b are symmetrically disposed, and the two branches 12b and the trunk 11b are disposed such that the support body 1b is a "triangular" support structure as a whole, thereby being more stable in structure, and at the same time, the two branches 12b are detachably connected to the lumbar belt structure 10 respectively, so that the stress can be dispersed with respect to the lumbar belt structure 10, thereby avoiding stress concentration from affecting the structural stability of the lumbar belt structure 10; accordingly, two mounting members 3b are provided, and the two mounting members 3b are respectively connected to the two branches 12b, and the mounting members 3b can be engaged with the lumbar belt structure 10 and then locked and fixed by locking members such as screws and rivets.

In some embodiments, as shown in fig. 12, the end of the branch 12b connected to the mounting part 3b is provided with a mounting groove 121b, the end of the mounting part 3b is embedded in the mounting groove 121b, and after the mounting part 3b is embedded in the groove, the mounting part can be locked and fixed by a locking member such as a screw or a rivet.

In some embodiments, as shown in fig. 13, the outer plate 23b includes a plate-shaped base 231b and a mounting portion 232b protruding from the base 231b, the bracket body 1b is rotatably connected to the mounting portion 232b through a rotating shaft 5b, and the mounting portion 232b is provided with a through hole 233b for the rotating shaft 5b to pass through. The rotating shaft 5b enables the bracket body 1b to rotate relative to the outer plate 23b in the direction of the first degree of freedom A, so that the auxiliary carrying structure 20 can move in the directions of multiple degrees of freedom, and the carrying can be better assisted.

In some embodiments, as shown in fig. 2, the leg fixing device 30 includes a connecting rod 1c drivingly connected to the driving module 2a, and a leg fixing member 2c connected to an end of the connecting rod 1 c. The leg fixing member 2c can be worn on the leg of the human body, the connecting rod 1c enables the leg fixing member 2c to be connected with the corresponding driving module 2a, so that the connecting rod 1c can be driven to swing when the driving module 2a acts, and the connecting rod 1c can drive the leg fixed on the leg fixing member 2c to perform corresponding actions (such as walking, running, leg lifting and the like) through swinging.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (10)

1. An exoskeleton enhancement auxiliary system is characterized by comprising a waist belt body structure, an auxiliary carrying structure and a leg fixing device which is used for fixing legs of a human body, wherein the waist belt body structure comprises a waist ring frame and two driving modules which are respectively arranged at two ends of the waist ring frame, the waist ring frame comprises a back supporting part and two connecting belts, the two connecting belts are respectively arranged at two ends of the back supporting part, the connecting belts are obliquely arranged compared with the back supporting part, and the two driving modules are respectively connected to the end parts of the two connecting belts; the auxiliary carrying structure is connected with the waist ring frame, and the two leg fixing devices are respectively in transmission connection with the corresponding driving modules.

2. An exoskeleton enhancement assistance system as claimed in claim 1 wherein said straps include straps arranged obliquely to said back support members, said straps being hinged at one end to said back support members and/or being connected at the other end to a respective said drive module.

3. The exoskeleton enhancement assistance system as claimed in claim 2 wherein said straps further comprise first link members provided at ends of said back support members for enabling the respective straps to tilt relative to said back support members, said first link members being hingedly connected to one end of said straps; and the second connecting component is arranged on the corresponding driving module and is hinged with the other end of the belt body.

4. The exoskeleton enhancement assistance system as claimed in claim 1 wherein said waist belt structure further comprises a flexible waist belt fixedly connected to said waist ring frame and located on a side of said waist ring frame adjacent to the human body, said flexible waist belt comprising a main belt, an elastic member embedded in said main belt and made of a rigid material, said elastic member being rigid for increasing the rigidity of said main belt, said elastic member being simultaneously elastic to bend with bending of said flexible waist belt; the elastic component comprises at least one elastic piece which extends along the length direction of the main belt.

5. The exoskeleton enhancement assistance system as claimed in claim 4 wherein said flexible waist belt is fixedly connected to said waist ring frame by intermediate connecting members, said intermediate connecting members comprising a third connecting member and a fourth connecting member, said third connecting member and said fourth connecting member being spaced apart.

6. An exoskeleton enhancement assistance system as claimed in claim 5 wherein said third link member comprises a first link bar fixedly connected to said main belt and a second link bar fixedly connected to said waist ring frame at an angle to said first link bar.

7. The exoskeleton enhancement assistance system as claimed in claim 6 wherein said fourth connecting members comprise third connecting ribs and fourth connecting ribs disposed at an angle to said third connecting ribs, said third connecting ribs being connected to said main belt and said fourth connecting ribs being fixedly connected to said waist loop frame; the third connecting rib and the fourth connecting rib are located in a non-same plane.

8. The exoskeleton enhancement assistance system as claimed in claim 1 wherein said transport assistance structure comprises a support body and a back support unit mounted on one end of said support body, the other end of said support body being connected to said lumbar ring frame and curving away from the back of the person, said back support unit having one side engaging the back of the person and an opposite side pivotally connected to one end of said support body in a first degree of freedom.

9. The exoskeleton enhancement assistance system as claimed in claim 8 wherein said back support unit comprises a back plate, a middle plate resiliently coupled to said back plate and an outer plate pivotally coupled to said middle plate, said back plate being disposed towards the back of said person and said back plate, middle plate and outer plate being in a stacked arrangement.

10. An exoskeleton enhancement assistance system as claimed in claim 9 wherein said back plate is resiliently connected to said intermediate plate by at least one resilient module comprising a resilient member connected at one end to said back plate and at the other end embedded in said intermediate plate.

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