WO2023024144A1 - 一种腰部固定支持装置及运动辅助设备 - Google Patents
一种腰部固定支持装置及运动辅助设备 Download PDFInfo
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- WO2023024144A1 WO2023024144A1 PCT/CN2021/116183 CN2021116183W WO2023024144A1 WO 2023024144 A1 WO2023024144 A1 WO 2023024144A1 CN 2021116183 W CN2021116183 W CN 2021116183W WO 2023024144 A1 WO2023024144 A1 WO 2023024144A1
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- waist
- inflatable
- ring frame
- human body
- supporting device
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- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 description 4
- 230000037237 body shape Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 208000029549 Muscle injury Diseases 0.000 description 1
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010985 leather Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
Definitions
- the present application belongs to the field of power-assisted exoskeleton robots, and in particular relates to a waist fixing support device and motion assisting equipment.
- Exoskeleton robot as a kind of sports auxiliary equipment, provides support or resistance to the walking or other movements of the human body through an external mechanical assist structure, helping disabled people with muscle damage caused by congenital or disease to recover their walking ability, and assisting outdoor operation hobbies or the elderly walking.
- the waist ring frame is fixed on the waist of the user, and the driving mechanism installed on the waist ring frame pulls the legs of the human body to move, so as to achieve the purpose of assisting the movement.
- the existing auxiliary equipment cannot be well adapted to different body types of human bodies, and it is easy to cause uncomfortable wearing conditions.
- the waist of the wearer is excessively squeezed by the waist ring frame, etc., which affects the wearing experience of the user.
- the purpose of this application is to provide a waist fixing support device and sports auxiliary equipment, aiming to solve the problem that when users wear sports auxiliary equipment in the prior art, the waist ring frame cannot be well adapted to different body types due to the difference in body shape of the users. , a technical issue that affects the user's wearing experience.
- a waist fixing support device comprising: a waist ring frame, the waist ring frame is used to surround the waist of the human body; an inflatable inner liner, an inflatable cavity is arranged in the inflatable inner liner, The inflatable lining is fixed on the side of the waist frame facing the waist of the human body.
- the inflatable inner liner includes a base body and an airbag layer arranged on the base body, the airbag layer is arranged on the side of the base body close to the waist of the human body, and the airbag layer and the base body The air-filled cavity is formed, and the base body is fixed on the waist ring frame.
- the waist fixing support device includes an inflatable device fixed on the waist ring frame, the inflatable device includes an air outlet, the inflatable chamber includes an air inlet, and the air outlet communicates with the air inlet.
- the inflatable cavity includes a plurality of inflatable units arranged at intervals, the inflatable units have different shapes and inflated heights, and the inflatable units are used to fit different parts of the waist of the human body; or, the The air-filled chamber is a strip structure, and the air-filled chamber surrounds and fits the waist of the human body.
- the inflatable cavity includes a plurality of inflatable units arranged at intervals, the inflatable unit includes the air inlet, and the lumbar support device also includes an air supply pipe, and the air supply pipe communicates with the inflatable device the air outlet of all the air inlets of the inflatable units; or, the fixed support device for the waist also includes at least two air supply ducts, one end of any one of the air supply ducts is connected to the air inlet of at least one of the inflatable units The other end of any one of the air delivery pipes is in communication with the air outlet of the inflatable device.
- the waist support device further includes a back support, the back support is arranged between the waist ring frame and the inflatable inner liner, and the back support is rotatably connected to the waist ring frame .
- the waist fixing and supporting device further includes a rotating shaft, the rotating shaft is fixed to the waist ring frame or the back support member, and the back support member rotates relative to the waist ring frame through the rotating shaft.
- the waist ring frame includes a middle support and surrounding pieces connected to both sides of the middle support, the back support is rotatably connected to the middle support, and the inflatable inner liner is a ring structure, The inflatable inner liner is fixedly connected with the back support member and the surrounding member respectively.
- the surrounding part includes a plurality of link parts which are mutually rotatably connected, and the plurality of link parts are connected end to end to form a ring body adaptive to the waist curve, and the ring body surrounds the waist of the human body; or, the The surrounding part includes an integrally formed curved part, and the curved part surrounds the waist of the human body.
- an exercise assisting device comprising: a waist fixed support device, the waist fixed support device is the waist fixed support device described in any one of the foregoing; a leg connection system, the leg The waist connecting system is used to wrap the legs of the human body and drive the legs of the human body to move; the driving mechanism, the driving mechanism is fixed to the waist fixed support device, and the driving mechanism is used to drive the leg connecting system sports.
- the application adds an inflatable lining on the side of the waist ring frame facing the waist, which can adaptively fill the gap between the waist ring frame and the user's waist, so that the waist fixed support device and the waist can be completely fitted , to meet the wearing needs of users of different body types, and improve the adaptability of the product.
- the inflatable inner lining is set between the waist and the waist ring frame, which avoids the direct hard contact between the waist and the waist ring frame, and the force is uniform and increases. Wearing comfort.
- Fig. 1 is a schematic structural view of a waist fixation and support device provided in Embodiment 1 of the present application;
- Fig. 2 is a schematic diagram of the assembly of the lumbar support device provided in Embodiment 1 of the present application;
- Fig. 3 is a schematic structural view of the inflatable liner provided in Embodiment 1 of the present application.
- Fig. 4 is a schematic structural view of the middle support and the back support provided in Embodiment 1 of the present application;
- Fig. 5 is a schematic diagram of the assembly of the middle support and the back support provided in Embodiment 1 of the present application;
- Fig. 6 is a schematic structural diagram of an exercise assistance device provided in Embodiment 2 of the present application.
- 100-waist fixed support device 10-waist ring frame, 11-middle support member, 111-shell, 112-cover plate, 12-surrounding part, 121-linking part, 20-inflatable inner lining, 21-base body, 211 -Velcro, 2111-buckle, 212-connector, 213-fixed mounting hole, 22-airbag layer, 23-inflatable unit, 30-back support, 40-rotation shaft, 200-leg connection system, 300-drive Institutions, 1-Exercise aids.
- orientation terms such as left, right, up, and down in this embodiment are only relative concepts or refer to the normal use state of the product, and should not be regarded as limiting.
- a waist fixing and supporting device 100 provided in Embodiment 1 of the present application includes: a waist ring frame 10 and an inflatable inner liner 20 .
- the waist ring frame 10 is used to surround the waist of the human body.
- the waist fixing support device 100 is fixed on the waist of the human body.
- the inflatable inner lining 20 is provided with an inflatable chamber, and the inflatable inner lining 20 is fixed on the side of the waist frame 10 facing the waist of the human body.
- the waist is fitted, and the gap between the waist ring frame 10 and the user's waist is filled by the inflatable inner liner 20, so as to meet the wearing requirements of users of different sizes.
- the preferred waist ring frame 10 of this embodiment includes a middle support member 11 and surrounding members 12 connected to both sides of the middle support member 11 .
- the surrounding piece 12 is used to surround the waist of the human body.
- the preferred surrounding piece 12 of this embodiment includes a plurality of linking pieces 121 that are rotatably connected to each other.
- the linking parts 121 are adaptively turned to a suitable connection angle to fit the curve of the waist.
- a plurality of links 121 are connected end to end to form a ring body that adapts to the waist curve.
- the ring body can be bent toward or away from the waist to ensure that the curve formed by the ring body corresponds to the curve of the user's waist, and the ring body surrounds the waist of the human body , the waist fixing support device 100 is fixed on the waist, which improves the wearing comfort.
- the surrounding part 12 may also include an integrally formed curved part.
- the curved part should have a certain rigidity. The curved part undergoes adaptive deformation to fit the waist curve, and the curved part wraps around the waist of the human body.
- the waist fixing support device 100 is fixed on the waist.
- the preferred inflatable liner 20 of this embodiment includes a base 21 and an airbag layer 22 disposed on the base 21 .
- the inner layer of the inflatable inner liner 20 can be made of polyurethane plus soft cloth, and the outer layer of the inflatable inner liner 20 can be made of leather or other materials that can strengthen the structure, so as to increase the overall strength of the inflatable inner liner 20 .
- the preferred base body 21 is a strip structure, and the base body 21 is fixed to the waist ring frame 10 .
- one end of the base body 21 is provided with a Velcro 211 for easy connection, and the other end of the base body is provided with a connecting piece 212 matched with the Velcro 211 .
- the buckle 2111 on the Velcro 211 is connected to the connector 212, so that the ends of the base 21 are connected to form a closed ring, and the base 21 is fixed on the waist of the human body.
- the preferred base 21 is provided with a plurality of connectors 212 , and the user can fix the buckle 2111 of the Velcro 211 on the appropriate connectors 212 according to the body shape of the user.
- the airbag layer 22 of this embodiment is arranged on the side of the base body 21 close to the waist of the human body, and protrudes outward along the surface of the base body 21 , an air-filled cavity is formed between the air bag layer 22 and the base body 21 .
- the inflatable cavity is finely designed for the concave and convex parts at different positions of the waist.
- the preferred inflatable cavity in this embodiment includes a plurality of inflatable units 23 arranged at intervals, Inflatable units 23 have different shapes and inflated heights.
- the number of inflatable units 23 in contact with the back is relatively small, and the individual size is relatively large; the number of inflatable units 23 in contact with the side waist and abdomen is relatively large, and the individual size is relatively small , to adapt to more complex waist curves, the inflatable unit 23 is used to fit different parts of the waist, and the specific shape of the inflatable unit 23 is adapted to the waist curve at the fitting place.
- the inflatable inner lining 20 is guaranteed to fit the waist completely, effectively filling the gap between the waist fixed support device 100 and the waist, and the waist fixed support device 100 is evenly stressed when worn on the waist, increasing the Wearing comfort.
- the inflatable cavity may also be a strip structure, and after being inflated, the inflatable cavity surrounds and fits the waist of the human body as a whole.
- the inflation height of the inflatable chamber in this embodiment can be adjusted by the amount of air in the inflatable chamber.
- the preferred waist fixing and supporting device 100 of this embodiment includes an inflatable device (not shown in the figure), the inflatable device includes an air outlet, the inflatable chamber includes an air inlet, the air outlet of the inflatable device communicates with the air inlet of the inflatable chamber, and the inflatable device The inflatable cavity is inflated, and the inflation height of the inflatable cavity is adjusted to fit the waist.
- the preferred inflator in this embodiment is an air pump, which can be fixed on the waist ring frame 10 .
- the inflatable cavity includes a plurality of inflatable units 23 arranged at intervals, the inflatable units 23 include air inlets.
- the preferred lumbar support device 100 of this embodiment includes an air supply duct (not shown in the figure), and an air supply duct communicates with the air outlet of the inflatable device and the air intake of all the inflatable units 23
- One air supply pipe supplies air to all inflatable units 23; all inflatable units 23 in this embodiment share one air supply pipe, and when the inflator is opened, it sends air to all inflatable units 23 at the same time through one air supply pipe, which improves the inflation efficiency .
- the lumbar support device can also include at least two air supply ducts, one end of any air supply duct communicates with the air inlet of at least one inflatable unit 23, and the other end of any air supply duct communicates with the air inlet of the inflation unit 23.
- the air outlet of the device is connected.
- One or several inflatable units 23 are listed as a group, share one air supply pipeline, and supply air to all the inflatable units 23 through at least two air supply pipelines. Different groups of inflatable units 23 can have different inflated heights, so as to meet the fitting requirements of different parts of the waist.
- the preferred waist fixing support device 100 of this embodiment also includes a back support 30, which is rotatably connected to the The waist ring frame 10, in this embodiment, the back support member 30 is rotatably connected to the middle support member 11.
- the preferred waist fixed support device 100 of the present embodiment also comprises rotating shaft 40, and rotating shaft 40 is fixed on waist ring frame 10 or back support member 30, and back support member 30 is relative to waist through rotating shaft 40.
- Ring frame 10 rotates.
- the rotating shaft 40 is connected between the back support member 30 and the middle support member 11, and the back support member 30 is rotatably connected to the middle support member 11.
- the back support member 30 rotates around the axis of the rotating shaft 40, The relative rotation between the back support 30 and the middle support 11 is realized.
- the displaced waist drives the back support 30 to rotate relative to the middle support 11.
- the waist is adaptively adjusted relative to the waist ring frame 10, avoiding the movement of the waist In the process, it interacts with the waist ring frame 10 .
- the preferred rotating shaft 40 is fixed on the waist ring frame 10 .
- the middle support 11 in this embodiment includes a housing 111 and a cover 112 .
- the cover 112 is detachably connected to the housing 111 .
- One end of the rotating shaft 40 is fixedly installed in the cover plate 112 through a bearing, and the other end of the rotating shaft 40 is installed in the back support member 30 through a bearing and an end stopper.
- the back support member 30 is sleeved on the rotating shaft 40 and rotates relative to the rotating shaft 40 under the action of external force.
- the rotating shaft 40 may also be fixed on the back support member 30 , and the rotating shaft 40 and the back support member 30 form an integral structure.
- the waist ring frame 10 is provided with a rotating shaft installation hole, and the rotating shaft 40 is rotatably arranged in the rotating shaft installation hole. Under the action of external force, the back support member 30 drives the rotating shaft 40 to rotate relative to the waist ring frame 10 .
- the back support member 30 of the present embodiment is arranged between the waist ring frame 10 and the inflatable inner liner 20.
- the preferred inflatable inner liner 20 of the present embodiment is Ring structure
- the surrounding part 12 of the waist ring frame 10 surrounds the outside of the inflatable inner liner 20
- the inflatable inner liner 20 is fixedly connected with the back support part 30 and the surrounding part 12 respectively.
- the inflatable liner 20 of this embodiment is provided with a fixed installation hole 213 connected with the back support 30 and the surrounding member 12 at the corresponding position, and the inflatable liner 20 is connected with the back support 30 and the surrounding member 12 by screws.
- the inflatable inner liner 20 can also be fixedly connected with the back support member 30 and the surrounding member 12 through buckles or other methods.
- the inflator can also be fixed on the back support 30 .
- an exercise assisting device 1 provided in Embodiment 2 of the present application includes: a waist support device 100 , a leg connection system 200 and a driving mechanism 300 .
- the waist fixing and supporting device 100 adopts the waist fixing and supporting device 100 of the first embodiment, and is used to wrap the waist of the human body.
- the leg connection system 200 is used to wrap the legs of the human body and drive the legs of the human body to move.
- the driving mechanism 300 is fixed on the waist support device 100 , and the driving mechanism 300 is used to drive the leg connection system 200 to move.
- the driving mechanism 300 includes a rotatable connecting piece under the action of power, the connecting piece is connected to the leg connecting system 200 , and the driving mechanism 300 drives the leg connecting system 200 to move through the connecting piece.
- the exercise assisting device 1 is worn on the waist and legs of the human body, fixed to the waist of the human body through the waist fixing support device 100 , and fixed to the legs of the human body through the leg connection system 200 .
- the driving mechanism 300 moves the legs of the human body up and down by pulling the leg connection system 200 to assist the user in walking.
- the waist fixing support device 100 the gap between the waist ring frame 10 and the user's waist is adaptively filled through the inflatable inner lining 20, so that the waist fixing support device 100 and the waist are completely fitted, and the force is evenly applied, which is convenient for different body shapes
- the user's wearing improves the adaptability of the product and the comfort of use.
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Abstract
一种腰部固定支持装置（100），包括：腰部环架（10），腰部环架（10）用于环绕人体的腰部；充气内衬（20），充气内衬（20）内设置有充气腔，充气内衬（20）固定于腰部环架（10）面向人体的腰部的一侧。一种运动辅助设备（1），包括：腰部固定支持装置（100）、腿部连接系统（200），腿部连接系统（200）用于包裹住人体的腿部并带动人体的腿部运动；还包括驱动机构（300），驱动机构（300）固定于腰部固定支持装置（100），驱动机构（300）用于带动腿部连接系统（200）运动。运动辅助设备（1）满足了不同体型的使用者的穿戴需求，提高了产品的适应性，适合在辅助运动时使用。
Description
本申请属于助力外骨骼机器人领域，尤其涉及一种腰部固定支持装置及运动辅助设备。
外骨骼机器人，作为一种运动辅助设备，通过外部的机械助力结构对人体的行走或其他动作提供支撑力或阻力，帮助因先天或者疾病造成的肌肉损伤残疾人恢复行走能力，以及辅助户外运作爱好者或老年人行走。穿戴外骨骼机器人行走时，腰部环架固定于使用者的腰部，通过安装于腰部环架上的驱动机构拉动人体的腿部运动，达到辅助运动的目的。因使用者存在体型差异，现有的辅助设备不能很好的适应不同体型的人体，容易出现穿戴不舒适的情况，例如，使用者的腰部与腰部环架之间存在间隙不能完整贴合、使用者的腰部被腰部环架过度挤压等，影响使用者的穿戴体验。
本申请的目的在于提供一种腰部固定支持装置及运动辅助设备，旨在解决现有技术的用户穿戴运动辅助设备时，因使用者存在体型差异，腰部环架不能很好的适应不同体型的人体，影响使用者的穿戴体验的技术问题。
本申请第一方面是这样实现的：一种腰部固定支持装置，包括：腰部环架，所述腰部环架用于环绕人体的腰部；充气内衬，所述充气内衬内设置有充气腔，所述充气内衬固定于所述腰部环架面向所述人体的腰部的一侧。
进一步的，所述充气内衬包括基体和设置于所述基体上的气囊层，所述气囊层设置于所述基体靠近所述人体的腰部的一侧，所述气囊层与所述基体之间形成所述充气腔，所述基体固定于所述腰部环架。
进一步的，所述腰部固定支持装置包括固定于所述腰部环架的充气装置，所述充气装置包括出气口，所述充气腔包括进气口，所述出气口连通于所述进气口。
进一步的，所述充气腔包括多个间隔设置的充气单元，所述充气单元具有不同的形状和充气高度，所述充气单元用于与所述人体的腰部的不同部位贴合；或，所述充气腔为条状结构，所述充气腔环绕并贴合于所述人体的腰部。
进一步的，所述充气腔包括多个间隔设置的充气单元，所述充气单元包括所述进气口，所述腰部固定支持装置还包括一个送气管道，所述一个送气管道连通于所述充气装置的出气口与所有的所述充气单元的进气口；或，所述腰部固定支持装置还包括至少两个送气管道，任一所述送气管道的一端与至少一个所述充气单元的进气口相连通，任一所述送气管道的另一端与所述充气装置的出气口相连通。
进一步的，所述腰部固定支持装置还包括背部支撑件，所述背部支撑件设置于所述腰部环架与所述充气内衬之间，所述背部支撑件转动连接于所述腰部环架上。
进一步的，所述腰部固定支持装置还包括转轴，所述转轴固定于所述腰部环架或所述背部支撑件，所述背部支撑件通过所述转轴相对于所述腰部环架转动。
进一步的，所述腰部环架包括中部支撑件和与所述中部支撑件两侧连接的环绕件，所述背部支撑件转动连接于所述中部支撑件，所述充气内衬为环状结构，所述充气内衬分别与所述背部支撑件和所述环绕件固定连接。
进一步的，所述环绕件包括多个相互转动连接的链接件，多个所述链接件首尾连接后形成自适应腰部曲线的环体，所述环体环绕所述人体的腰部；或，所述环绕件包括一体成型的弯曲件，所述弯曲件环绕所述人体的腰部。
本申请第二方面是这样实现的：一种运动辅助设备，包括：腰部固定支持装置，所述腰部固定支持装置为前述任一项所述的腰部固定支持装置；腿部连接系统，所述腿部连接系统用于包裹住人体的腿部并带动所述人体的腿部运动；驱动机构，所述驱动机构固定于所述腰部固定支持装置，所述驱动机构用于带动所述腿部连接系统运动。
本申请的有益效果是：本申请在腰部环架面向腰部的一侧增设充气内衬，可自适应的填充腰部环架与使用者腰部之间的缝隙，使腰部固定支持装置与腰部完整贴合，满足了不同体型的使用者的穿戴需求，提高了产品的适应性，此外，充气内衬设置在腰部与腰部环架之间，避免了腰部直接与腰部环架硬接触，受力均匀，增加了穿戴的舒适性。
图1是本申请实施例一提供的腰部固定支持装置的结构示意图；
图2是本申请实施例一提供的腰部固定支持装置的装配示意图；
图3是本申请实施例一提供的充气内衬的结构示意图；
图4是本申请实施例一提供的中部支撑件与背部支撑件的结构示意图；
图5是本申请实施例一提供的中部支撑件与背部支撑件的装配示意图；
图6是本申请实施例二提供的运动辅助设备的结构示意图。
100-腰部固定支持装置、10-腰部环架、11-中部支撑件、111-壳体、112-盖板、12-环绕件、121-链接件、20-充气内衬、21-基体、211-魔术贴、2111-扣环、212-连接件、213-固定安装孔、22-气囊层、23-充气单元、30-背部支撑件、40-转轴、200-腿部连接系统、300-驱动机构、1-运动辅助设备。
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者可能同时存在居中元件。当一个元件被称为“连接于”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
还需要说明的是，本实施例中的左、右、上、下等方位用语，仅是互为相对概念或是以产品的正常使用状态为参考的，而不应该认为是具有限制性的。
如附图1和图2所示，为本申请实施例一提供的一种腰部固定支持装置100，包括：腰部环架10和充气内衬20。腰部环架10用于环绕人体的腰部，通过腰部环架10的结构设计，将腰部固定支持装置100固定在人体的腰部。充气内衬20内设置有充气腔，充气内衬20固定于腰部环架10面向人体的腰部的一侧，使用者穿戴腰部固定支持装置100时，充气内衬20的充气腔填充气体后与人体的腰部贴合，通过充气内衬20填充腰部环架10与使用者腰部之间的缝隙，以满足不同体型的使用者的穿戴需求。
如附图2所示，本实施例优选的腰部环架10包括中部支撑件11和与中部支撑件11两侧连接的环绕件12。环绕件12用于环绕人体的腰部，为了使环绕件12更好的适应人体的腰部曲线并具有一定的刚度，本实施例优选的环绕件12包括多个相互转动连接的链接件121，相邻的链接件121之间为贴合腰部的曲线自适应的转至合适的连接角度。多个链接件121首尾连接后形成自适应腰部曲线的环体，环体能够向靠近或远离腰部的方向弯曲，保证环体围成的曲线与使用者腰部的曲线对应，环体环绕人体的腰部，将腰部固定支持装置100固定在腰部上，提高了穿戴的舒适性。当然，在其他实施例中，环绕件12也可包括一体成型的弯曲件，弯曲件应具有一定的刚度，弯曲件发生自适应的形变，以贴合腰部曲线，弯曲件包裹住人体的腰部，将腰部固定支持装置100固定在腰部上。
如附图2、3所示，本实施例优选的充气内衬20包括基体21和设置于基体21上的气囊层22。充气内衬20的内层可采用聚氨酯加软布制作，充气内衬20的外层可采用皮革或者其他可以加强结构的材料制作，以增加充气内衬20整体的强度。
本实施例优选的基体21为带状结构，基体21固定于腰部环架10。在本实施例中，基体21一端设有方便连接的魔术贴211，基体另一端设有与魔术贴211配合的连接件212。魔术贴211上的扣环2111连接于连接件212，使基体21的首尾连接后形成封闭的环体，将基体21固定在人体的腰部。本实施例优选的基体21上设有多个连接件212，使用者可根据自身的体型，将魔术贴211的扣环2111固定在合适的连接件212上。
本实施例的气囊层22设置于基体21靠近人体的腰部的一侧，并沿基体21的表面向外凸出，气囊层22与基体21之间形成充气腔。为了使充气内衬20可以更好的适配人体的腰部曲线，针对腰部不同位置的凹凸部分，对充气腔进行精细化设计，本实施例优选的充气腔包括多个间隔设置的充气单元23，充气单元23具有不同的形状和充气高度，例如，与后背接触的充气单元23设置数量较少，单个尺寸较大，与侧腰和腹部接触的充气单元23设置数量较多，单个尺寸较小，以适应更复杂的腰部曲线，充气单元23用于与腰部的不同部位贴合，充气单元23的具体形状与贴合处的腰部曲线相适应。通过多个充气单元23的设计，保证充气内衬20与腰部完整贴合，有效填充腰部固定支持装置100与腰部之间的缝隙，腰部固定支持装置100穿戴在腰上时受力均匀，增加了穿戴的舒适性。当然，在其他实施例中，充气腔也可为条状结构，充气腔充气后，作为一个整体环绕并贴合于人体的腰部。
为了更好的适应不同体型的使用者，本实施例的充气腔的充气高度，可通过充气腔内的充气量进行调整。本实施例优选的腰部固定支持装置100包括充气装置（图中未示），充气装置包括出气口，充气腔包括进气口，充气装置的出气口连通于充气腔的进气口，充气装置向充气腔充气，调节充气腔的充气高度，使其与腰部贴合。本实施例优选的充气装置为充气泵，可固定于腰部环架10上。当充气腔包括多个间隔设置的充气单元23时，充气单元23包括进气口。为方便给充气单元23送气，本实施例优选的腰部固定支持装置100包括还包括一个送气管道（图中未示），一个送气管道连通于充气装置的出气口与所有的充气单元23的进气口，一个送气管道向所有的充气单元23送气；本实施例的所有的充气单元23共用一个送气管道，当充气装置开启后，通过一个送气管道同时向所有的充气单元23送气，提高了充气效率。当然，在其他的实施例中，腰部固定支持装置还可包括至少两个送气管道，任一送气管道的一端与至少一个充气单元23的进气口相连通，任一送气管道的另一端与充气装置的出气口相连通。将一个或几个充气单元23列为一组，共用一个送气管道，通过至少两个送气管道完成向所有的充气单元23送气。不同组的充气单元23可具有不同的充气高度，以满足腰部不同部位的贴合需求。
使用者穿戴运动辅助设备行走时，在不同身体姿势状态下，设备很难适应人的体型变化，例如，行走过程中，腰部会跟随腿部发生轻微位移，导致腰部固定支持装置100与腰部环架之间产生摩擦，影响产品使用的舒适度，为了解决该问题，如附图1、2所示，本实施例优选的腰部固定支持装置100还包括背部支撑件30，背部支撑件30转动连接于腰部环架10，在本实施例中，背部支撑件30转动连接于中部支撑件11。
如附图1、4、5所示，本实施例优选的腰部固定支持装置100还包括转轴40，转轴40固定于腰部环架10或背部支撑件30，背部支撑件30通过转轴40相对于腰部环架10转动。在本实施例中，转轴40连接于背部支撑件30与中部支撑件11之间，背部支撑件30转动连接于中部支撑件11，在外力作用下，背部支撑件30围绕转轴40的轴线转动，实现背部支撑件30与中部支撑件11之间相对转动。使用者穿戴运动辅助设备行走时，发生位移的腰部带动背部支撑件30相对中部支撑件11转动，通过背部支撑件30的转动使腰部相对腰部环架10作自适应的调整，避免了腰部在移动过程中与腰部环架10相互影响。本实施例优选的转轴40固定于腰部环架10，为方便安装转轴40，本实施例的中部支撑件11包括壳体111和盖板112，盖板112可拆卸连接于壳体111。转轴40一端通过轴承固定安装在盖板112内，转轴40另一端通过轴承及端部限位件安装在背部支撑件30中。背部支撑件30套装在转轴40外，并外力作用下，相对于转轴40转动。当然，在其他实施例中，转轴40也可固定于背部支撑件30，转轴40与背部支撑件30形成一体结构。腰部环架10上设有转轴安装孔，转轴40转动设置于转轴安装孔内。在外力作用下，背部支撑件30带动转轴40，相对于腰部环架10转动。
如附图1、3所示，本实施例的背部支撑件30设置于腰部环架10与充气内衬20之间，为方便固定安装充气内衬20，本实施例优选的充气内衬20为环状结构，腰部环架10的环绕件12环绕在充气内衬20的外侧，充气内衬20分别与背部支撑件30和环绕件12固定连接。本实施例的充气内衬20在相应位置设有与背部支撑件30和环绕件12连接的固定安装孔213，充气内衬20与背部支撑件30、环绕件12通过螺钉连接，当然，在其他实施例中，充气内衬20与背部支撑件30、环绕件12也可通过卡扣或其他方式固定连接。为方便给充气内衬20的充气单元23充气，充气装置也可固定在背部支撑件30上。
本申请实施例一提供的腰部固定支持装置100作为关键部件，可应用于运动辅助设备1中。如附图6所示，为本申请实施例二提供的一种运动辅助设备1，包括：腰部固定支持装置100、腿部连接系统200和驱动机构300。
腰部固定支持装置100采用实施例一的腰部固定支持装置100，用于包裹住人体的腰部。
腿部连接系统200用于包裹住人体的腿部并带动人体的腿部运动。
驱动机构300固定于腰部固定支持装置100，驱动机构300用于带动腿部连接系统200运动。驱动机构300包括在动力作用下可转动的连接件，该连接件连接于腿部连接系统200，驱动机构300通过连接件带动腿部连接系统200运动。
实际使用时，运动辅助设备1穿戴于人体的腰部和腿部，通过腰部固定支持装置100与人体的腰部固定、通过腿部连接系统200与人体的腿部固定。驱动机构300通过拉动腿部连接系统200，使人体的腿部上下运动，辅助使用者行走。穿戴腰部固定支持装置100时，通过充气内衬20自适应的填充腰部环架10与使用者腰部之间的缝隙，使腰部固定支持装置100与腰部完整贴合，且均匀受力，方便不同体型的使用者的穿戴，提高了产品的适应性和使用的舒适度。
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本申请的保护范围之内。
Claims (10)
- 一种腰部固定支持装置，其特征在于：包括：腰部环架，所述腰部环架用于环绕人体的腰部；充气内衬，所述充气内衬内设置有充气腔，所述充气内衬固定于所述腰部环架面向所述人体的腰部的一侧。
- 如权利要求1所述的腰部固定支持装置，其特征在于：所述充气内衬包括基体和设置于所述基体上的气囊层，所述气囊层设置于所述基体靠近所述人体的腰部的一侧，所述气囊层与所述基体之间形成所述充气腔，所述基体固定于所述腰部环架。
- 如权利要求2所述的腰部固定支持装置，其特征在于：所述腰部固定支持装置包括固定于所述腰部环架的充气装置，所述充气装置包括出气口，所述充气腔包括进气口，所述出气口连通于所述进气口。
- 如权利要求3所述的腰部固定支持装置，其特征在于：所述充气腔包括多个间隔设置的充气单元，所述充气单元具有不同的形状和充气高度，所述充气单元用于与所述人体的腰部的不同部位贴合；或，所述充气腔为条状结构，所述充气腔环绕并贴合于所述人体的腰部。
- 如权利要求4所述的腰部固定支持装置，其特征在于：所述充气腔包括多个间隔设置的充气单元，所述充气单元包括所述进气口，所述腰部固定支持装置还包括一个送气管道，所述一个送气管道连通于所述充气装置的出气口与所有的所述充气单元的进气口；或，所述腰部固定支持装置还包括至少两个送气管道，任一所述送气管道的一端与至少一个所述充气单元的进气口相连通，任一所述送气管道的另一端与所述充气装置的出气口相连通。
- 如权利要求1所述的腰部固定支持装置，其特征在于：所述腰部固定支持装置还包括背部支撑件，所述背部支撑件设置于所述腰部环架与所述充气内衬之间，所述背部支撑件转动连接于所述腰部环架上。
- 如权利要求6所述的腰部固定支持装置，其特征在于：所述腰部固定支持装置还包括转轴，所述转轴固定于所述腰部环架或所述背部支撑件，所述背部支撑件通过所述转轴相对于所述腰部环架转动。
- 如权利要求6所述的腰部固定支持装置，其特征在于：所述腰部环架包括中部支撑件和与所述中部支撑件两侧连接的环绕件，所述背部支撑件转动连接于所述中部支撑件，所述充气内衬为环状结构，所述充气内衬分别与所述背部支撑件和所述环绕件固定连接。
- 如权利要求8所述的腰部固定支持装置，其特征在于：所述环绕件包括多个相互转动连接的链接件，多个所述链接件首尾连接后形成自适应腰部曲线的环体，所述环体环绕所述人体的腰部；或，所述环绕件包括一体成型的弯曲件，所述弯曲件环绕所述人体的腰部。
- 一种运动辅助设备，其特征在于：包括：腰部固定支持装置，所述腰部固定支持装置为权利要求1-9任一项所述的腰部固定支持装置；腿部连接系统，所述腿部连接系统用于包裹住人体的腿部并带动所述人体的腿部运动；驱动机构，所述驱动机构固定于所述腰部固定支持装置，所述驱动机构用于带动所述腿部连接系统运动。
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| US4756306A (en) * | 1984-03-20 | 1988-07-12 | Safeguard Technologies, Inc. | Therapeutic belt |
| US5205814A (en) * | 1992-06-01 | 1993-04-27 | Lundrigan John C | Lumbar support device |
| US20170232617A1 (en) * | 2014-08-08 | 2017-08-17 | Panasonic Corporation | Movement assistance device |
| CN110693639A (zh) * | 2019-11-20 | 2020-01-17 | 张昕 | 一种可折叠便携一键启动式腰部固定器 |
| CN110711062A (zh) * | 2019-10-26 | 2020-01-21 | 卢德华 | 腰腿助力支撑架 |
| CN110900568A (zh) * | 2019-11-07 | 2020-03-24 | 北京精密机电控制设备研究所 | 一种腰部助力外骨骼机器人 |
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| US4756306A (en) * | 1984-03-20 | 1988-07-12 | Safeguard Technologies, Inc. | Therapeutic belt |
| US5205814A (en) * | 1992-06-01 | 1993-04-27 | Lundrigan John C | Lumbar support device |
| US20170232617A1 (en) * | 2014-08-08 | 2017-08-17 | Panasonic Corporation | Movement assistance device |
| CN110711062A (zh) * | 2019-10-26 | 2020-01-21 | 卢德华 | 腰腿助力支撑架 |
| CN110900568A (zh) * | 2019-11-07 | 2020-03-24 | 北京精密机电控制设备研究所 | 一种腰部助力外骨骼机器人 |
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