WO2024037064A1

WO2024037064A1 - Waist assisting exoskeleton

Info

Publication number: WO2024037064A1
Application number: PCT/CN2023/093069
Authority: WO
Inventors: 巫蔡泉; 施翔
Original assignee: 广州视鹏科技有限公司
Priority date: 2022-08-16
Filing date: 2023-05-09
Publication date: 2024-02-22

Abstract

A waist assisting exoskeleton, comprising a back frame body (10), wherein the back frame body (10) comprises an elastic plate (11), and in a worn state, the elastic plate (11) can deform along with the movement of the torso of a wearer. The waist assisting exoskeleton further comprises a leg wearing member (13) and an elastic energy storage member (14), wherein the leg wearing member (13) can be worn on the leg of a human body, and the leg wearing member (13) is connected to the back frame body (10) by means of the elastic energy storage member (14). When the wearer stoops down, the elastic plate (11) and/or the elastic energy storage member (14) can deform and store energy, so as to provide a restoring force of pulling the torso of the human body back and upright, achieving an effect of providing greater assistance for the wearer, and facilitating the operator's operation. Therefore, the risk of injury to the wearer is reduced while the load ability of the wearer is improved.

Description

A waist-assisted exoskeleton

Technical field

The present disclosure relates to the technical field of wearable exoskeletons, and in particular to a waist-assisted exoskeleton.

Background technique

A mechanical exoskeleton is a machine device that can be worn by the human body. The mechanical exoskeleton is mainly used to assist the wearer's limbs in movement.

Among them, the exoskeleton system that acts on the wearer's waist is mainly composed of a back wearing piece (back frame) worn on the user's torso. The back wearing piece is provided with flexible elastic materials. When the wearer bends over, the back wearing piece passes through The above-mentioned flexible elastic material provides assistance for the wearer's waist and/or back to move in the upright restoration direction.

However, due to the poor energy storage effect and low structural strength of flexible elastic materials, the existing exoskeleton system has poor support effect on the wearer's torso, and the power-assisting effect is not ideal, which is not conducive to the wearer's work. The human body has a strong sense of weight.

Contents of the invention

The purpose of this disclosure is to provide a waist assisting exoskeleton, which solves the problem of poor support and assisting effects of the exoskeleton system on the wearer's trunk by improving the body structure of the back frame.

In order to solve the above technical problems, the present disclosure adopts the following technical solutions:

A waist assist exoskeleton is provided, including:

The back frame body is provided with a wearing part, and the back frame body can be worn on the human trunk through the wearing part;

The back frame body includes an elastic plate member that extends longitudinally along the human trunk. In the wearing state, the elastic plate member can bend and deform with the movement of the wearer's trunk;

The waist assist exoskeleton also includes a leg wearing piece and an elastic energy storage piece. The leg wearing piece can be worn on the human leg. The leg wearing piece is connected to the back frame body through the elastic energy storage piece. connect.

The beneficial effects of the present disclosure are: in the back frame body of the waist assist exoskeleton, the back frame body includes elastic plates that extend longitudinally along the human trunk, and the leg wear parts are connected to the back frame body through elastic energy storage parts ; Among them, the elastic plate is used to produce corresponding bending deformation along with the movement of the wearer's trunk, and the elastic energy storage member is used to produce corresponding stretching deformation along with the movement of the wearer's trunk. Both the elastic plate and the elastic energy storage element can deform and store energy. The assistance exerted by the elastic plate acts between the wearer's back and waist, while the assistance exerted by the elastic energy storage element acts on the wearer's waist and legs. The two can cooperate with each other to further improve the power-assisting effect of the waist-assist exoskeleton, thereby ensuring that the waist-assist exoskeleton can play a good role in assisting the wearer's overall trunk to provide assistance for the wearer's trunk to return to an upright position. .

Since the structural strength of elastic panels is stronger than that of flexible elastic materials (such as elastic ropes, elastic bands, etc.), when the wearer is in a relatively upright state, the elastic panels can provide stronger support for the torso. , reduce the burden on the wearer's body, and can also provide greater assistance to the wearer, which is beneficial to the wearer's work, improves the wearer's load capacity, and also reduces the risk of injury to the wearer; and, it is different from the existing ones. A flexible elastic rope or elastic band, the restoring force generated after elastic deformation is pulled from top to bottom along the human body torso. The elastic plate member of the present disclosure undergoes bending deformation rather than axial lifting deformation. Therefore, the restoring force exerted on the body after deformation of the elastic plate is basically perpendicular to the body's trunk, thereby avoiding a large local pressure on the human body's shoulders and providing good comfort.

Description of drawings

The present disclosure will be described in further detail below based on the drawings and embodiments.

Figure 1 is one of the schematic diagrams of the overall structure of the waist assist exoskeleton according to an embodiment of the present disclosure;

Figure 2 is the second schematic diagram of the overall structure of the waist assist exoskeleton according to the embodiment of the present disclosure (the leg wearing parts and elastic energy storage parts are omitted);

Figure 3 is a schematic diagram of the rear structure of the waist assist exoskeleton according to an embodiment of the present disclosure;

Figure 4 is a schematic diagram of the side structure of the waist assist exoskeleton according to the embodiment of the present disclosure;

Figure 5 is a front view of the waist assist exoskeleton according to the embodiment of the present disclosure;

Figure 6 is a rear view of the waist assist exoskeleton according to the embodiment of the present disclosure;

Figure 7 is a schematic structural diagram of the leg wearing device according to an embodiment of the present disclosure;

Figure 8 is one of the structural schematic diagrams of the length direction of the first strap according to the embodiment of the present disclosure;

Figure 9 is the second structural schematic diagram of the length direction of the first strap according to the embodiment of the present disclosure;

Figure 10 is a schematic structural diagram of the inner side of the waist strap according to the embodiment of the present disclosure;

Figure 11 is a schematic diagram of the outer structure of the waist strap according to the embodiment of the present disclosure;

Figure 12 is a schematic structural diagram of the inner side of the waist module according to the embodiment of the present disclosure.

In the figure: 10. Back frame body; 11. Elastic plate; 12. Waist support; 121. Installation part; 13. Leg wearing parts; 131. First leg strap; 1311. First wearing surface; 1312. First leg fabric; 1313, second leg fabric; 1314, flexible filler; 1315, first suture; 1316, third connection part; 1317, second suture; 132, second leg strap; 1321 , second wearing surface; 1322. fourth connection part; 14. elastic energy storage member; 141. restraint belt; 15. back support; 151. second connection part; 152. notch; 20. arm component; 21. support Rod; 211, connecting ring; 22, adjusting rod; 30, decorative panel; 40, waist wearing parts; 41, waist module; 411, belt through hole; 412, first waist fabric; 413, second waist fabric; 42 , waist strap; 421, elastic limit part; 4211, convex part; 4212, transition part; 422, first connecting part; 423, first waist strap; 4231, first matching part; 424, second waist strap Belt; 4241, second fitting part; 4242, fourth fitting part; 425, third waist strap; 50, back wearing piece; 51, shoulder strap.

Detailed ways

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only the embodiments of the present disclosure. Some examples, not all examples. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without making creative efforts fall within the scope of protection of this disclosure.

In the description of the present disclosure, unless otherwise clearly stated and limited, the terms "connected" and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integrated connection; it can be a mechanical connection. , or it can be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediary, it can be an internal connection between two elements or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this disclosure can be understood on a case-by-case basis.

In this disclosure, unless otherwise expressly stated and limited, a first feature "on" or "below" a second feature may include the first and second features in direct contact, or may include the first and second features. Not in direct contact but through additional characteristic contact between them. Furthermore, the terms "above", "above" and "above" a first feature on a second feature include the first feature being directly above and diagonally above the second feature, or simply mean that the first feature is higher in level than the second feature. “Below”, “under” and “under” the first feature is the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature is less horizontally than the second feature.

This embodiment provides a waist assisting exoskeleton, which is intended to improve the assisting effect of the exoskeleton system on the wearer's trunk, thereby solving the problems of the wearer having poor load capacity and being easily injured.

Refer to Figures 2 and 3, which are schematic diagrams of the overall structure of the waist assist exoskeleton according to this embodiment. The waist assist exoskeleton of this embodiment can be used as a part of the exoskeleton system, or as an independent wearable exoskeleton system. Use, where the exoskeleton system refers to but is not limited to the whole body exoskeleton system, the upper limb exoskeleton system, and the lower limb exoskeleton system, which is used to bind the wearer's torso so that the overall exoskeleton system can cooperate with the wearer itself , achieving a higher synchronization rate and better boosting effect.

Regarding the wearable exoskeleton system, the inventor of the present disclosure discovered after long-term research that workers engaged in logistics handling, construction handling, automobile assembly, aircraft assembly, fire rescue, sanitation, military and other scenario fields need to carry heavy objects. , part of the weight of the load-bearing object will be transmitted to the wearer's back and waist through the carrier body 10 located on the wearer's back and waist, and the other part of the weight will be transmitted to the wearer's hips and legs through the carrier body 10. Finally, it is transmitted to the ground through the wearer's torso, hips and legs. The existing back frame body 10 is provided with flexible elastic materials, so that when the wearer bends over, the back wearing part is provided by the above-mentioned flexible elastic materials. Assist the wearer's waist and/or back to move toward the upright position. However, due to the poor energy storage effect and low structural strength of flexible elastic materials, the existing exoskeleton system has poor support effect on the wearer's torso, and the power-assisting effect is not ideal, which is not conducive to the wearer's work. The human body has a strong sense of weight, which increases the risk of injury to the wearer. To this end, the present disclosure provides the following examples.

Referring to Figure 1, for ease of understanding, the side of each component located above the figure is the upper part of each component, which is the "up" direction indicated by the arrow in the figure, and the side of each component located below the figure is the lower part of each component. , which is the “down” direction indicated by the arrow in the drawing. As shown in Figure 3, the side of each component located on the left side of the figure is the left part of each component, which is the "left" direction indicated by the arrow in the figure. The side of each component located on the right side of the figure is the left part of each component. The right part is the direction of “right” indicated by the arrow in the drawing.

The waist assist exoskeleton provided by this embodiment includes a back frame body 10. As the component with the largest contact area and interaction force with the wearer in the exoskeleton system, the back frame body 10 can provide support for the wearer's waist, back and even upper buttocks. Wear space. In order to realize the wearing and fixation between the back frame body 10 and the human body, the back frame body 10 is provided with a wearing part. The back frame body 10 can be worn on the human body through the wearing part. It can be understood that the wearing part in this embodiment generally includes The back wear piece 50, the waist wear piece 40, the leg wear pieces 13, etc., among which the back frame body 10 can be worn on the wearer's lower back through the back wear piece 50. In the worn state, the back frame body 10 serves as an exoskeleton system. The core part is located on the back side of the wearer, allowing good synchronization between the exoskeleton system and the wearer. The back wearing piece 50 is provided with shoulder straps 51, and both ends of the shoulder straps 51 are respectively connected to the upper part of the back frame body 10 left and right sides and the left and right sides of the lower part, for example, the back The left and right sides of the upper part of the frame body 10 and the left and right sides of the lower part are provided with first through holes for providing the shoulder straps 51 to be connected and fixed, so that when the back frame body 10 is worn, the wearer's arms can pass through the shoulder straps. 51 and the back frame body 10 pass through the enclosed space, so that the shoulder straps 51 rest on the wearer's shoulders. It can be understood that, in order to ensure that the force exerted by the back body 10 on the wearer can be relatively evenly transmitted to the wearer's torso, the back body 10 of this embodiment is provided with one shoulder strap 51 and two shoulder straps 51 on each left and right sides. The shoulder straps 51 respectively correspond to the first through holes on the left and right sides of the backpack body 10 . One end of the shoulder strap 51 is connected to the left and right sides of the upper part of the backpack body 10 , and the other end is connected to the left and right sides of the lower part of the backpack body 10 . The waist wearing part 40 is disposed at the lower part of the back frame body 10. In this embodiment, second through holes are respectively provided on the left and right sides of the lower part of the back frame body 10. The two second through holes provide two opposite ends of the waist wearing part 40 respectively. In the space of the connection, in the wearing state, the lower part of the back frame body 10 is generally at the wearer's waist or extends from the waist to the upper buttocks. At this time, the waist wearing part 40 surrounds the wearer and both ends are connected to the second via holes. The waist wearing part 40 is wrapped around the wearer's hips or abdomen, thereby cooperating with the shoulder straps 51 to secure the back frame body 10 to the wearer's torso.

In this waist-assisted exoskeleton, the back frame body 10 needs to provide support for the wearer's trunk and needs to have a certain degree of rigidity to achieve force transmission. The back frame body 10 can be made of metal, such as aluminum. Materials include aluminum alloy materials, copper materials, copper alloy materials, iron materials, stainless steel materials, and one or more combinations of plastics, etc. The combination described here is not a limitation on the material components. Examples , when the back frame body 10 is made of a combination of multiple materials, the back frame body 10 can be made of a variety of different plastic materials. It is understandable that materials with higher rigidity, a certain ability to resist tangential torque, smaller mass, and are suitable for the lightweight requirements of wearable exoskeletons are generally used. At the same time, the exoskeleton system also includes soft materials. Soft materials are generally used in the above-mentioned wearable components so that the wearable components can be adapted to the wearer's limbs of different body types, thereby allowing the relationship between the wearer's limbs and the exoskeleton system. It has good adaptability. For soft materials, rubber parts can be used (natural rubber or synthetic rubber can be selected as rubber). Rubber is a completely amorphous polymer. It is elastic at room temperature and can produce relatively large amounts of energy under the action of a small external force. After large deformation, it can return to its original shape after external force is removed, which can increase the contact area with the wearer's limbs, thus improving the stability and comfort of the fixation. Silicone parts can also be used (organic silica gel or inorganic silica gel can be selected). Silicone has good chemical stability and good flexibility. It can also increase the contact area with the wearer's limbs, thereby improving the stability and comfort of the fixation. sex. Alternatively, leather parts can be used. Leather is an animal skin that has been denatured and non-perishable through physical and chemical processing such as hair removal and tanning. Leather is composed of natural protein fibers tightly woven in three-dimensional space. Its surface has a special grain layer, which has natural grain and luster. It feels comfortable and has good elastic deformation function. It can also improve the relationship with the limbs ( The contact area of the parts to be fixed), thereby improving the stability and comfort of fixation.

According to the above solution, the back frame body 10 of this embodiment adopts a combination of rigidity and flexibility. The back frame body 10 provides good support for the wearer's trunk, and through the waist wearing part 40, the back wearing part 50, the leg wearing part 13, etc. The flexible structure can form a good fit between the back frame body 10 and the human body. In addition to improving human-machine compliance, it can also ensure that the back frame body 10 stably fits the human body, improving wearing comfort, and , the flexible structure will not limit the normal range of activities of the human body during the wearer's movement, ensuring the stretchability of the human body's own limbs.

As shown in Figures 1 to 3, the back frame body 10 specifically includes an elastic plate 11 and a waist support 12. The waist support 12 can be worn on the waist of the human body. One end of the elastic plate 11 is connected to the waist support 12. When worn, the elastic plate 11 is elastic. The other end of the plate 11 extends along the human trunk and can be bent and deformed with the movement of the wearer's trunk.

In some embodiments, only the elastic plate 11 can be used and the setting of the waist support 12 can be eliminated. It should be noted that the elastic plate 11 is a plate-shaped elastomer, and the elastic plate 11 will be damaged under the action of external force. It deforms and stores energy in the deformed state, exerts a reaction force on the object exerting external force on it, and will elastically reset after losing the external force. In the wearing state, the waist support 12 is used to connect with the belt, and the waist support 12 can also be connected with one end of the shoulder strap 51 .

It can be understood that the cooperation between the elastic plate 11 and the waist support 12 forms a wearing space for the waist on the front side of the back support assembly. It can be understood that the waist support 12 in this embodiment can be a plate structure. As mentioned above, In the description, the waist support 12 needs to have a certain degree of rigidity to provide good support to the wearer.

In practical applications, the elastic plate 11 can be a strip-shaped plate structure, one end of which is connected behind the waist support 12. The waist support 12 can be worn on the wearer's waist through the waist wearing part 40, so that the elastic plate 11 can Extends along the spine of the wearer, thereby extending to the back after passing through the waist of the wearer. In order to improve the fit between the back frame component and the wearer, the elastic plate 11 is set as an arc-shaped member that fits the curve of the human body's back. The arc-shaped member extends in an arc shape, and the structure formed by its extension can match the structure of the human body's waist and back, thereby forming an approximately "S"-shaped structure that fits the line formed by the connection between the human body's waist and back.

At the same time, the elastic plate 11 is arranged as an arc-shaped member that fits the curve of the human body's back, which is more conducive to more even deformation section by section. As the human body's waist bends, the elastic plate 11 deforms evenly section by section. Compared with For bent steel plates, its power gradient is more stable and the effect is better.

In some embodiments, the length of the elastic plate 11 is set to be greater than half the length of the back frame body 10. This ensures that the elastic plate 11 is long enough to undergo elastic deformation, and on the one hand ensures elasticity. The power-assisted effect, on the other hand, allows the elastic plate 11 to fit better with the human body's waist and back.

Through the above, one end of the shoulder strap 51 is connected behind the waist support 12, and the other end can be connected to the upper part of the elastic plate member 11. In other embodiments, the back support 15 can also be provided on the upper part of the elastic plate member 11, thereby Provide support for the wearer's back, and set the back wearing piece 50 on the back support 15 to provide a connection position for the other end of the shoulder strap 51 . When the above-mentioned backrest body 10 structure is in the wearing state, one end of the elastic plate 11 is relatively fixed to the wearer's waist or upper hip through the waist bracket 12, and the other end can be connected to the wearer by setting the shoulder strap 51 or by setting the back bracket 15. The wearer's back is relatively fixed, so that when the wearer bends over, the elastic plate 11 will move with the wearer's torso movement. When the wearer bends over, the elastic plate 11 will also be in bending deformation. In the state of energy storage, the elastic plate 11 will exert a reaction force on the wearer's back and upper buttocks to return to the upright direction. In this state, the wearer will feel that the upper buttocks are pressed and the back is pressed by the elastic plate. It is pulled by the member 11, thereby forming a tendency for the back to move in the backward swing direction, and when the wearer's trunk moves in the upright (straight) direction, the reaction force is released to provide assistance for the wearer's trunk to return to an upright position. In this regard, in order to reduce the pressure on the wearer's waist and buttocks, the fitting area between the waist support 12 and the wearer needs to be large enough to ensure that the pressure exerted by the elastic plate 11 on the wearer through the waist support 12 can be evenly distributed. Delivered to the wearer's waist and hips.

The waist assist exoskeleton also includes a leg wear piece 13 and an elastic energy storage piece 14. The leg wear piece 13 can be worn on the human leg. The leg wear piece 13 is connected to the waist support 12 through the elastic energy storage piece 14. When the waist is eliminated In the embodiment of the bracket 12, the elastic energy storage member 14 can be directly connected to the back frame body 10. When the wearer bends over, the connection line from the waist to the buttocks on the back side of the human body will be extended, so that it is connected to the waist. The elastic energy storage member 14 between the wearable piece 40 and the leg wearable piece 13 is stretched and deformed into an energy storage state, and when the wearer keeps bending over, the elastic energy storage member 14 exerts pressure on the wearer. The waist continues to exert force to move back in the upright direction. The direction of the force at this time is the pulling force exerted on the back of the waist relative to the wearer, and provides traction to the human body during the movement of the wearer's trunk in the upright direction. Trunk assist.

The leg wear piece 13 in this embodiment can be worn and fixed on one or more of the thigh, knee, calf, and ankle of the human body. In this embodiment, the leg wear piece 13 can be worn and fixed on the knee joint of the wearer. at. In some embodiments, the leg wearing piece 13 includes a knee strap. The knee strap is used to be fixed on the human body's knee. During the wearing process, the knee strap can surround the wearer's knee, and the knee strap is The two ends of the strap can be connected through detachable structures such as Velcro, thereby ensuring that the knee strap can be worn and detached while having an adjustable function.

Therefore, the waist assist exoskeleton of this embodiment is provided with an elastic plate member 11 and an elastic energy storage member 14 at the same time. The elastic plate member 11 is used to produce corresponding bending deformation with the movement of the wearer's trunk. The elastic plate member 11 can Deformation energy storage to provide assistance for the wearer's trunk to return to an upright position. Since the structural strength of the elastic plate 11 is stronger than that of flexible elastic materials (such as elastic ropes, elastic bands, etc.), when the wearer is in a relatively upright state, the elastic plate 11 can provide stronger support for the wearer's trunk. The supporting force can reduce the burden on the wearer's body, and can also provide greater assistance to the wearer, which is beneficial to the wearer's work, improves the wearer's load capacity, and also reduces the wearer's risk of injury; and, unlike existing The flexible elastic rope or elastic band used has a restoring force generated after elastic deformation, which is pulled from top to bottom along the human body torso. The elastic plate 11 in this embodiment undergoes bending deformation rather than axial deformation. Therefore, the restoring force exerted on the body after the deformation of the elastic plate 11 is basically perpendicular to the body's trunk, thereby avoiding a large local pressure on the human body's shoulders and providing good comfort. At the same time, the assist force exerted by the elastic energy storage member 14 acts between the wearer's waist and legs, combined with the assist force exerted by the elastic plate member 11, acts between the wearer's back and waist, and the two can cooperate with each other. This can further improve the power-assisting effect of the waist-assist exoskeleton, thereby ensuring that the waist-assist exoskeleton can provide good assistance to the wearer's entire torso.

Compared with traditional waist-assisted exoskeletons using flexible elastic materials, since the elastic plate 11 has higher toughness, that is, its structural strength is stronger than that of flexible elastic materials (such as elastic ropes, elastic bands, etc.), therefore , when the wearer is in a relatively upright state, the elastic plate 11 can provide stronger support for the wearer's trunk and reduce the wearer's physical burden. Moreover, under the same volume, the energy storage coefficient of the elastic plate 11 is also It is higher than flexible elastic materials, which can provide greater assistance to the wearer, facilitate the wearer's work, improve the wearer's load capacity, and also reduce the risk of injury to the wearer.

Moreover, the energy storage coefficient of the elastic energy storage member 14 is set to be smaller than the elastic plate member 11. The energy storage coefficient mentioned here refers to the amount of energy stored in the elastic energy storage member 14 or the elastic plate member 11 that is used for recovery when the elastic energy storage member 14 or the elastic plate member 11 deforms. The size of the elastic force, under the same deformation amount, the higher the energy storage coefficient, the greater the energy released during the reset process, which can reduce the force exerted by the elastic energy storage member 14 on the wearer's legs. The impact on the wearer's legs when the elastic energy storage member 14 deforms and stores energy ensures that the wearer can move normally.

It can be understood that the upright state described in this embodiment refers to a state where the wearer's torso is in a straightened state, and the angle between the wearer's torso and legs is 180° or close to 180°. It needs to be explained. It is worth mentioning that according to the standing habits of different wearers, the angle between the thigh and the trunk may not be exactly 180° when standing. The 180° angle mentioned here is only to make it easier for those skilled in the art. Understand this plan and it does not have any specific limiting effect.

Hereinafter, in order to further improve the supporting effect of the back frame body 10 on the wearer's trunk, the waist support 12 of this embodiment may be a rigid body, that is, a waist support 12 with a rigid structure. It should be noted that the rigid body described here is an ideal model. Absolute rigid bodies do not actually exist. A rigid body means that its shape and size remain unchanged during motion and after being acted upon by force, and the internal points of each point remain unchanged. Objects whose relative position does not change can be understood in conjunction with this embodiment, that is, during the normal movement of the wearer and under load-bearing conditions, the structure of the waist support 12 does not change. Or the amount of bending deformation produced is small.

The use of a more rigid waist support 12 allows the wearer to have a smaller deformation of the waist support 12 during the process of bending over, so that the center of gravity of the waist support 12 on the wearer remains unchanged and acts on the wearer's torso. The acting force on the elastic plate 11 is kept even, effectively maintaining the stable power-assisting effect of the elastic plate 11, and also effectively protecting the wearer's body from being injured by the member.

In one embodiment, as shown in FIG. 4 , the upper part of the lumbar support 12 is connected to the elastic plate member 11 , the lumbar support 12 is tilted from top to bottom toward the rear direction of the back frame body 10 , and the elastic energy storage member 14 is connected to the lumbar support. The lower part of 12.

The above-mentioned waist support 12 takes a plate-like structure as an example. The waist support 12 can extend downwards from the upper position of the wearer's waist to the lower position of the wearer's waist, and the lower part of the waist support 12 can be in contact with the wearer's buttocks. A certain gap is formed between them. Since the human body is located at the waist in the direction from the back to the waist, the human body curve begins to tilt away from the coronal plane of the human body. The waist to the buttocks will form a curve that is at a certain angle with the back curve. Here, the inclined setting is used The waist support 12 can allow the wearer to have a better fit with the waist support 12 when being worn, thereby increasing the contact area between the overall front side of the waist support 12 and the wearer's waist, or the waist and upper buttocks. By increasing the contact area between the wearer and the waist support 12, the pressure exerted by the back support body 10 on the wearer's waist and buttocks under load can be reduced, thereby alleviating the stress concentration problem caused by the back support body 10 on the wearer's waist and buttocks. , reduce the wearer's sense of weight-bearing, improve the wearer's weight-bearing ability, and also reduce the wearer's risk of injury under weight-bearing conditions.

On the basis of the above-mentioned increase in the contact area between the waist support 12 and the wearer, by arranging the waist support 12 to tilt toward the rear direction of the back support body 10 from top to bottom, the wearer's waist can be reduced when bending over. The lower part of the bracket 12 gradually moves away from the wearer's body, and finally forms a backward tilted plate-like structure on the wearer's body. Using this structure, it can further extend the distance from the waist to the legs when bending over. distance, thereby increasing the deformation amount of the elastic energy storage member 14 when bending over, and increasing the moment exerted by the elastic energy storage member 14 on the wearer's waist in this state, so as to provide sufficient recovery in the corresponding state. force. In the normal upright state, since the waist support 12 will return to a state relatively close to the wearer's body, it will not affect the elastic energy storage component 14 in this state, and the elastic energy storage component 14 will not affect the wearer's wear. the normal actions of the person.

In some embodiments, the elastic energy storage member 14 can be an elastic cord or an elastic band. Under the same volume, the stiffness coefficient of the elastic cord and the elastic band is lower than that of the elastic plate member 11 , so they are suitable as the elastic energy storage member 14 , and the elastic cords and elastic bands are elastic and flexible materials, which will not interfere with the wearer's body when worn. While effectively protecting the wearer, they can also be used when the wearer bends over. It can provide some assistance to it.

It can be understood that since the elastic ropes and elastic bands are small in size, when it is necessary to increase the assistant effect between the waist support 12 and the leg wear 13 , the user can increase the assistant effect between the waist support 12 and the leg wear 13 . The number of elastic energy storage parts 14 between them can achieve the effect of increasing the assisting moment, and adding a certain number of elastic ropes or elastic bands will not have a great impact on the overall volume of the waist assist exoskeleton, let alone the wearer. itself constitutes an interference.

In one embodiment, the left and right sides of the waist support 12 are arranged to gradually bend in the front direction. In this way, the waist support 12 can better fit the contour of the human body's waist, and the left and right sides of the waist support 12 can better fit. Fitted to both sides of the wearer's waist, on the one hand, it increases the contact area between the waist support 12 and the wearer's waist to better share the pressure, and on the other hand, it allows the wearables tied to the waist support 12 to be in contact with the wearer's waist. It fits the human body better, which helps to improve wearing comfort.

In one embodiment, as shown in Figure 1, this embodiment uses an elastic band as the elastic energy storage member 14. The elastic band is an elastic, band-shaped flexible band. The band-shaped structure can make the elastic band body stretch and stretch. It is not easy to deflect when in contact with the human body. When the wearer bends over, the waist support 12 and the leg wear 13 can be tightened by the elastic band to ensure that the elastic band generates sufficient flexible tension for construction. The person's back and waist are bent, and the waist support 12 and the leg wear piece 13 are effectively restricted from relative deviation with the wearer.

In order to ensure that the assist force exerted by the elastic energy storage member 14 on the wearer's waist is relatively even, so that the assist force will not shift to one side and destroy the balance of the wearer's center of gravity, in the waist assist exoskeleton of this embodiment, the legs are worn There are two elastic energy storage parts 13 and 14. The two leg wearing parts 13 can be worn on both legs of the human body respectively. The two elastic energy storage parts 14 are respectively connected to the two leg wearing parts 13. Correspondingly, the lower part of the waist support 12 Two mounting parts 121 are formed, and the two mounting parts 121 respectively provide connection positions for the elastic energy storage component 14. In the wearing state, the two mounting parts 121 are respectively arranged on the back sides of the wearer's legs.

Connect one end of the elastic band to the underside of the waist support 12, and the mounting portion 121 corresponds to the back side of the wearer's leg. In this way, when worn, the direction in which the elastic band extends can be basically in line with the wearer's thigh. In the overlapping state, when the wearer is in a bent-over state, the elastic band can be well against the wearer's legs, thus preventing the elastic energy storage member 14 from being in contact with the wearer in the stretched state. In the rolling state, it is not easy to deviate, ensuring large lifting deformation and good boosting effect. The elastic band has good fit with the human body and can also reduce the foreign body sensation caused by the wearer when the elastic energy storage member 14 is stretched.

When the wearer bends over, the elastic energy storage member 14 is well restrained on the back side of the wearer, and the entire elastic energy storage member 14 can be well maintained on the wearer's back side from stretching and deforming, effectively preventing the wearer from stretching and deforming. This ensures that the elastic energy storage member 14 is deflected outward relative to the wearer's hips or legs, thus ensuring the power-assisting effect of the elastic energy storage member 14.

In other embodiments, two mounting parts 121 may be overlapped, or only one mounting part 121 may be provided on the waist support 12 . In this way, one end of the two elastic bands may be overlapped and connected to the lower middle position of the waist support 12 . , in this way, the elastic energy storage member 14 is well constrained on the back side of the wearer, and the entire elastic energy storage member 14 can be well maintained on the wearer's back side from stretching and deforming, effectively avoiding The elastic energy storage member 14 is offset outward relative to the wearer's hips or legs, thereby ensuring the power-assisting effect of the elastic energy storage member 14.

Continuing from the above, in one embodiment, a constraint belt 141 is provided between the two elastic energy storage members 14. The constraint belt 141 may be an elastic belt or a non-elastic belt. The two ends of the constraint belt 141 are respectively connected to two elastic energy storage members. The member 14 enables the elastic energy storage member 14 to maintain a relatively close posture, thereby effectively preventing the elastic energy storage member 14 from being displaced outward relative to the wearer's hips or legs.

In one embodiment, in order to further improve the wearing stability of the waist assistant back frame component and reduce the physical burden on the wearer, as shown in Figures 1 to 3, the back frame body 10 also includes a back support 15, and the back support 15 can be worn on The back of the human body can move along with the wearer's back. One end of the elastic plate 11 is connected to the back support 15 and is arranged between the back support 15 and the waist support 12 .

The back support 15 can provide the support component of the elastic plate 11 on the wearer's back. The above-mentioned first through holes can be provided on the left and right sides of the back support 15 to provide a connection position for the shoulder strap 51. Moreover, the back support 15 can also Provide installation locations for other components of the exoskeleton system to prevent related components from being installed on the elastic plate 11 to affect the mechanical properties of the elastic plate 11 . In order to reduce the pressure on the wearer's back, the fitting area between the back support 15 and the wearer needs to be large enough to ensure that the pressure or tension exerted by the back support 15 on the wearer can be evenly transmitted to the wearer's back. Therefore, the width of the back support 15 and the waist support 12 of this embodiment will be larger than the width of the elastic plate 11 . Setting the width of the elastic plate 11 to a smaller size can also prevent the elastic plate 11 from passing from both sides of the wearer. A condition that protrudes to affect the movement of the wearer's hands.

It is worth mentioning that a decorative panel 30 can also be provided between the back support 15 and the waist support 12. The decorative panel 30 can be provided on the rear side of the elastic panel 11, and the width of the decorative panel 30 can be larger than the elastic panel. The width of the member 11 is adjusted, and decorative patterns, coatings, openings, etc. are provided on the decorative plate member 30 to improve the overall appearance of the waist assist exoskeleton. Of course, in some embodiments, only the elastic plate 11 may be disposed between the back support 15 and the waist support 12 .

Continuing from the solution of the back support 15 mentioned above, the back support 15 is a rigid body, that is, the back support 15 adopts a rigid structure. It should be noted that the rigid body described here is an ideal model. Absolute rigid bodies do not actually exist. A rigid body means that its shape and size remain unchanged during motion and after being acted upon by force, and the internal points of each point remain unchanged. For objects whose relative position does not change, it can be understood from this embodiment that during the normal movement of the wearer and under load-bearing conditions, the structure of the back support 15 remains unchanged, or the amount of bending deformation produced is small, so as to avoid compressing the human body's back. Shoulders.

Please refer to Figures 5-9. As an embodiment of the leg wearing piece 13, the leg wearing piece 13 includes a first leg strap 131 and a second leg strap 132. The first leg strap 131 and The second leg straps 132 are used to bind the wearer's limbs to corresponding components of the exoskeleton. Among them, the first wearing surface 1311 is formed on the inner surface of the first leg strap 131, and the second wearing surface 1321 is also formed on the inner surface of the second leg strap 132. The first leg strap 131 and the third The two leg straps 132 are detachably connected, so that the first wearing surface 1311 and the second wearing surface 1321 are closed to define a wearing space for the legs, or expanded to provide a putting on and taking off position. When the first leg strap 131 and the second leg strap 132 are closed, the first leg strap 131 and the second leg strap 132 cooperate to surround the wearer's legs and pass through the first leg strap 131 and the second leg strap 132 . The wearing surface 1311 and the second wearing surface 1321 exert a certain pressure on the surface of the wearer's legs, so that the leg wearing part 13 can be tied and fixed at the corresponding position to achieve effective fixation of the relevant components and the human body.

As shown in Figures 7 and 9, at least part of the leg wearing piece 13 of this embodiment is set in an arc-shaped structure. According to the biological characteristics of the human body, the leg structure of the human body is roughly a columnar structure. By providing an arc-shaped The strap structure can make at least part of the initial state structure of the leg wearing piece 13 closer to the surface structure of the human leg, thereby making the wearing state of the leg wearing piece 13 and the human leg more consistent. Here, the above-mentioned initial state refers to the situation when the leg wearing piece 13 is not acted upon by external force, that is, when the leg wearing piece 13 is not worn on the human body, it is already in an at least partially arc-shaped strap design structure. To a certain extent, the wearer is relieved of the step of tying the first leg strap 131 and the second leg strap 132 around the periphery of the leg during the wearing process, which also accordingly improves the wearing efficiency of the exoskeleton system.

The above description is combined with the leg wearing piece 13 provided in this embodiment, and the following provides a cooperation method between the first leg strap 131 and the second leg strap 132:

1. Only the first wearing surface 1311 is set as a curved surface;

2. Only the second wearing surface 1321 is set as a curved surface;

3. The first wearing surface 1311 and the second wearing surface 1321 are both configured as curved surfaces.

Following the above solution, it should be noted that, taking only the first wearing surface 1311 as a curved surface as an example, in this case, the state of the second wearing surface 1321 is a relatively free state, and the second leg straps 132 can be without The flexible body maintains performance in any state and can move according to the control of the wearer, and the first leg strap 131 is configured to maintain an arc shape without external force and within a certain range of external force. structure, that is to say, no matter whether the first wearing surface 1311 and the second wearing surface 1321 are in a closed or unfolded state, the first wearing surface 1311 of this embodiment can be maintained as long as it is within a certain external force range. The arc surface is curved along its length direction, so that when the leg wearing piece 13 is worn, the first wearing surface 1311 can fit against the wearer's leg.

It should be noted that the length direction of the leg wearing piece 13 refers to the direction in which the first leg strap 131 and the second leg strap 132 extend along the outer circumference of the wearer's leg in the wearing state.

According to the biological characteristics of the human leg, the leg wearing piece 13 is designed through reverse design, and the first wearing surface 1311 of the first leg strap 131 for fitting the wearer's leg surface is set into a curved surface, so that During the wearing process of the leg wear piece 13, the first wearing surface 1311 can form a good fit with the peripheral side of the human leg, achieving a preliminary positioning effect between the leg wear piece 13 and the wearer's legs, and certain To a certain extent, the difficulty of the wearer's operation during the wearing process is reduced. The wearer does not need to perform too many positioning operations during the wearing process to realize the wearing and positioning of the leg wearable 13 and the corresponding exoskeleton components and the leg, thereby improving the performance of the wearer. Overall wearing efficiency of the exoskeleton.

Moreover, when the leg wearing piece 13 is worn, the entire wearing piece forms a good fitting relationship with the wearer's legs through the first wearing surface 1311, and the thickness of the arcuate portion of the strap structure surrounding the wearer's legs is thicker. In order to be uniform, the force transmitted from the exoskeleton to the leg wear piece 13 can act more evenly on the peripheral surface of the wearer's leg, thereby improving the wearer's wearing comfort and the wear between the wear piece and the human body. Stability can ensure that each component of the exoskeleton has a high degree of fit with the human body, allowing the exoskeleton to better assist human movement.

Of course, among the other matching methods mentioned above, if only the second wearing surface 1321 is configured as a curved surface, in fact, the first leg strap 131 and the second leg strap 132 adopt similar or identical configurations. Therefore, the principle of this embodiment is consistent with the above-mentioned method of using the first wearing surface 1311 as a curved surface. In an embodiment in which both the first wearing surface 1311 and the second wearing surface 1321 are curved surfaces, it can be understood that in the initial state, the first wearing surface 1311 and the second wearing surface 1321 are in an enclosed position to form a leg. The state of the wearing space of the entire leg wearable piece 13 allows the entire leg wearing piece 13 to form a better fit with the human body through the first wearing surface 1311 and the second wearing surface 1321. During the process of putting on and taking off the leg wearing piece 13, The wearer needs to exert a force away from each other on the first leg strap 131 and the second leg strap 132 to deform, so that the first wearing surface 1311 and the second wearing surface 1321 can expand for the wearer's legs. Place it into the wearing space of the leg.

For example, when being worn and bound to the human body, the first leg strap 131 and the second leg strap 132 can respectively surround the outer and inner sides of the wearer's legs, or the front side. and the rear peripheral side, as long as the two meet the conditions of jointly enclosing and forming a wearing space for the legs, this embodiment does not specifically limit this.

In one embodiment, the first leg strap 131 and the second leg strap 132 of the leg wearing piece 13 in the waist assist exoskeleton are respectively wrapped around the wearer's calf, specifically around the lower part of the human body's knee. Realizing support for the human patella can effectively reduce the wearer's knee burden during operation when the exoskeleton system is worn, and protect the wearer's knees. At the same time, this binding method is mainly based on the biological characteristics of the human lower limbs. The peripheral size of the human knee is larger than the peripheral size of the end of the calf close to the knee. That is to say, in the first leg strap 131 When connected and closed with the second leg strap 132, the peripheral size of the leg wearing space enclosed by the first wearing surface 1311 and the second wearing surface 1321 is smaller than the size of a human knee. The upper edge of the strap 131 and/or the second leg strap 132 can be against the lower side of the human body's patella, so that the freedom of movement of the leg wearing piece 13 in the direction close to the human thigh is restricted. The leg wearing piece 13 is It is difficult to displace relative to the human body's legs under a stressed state, thereby improving the binding stability of the leg wearing piece 13 and the human body.

This solution is compared with some existing wearables. Some existing wearables adopt the method of covering the periphery of the human body's patella, or the upper and lower parts. However, in terms of the binding effect, the leg is When the wearable piece 13 is worn, it is generally connected directly to the back frame body 10 through the leg bone components, or directly connected to the back frame body 10. The leg wear piece 13 will be affected by the movement of the human body in the process of providing assistance. The backrest body 10 is pulled, so it has a tendency to move upward (toward the direction of the wearer's thigh), that is, there is actually not much downward movement (toward the direction of the wearer's ankle). Therefore, the wearing piece actually There is no need to bind the upper part of the wearer's patella. This solution reduces the binding above the patella and achieves a more convenient wearing effect. At the same time, the binding area between the leg wear piece 13 and the human body is reduced, which is also beneficial to the human body. The heat dissipation reduces the constraint of the leg wear piece 13 on the human body, and the wearer feels less constrained, making the wearer feel lighter when the exoskeleton system is worn.

In addition, binding the leg wear piece 13 to the lower part of the human body's patella can make the distance between the back frame body 10 and the leg wear piece 13 larger, and a longer elastic energy storage member 14 can be selected between the two. , the assistance effect of the exoskeleton system is even better.

Continuing with the above solution of keeping the first wearing surface 1311 bent along the length direction, the second leg strap 132 of this embodiment adopts a flexible strap body. The flexible strap body can be deformed under the action of external force, and the flexible strap body here can be set It is an inelastic belt. In an embodiment in which the second leg strap 132 has a certain degree of elasticity, the second wearing surface 1321 is flat or tends to be flat in the initial state. Even if the second wearing surface 1321 has a certain curvature, its curvature is also the same. It is smaller than the first wearing surface 1311.

As shown in Figure 7, the first leg strap 131 and the second leg strap 132 are integrally formed. They can actually have the same structure as the first leg strap 131, and are sewn together from two complete pieces of fabric, where The length dimension of one fabric is larger than that of the other fabric, and the edges of the two fabrics are sewn together through a first seam 1315. In this state, it can be seen that one end of the first leg strap 131 is connected to one end of the second leg strap 132. However, because one of the fabrics is longer, after the two ends of the two pieces of fabric are aligned and sewn, The longer fabric will bend to one side of the shorter fabric, causing the leg wearing piece 13 to have a curved structure as a whole. In order to avoid this situation, there is a gap between the first leg strap 131 and the second leg strap 132. It is also necessary to sew a second suture 1317 along the boundary line between the first leg strap 131 and the second leg strap 132. It can block the interaction force between the first leg strap 131 and the second leg strap 132 .

During the actual processing and production process of this structure, the two pieces of fabric on one side of the second seam 1317 of the second leg strap 132 are normally aligned and sewn along the length direction, so that the second leg strap 132 is normally sewed. In a flat state, it is convenient for the user to control the covering of the legs, and the part of the first leg strap 131 on the other side of the second suture 1317 forms a state where one piece of fabric is longer than the other fabric, so that the first leg strap 131 is in a flat state. After the suture 1315 is sewn, the first leg strap 131 is formed into a curved state. It can be understood that, in order to control the curvature of the first leg strap 131 under normal conditions, a plurality of second stitches 1317 can be sewn along the length direction of the first leg strap 131, so as to sew the first leg strap 131. The belt 131 is divided into multiple sections so that the length difference between the two pieces of fabric in each section is controlled, thereby allowing the curvature of the current section to be controlled.

Based on the above solution, in this embodiment, the leg wearing part 13 is configured as a leg strap with an integrated structure, and the first leg strap 131 and the second leg strap 132 are connected at their ends, so that the flexible third leg strap The second leg strap 132 can move freely relative to the arc-shaped first leg strap 131, so that the end of the second leg strap 132 away from the first leg strap 131 can be close to the first leg under the control of the user. The first leg strap 131 is moved away from the first leg strap 131 to achieve a closed connection between the first leg strap 131 and the second leg strap 132, or the first leg strap 131 is connected to the second leg strap 131. 132 is expanded in the closed state to provide space for the user's legs and leg wear 13 to put on and take off. The integrally designed strap structure keeps one end of the first leg strap 131 and the second leg strap 132 in a connected state. In the initial state of the leg wearing piece 13, the first leg strap 131 It is connected to the second leg strap 132 and extends along the length direction, and in the length direction, the first wearing surface 1311 extends from a curved arc surface to the second wearing surface 1321 and then gradually transitions into a flat state, so that , during the wearing process, after the leg wear piece 13 is positioned around the wearer's partial leg periphery through the first wearing surface 1311, the wearer only needs to tighten the first leg strap 131 and the second leg strap. The other end of 132 can be connected for operation, which is easy to wear.

In this embodiment, in order to make the curved shape of the first leg strap 131 more natural, as shown in FIGS. 8 and 9 , the first leg strap 131 is generally made by sewing at least two pieces of fabric with different lengths. Through the length difference formed between the fabrics, the first leg strap 131 is bent from the side of the longer fabric to the side of the shorter fabric. Specifically, the first leg strap 131 includes a first leg fabric 1312 and a second leg fabric 1313. The first leg fabric 1312 is provided on the outside of the leg wearing piece 13 as a fabric with a larger length, and the second leg fabric 1312 is a fabric with a larger length. The two leg fabrics 1313 are provided on the inside of the leg wearing piece 13 as fabrics with smaller lengths. Here, the first leg fabric 1312 and the second leg fabric 1313 are connected to each other at opposite ends in the length direction. The two ends of the first leg fabric 1312 and the second leg fabric 1313 are connected so that the length of the first leg fabric 1312 is constrained by the second leg fabric 1313 to prevent the first leg fabric 1312 from protruding along the length direction of the second leg fabric 1312 . One end of the second leg fabric 1313 affects the overall bending shape of the first leg strap 131. In this way, within a limited length range, the first leg fabric 1312 will naturally bend in the direction of the second leg fabric 1313, thereby As a result, the first leg strap 131 is bent inward as a whole, and the surface of the second leg fabric 1313 also forms the arc-shaped first wearing surface 1311.

Of course, in addition to the two ends of the first leg fabric 1312 and the second leg fabric 1313 being connected, the first leg fabric 1312 and the second leg fabric 1313 can also be connected at both ends, which also ensures that the first leg fabric 1312 and the second leg fabric 1313 are connected at both ends. Stable connection between the leg fabric 1312 and the second leg fabric 1313.

It should be understood that the above-mentioned first leg fabric 1312 and second leg fabric 1313 include but are not limited to fabrics. For example, the fabrics can be cotton, linen, silk, woolen, leather, chemical fiber, blended fabric, modal, and plastic coating. Cloth, etc., and in this embodiment, in order to improve the breathability of the first leg strap 131 and the second leg strap 132, the first leg fabric 1312, the second leg fabric 1313 and the second leg strap are used to make the second leg strap. The fabric of the strap 132 is made of mesh cloth or other fabrics with mesh holes, and the outer edges of the first leg strap 131 and the second leg strap 132 can be provided with hemming portions to strengthen the strap structure or avoid If there are burrs on the edges of the fabric, the edges of the first leg fabric 1312 and the second leg fabric 1313 may be sewn together by overlocking.

In order to further improve the wearing comfort of the wearer, a filling space is defined between the first leg fabric 1312 and the second leg fabric 1313, and the filling space is filled with flexible filler 1314. By filling the flexible filler 1314 between the first leg fabric 1312 and the second leg fabric 1313, optionally, the second leg strap 132 can also be filled with the corresponding flexible filler 1314, thereby improving the first leg The straps 131 and the second leg straps 132 cushion the force exerted on the surface of the human leg, reducing pressure on the wearer's legs and improving comfort. Here, the flexible filler 1314 can be further configured as a material with elastic recovery function, such as memory foam, which not only provides a binding buffering function, but also helps the first leg strap 131 and the second leg strap 132 maintain their initial shape. Morphologically.

As shown in Figures 8 and 9, the first leg fabric 1312 and the second leg fabric 1313 of this embodiment are sutured and connected through a plurality of first sutures 1315. The plurality of first sutures 1315 are along the first leg. The leg straps 131 are spaced apart in the length direction between the first leg fabric 1312 and the second leg fabric 1313, and each first suture 1315 can be connected between the first leg fabric 1312 and the second leg fabric 1313. 1313, thus surrounding the edges of the first leg fabric 1312 and the second leg fabric 1313, defining a filling area between the two to facilitate the stable placement of the flexible filler 1314.

It should be noted that the sewing of the first leg fabric 1312 and the second leg fabric 1313 by the first suture 1315 can also determine the forming structure of the first leg strap 131 to a certain extent. The first leg fabric The distance between 1312 and the second leg fabric 1313 can be determined according to the density of the first suture 1315 and the sewing length of the first suture 1315, so that the first leg fabric 1312 and the second leg fabric 1313 can be adjusted according to the first suture. The sewing density and size of the thread 1315 adjust its curvature to make the structure of the first wearing surface 1311 more suitable for the human leg structure.

In order to further optimize the wearing experience of the leg wear piece 13, taking the above-mentioned first leg strap 131 and the second leg strap 132 as an example, one end is connected to form an integrated strap, and the first leg strap 131 is away from the second leg strap. A third connecting portion 1316 is formed on one end of the strap 132. Correspondingly, a fourth connecting portion 1322 is formed on an end of the second leg strap 132 away from the first leg strap 131. The first leg strap 131 is connected to the third connecting portion 1316. The two leg straps 132 are detachably connected to the fourth connecting part 1322 through the third connecting part 1316. Here, the third connecting part 1316 and the fourth connecting part 1322 may be any component suitable for detachable connection, such as a first fastener and a second fastener that are snap-connected to each other, or a first magnet and a third fastener that magnetically cooperate with each other. Two magnets etc.

The third connection part 1316 and the fourth connection part 1322 of this embodiment use Velcro as the connection means. The third connection part 1316 and the fourth connection part 1322 are respectively configured as the matte side and the hook side of the Velcro. The matte side When the hook surface is close to each other, the harder bristles on the hook surface can be hung on the round hairs on the matte surface to achieve the fit between the hook surface and the matte surface. In this embodiment, in order to ensure that the first leg strap 131 and the second leg strap 132 remain flat in the closed and bound state, as shown in FIG. 7 , the third connecting portion 1316 is provided on the first leg strap. On the outside of the strap 131, the fourth connecting portion 1322 is provided on the inside of the second leg strap 132. In this way, when the first leg strap 131 and the second leg strap 132 are closed and connected, the second leg strap The inner side of the first leg strap 132 can be overlapped with the outer side of the first leg strap 131 and connected through Velcro.

Or another implementation may be adopted, that is, the third connecting part 1316 is provided on the inside of the first leg strap 131 and the fourth connecting part 1322 is provided on the outside of the second leg strap 132, which can also achieve the same thing as above. technical effects.

As shown in Figures 5 and 6, in the application of the above-mentioned leg wear 13 in the waist assist exoskeleton, the waist assist exoskeleton includes a back frame body 10, and the back frame body 10 serves as the contact area with the wearer in the waist assist exoskeleton. And the components with the greatest interaction force, which can provide wearing space for the wearer's waist, back and even upper hips. In order to realize the wearing and fixation between the back frame body 10 and the human body, the back frame body 10 is provided with a wearing part. The back frame body 10 can be worn on the human trunk through the wearing part. It should be noted that the wearing part in this embodiment may include The back wearing part 50 and the waist wearing part 40 continue as mentioned above. The back body 10 is used to be worn on the wearer's torso. In the wearing state, the back body 10 is located behind the wearer, allowing the exchange between the exoskeleton system and the wearer. The back wearing piece 50 is provided with shoulder straps 51, and the two ends of the shoulder straps 51 are respectively connected to the left and right sides of the upper part of the back frame body 10 and the left and right sides of the lower part. For example, the back frame body 10 10 can provide the installation position of the shoulder strap 51 and the waist wearing piece 40. One end of the shoulder strap 51 can be connected to the back wearing piece 50, and the back wearing piece 50 is set on the upper side of the back frame body 10, and the shoulder strap 51 The other end can be connected to the waist wearing piece 40. The waist wearing piece 40 is arranged on the lower side of the back frame body 10, so that when the back frame body 10 is worn, the wearer's arms can connect to the back frame from the shoulder straps 51. The main body 10 passes around the enclosed space, so that the shoulder strap 51 rests on the wearer's shoulder. It can be understood that, in order to ensure that the force exerted by the back frame body 10 on the wearer can be relatively evenly transmitted to the wearer's torso, the back wearing piece 50 of this embodiment is provided with one shoulder strap 51 and two shoulder straps 51 on each left and right sides. The other end of the shoulder strap 51 is connected to the left and right sides of the optional module respectively. Similarly, the waist strap 42 is connected to the waist wearing piece 40. In the wearing state, the waist strap 42 is wrapped around the wearer's hips or abdomen, thereby cooperating with the shoulder straps 51 to realize the connection between the back frame body 10 and the wearer's torso. Wear fixed.

According to the above solution, the back frame body 10 of this embodiment adopts a combination of rigidity and flexibility. The back frame body 10 provides good support for the wearer's trunk, and through flexible structures such as the waist wearing part 40 and the back wearing part 50, the back body can be A good fit is formed between the frame body 10 and the human body. In addition to improving human-machine compliance, it can also ensure that the back frame body 10 stably fits the human body, improving wearing comfort, and during the wearer's exercise process. The medium-flexible structure will not limit the normal range of activities of the human body and ensure the stretchability of the human body's own limbs.

As shown in Figures 5 and 6, in order to match the human body structure, there are two leg wearing parts 13 in this embodiment. The two leg wearing parts 13 are symmetrically arranged on the lower side of the back frame body 10 and passed through respectively. The elastic energy storage member 14 is connected to the back frame body 10. Specifically, one end of the elastic energy storage member 14 is connected to the leg wearing member 13 located on the back side of the wearer's leg, so that the elastic energy storage member 14 can move along the wearer's leg. The rear side extends upward to the back frame body 10 close to the buttocks.

In the above solution, when the waist assist exoskeleton is worn, when the wearer bends over, the connection between the waist and the buttocks on the back side of the human body will be extended, so that the connection between the back frame body 10 and the leg wearer will be extended. The elastic energy storage member 14 between the members 13 is stretched and deformed into an energy storage state, and when the wearer remains in a bent-over state, the elastic energy storage member 14 will continue to exert a backward swing on the wearer's waist. The force of movement in the upright direction. The direction of the force at this time is the pulling force exerted on the back of the waist relative to the wearer, and provides traction assistance to the human trunk when the wearer's trunk moves in the upright direction.

In one embodiment, in order to improve the versatility of the waist assist exoskeleton, a length adjustment structure is provided between the elastic energy storage member 14 and the back frame body 10. The length adjustment structure is used to adjust the leg wear piece 13 and the back frame body 10. The initial distance can be understood as being used to adjust the distance between the back frame body 10 and the leg wear 13 when the elastic energy storage member 14 is in a non-charged state, so as to adapt to users of different body types.

Continuing from the above, in one embodiment, a constraint belt 141 is provided between the two elastic energy storage members 14. The constraint belt 141 may be an elastic belt or a non-elastic belt. The two ends of the constraint belt 141 are respectively connected to two elastic energy storage members. The member 14 enables the elastic energy storage member 14 to maintain a relatively close posture, thereby effectively preventing the elastic energy storage member 14 from deviating outward relative to the wearer's hips or legs. Please refer to Figures 5-6 and 10-12. Exemplarily, the waist wearing part 40 of this embodiment is used to stabilize the back frame body 10 on the wearer's torso in the application of the waist assist exoskeleton. It is ensured that the back frame body 10 can fit with the human trunk to realize the function of the exoskeleton system to assist human movement.

Please continue to refer to Figures 5-6 and 10-12. The waist wearing part 40 includes a waist module 41 and a waist strap 42. In the application of the waist assist exoskeleton, the waist wearing part 40 is arranged on the back frame body 10. The lower part is elasticated to provide installation/connection positions for the waist strap 42 and other wearing parts or power-assisting parts. Among them, the waist module 41 defines a belt through hole 411 that runs through its opposite ends, so that the waist strap 42 can be movably inserted into the belt through hole 411. When the human body wears the exoskeleton system through the waist wearing part 40, In this state, the waist strap 42 is wrapped around the wearer's hips or abdomen, thereby stably binding the lower part of the back frame body 10 to the wearer's torso.

It can be understood that in order to meet the needs of different working scenarios, a certain movable gap needs to be reserved between the waist strap 42 and the belt through hole 411, so that the waist strap 42 can movablely penetrate into the belt through hole 411, or pass through the belt through hole 411. It is detached from the through hole 411 to realize the disassembly and assembly with the waist module 41 . For example, in some working scenarios, the exoskeleton system needs to use the waist strap 42 to effectively bind the lower part of the back frame body 10 to the wearer's torso, while in other working scenarios, the exoskeleton system does not need to use the waist strap. 42 realizes binding to its trunk. Therefore, through the detachable structure of the waist strap 42, the waist wearing piece 40 can meet the needs of different operations in the application of the exoskeleton system. When the waist strap 42 is required to cooperate with the binding, the waist strap 42 can achieve stable wearing of the exoskeleton system and the wearer. When no belt binding is required, the gap between the wearer and the wearer is reduced. The contact area of the waist strap 42 is reduced, thereby reducing the impact of the waist strap 42 on the wearer's heat dissipation, and the wearer will not be affected by the foreign body sensation brought by the waist strap 42, effectively improving the wearer's comfort, and because there is no Because of the waist strap 42, the wearer's limbs will not be interfered by the waist strap 42 during work. The exoskeleton system also reduces the weight of the waist strap 42, allowing the wearer to work more smoothly and reduce the burden on the body. Smaller, allowing the exoskeleton system to better achieve the function of assisting human movement.

On the basis of the above solution, the belt through hole 411 provides a space for the waist strap 42 to pass through its opposite ends, so that the two ends of the waist strap 42 can cooperate with the binding of the human body. In addition, the belt through hole 411 It also provides space for the waist strap 42 to move relative to the waist module 41 along its two ends, so that the waist strap 42 can be disassembled and assembled from the waist module 41. In order to ensure a stable connection between the waist strap 42 and the waist module 41, To ensure that the back frame body 10 can maintain fit with the human torso, the waist strap 42 is provided with at least two elastic limiters 421 along its length direction. When the waist strap 42 is threaded through the belt through hole 411, the user The elastic limiting portions 421 can be respectively provided at two opposite ends of the waist module 41, so that the elastic limiting portions 421 can respectively resist the opposite ends of the waist module 41, thereby allowing the movement of the waist strap 42 in the length direction. The degree of freedom is limited. In this way, the waist strap 42 cannot move along the length direction relative to the waist module 41 when in use, ensuring that the wearer's torso and the back wearing piece 50/back frame body 10 are in a wearable state with a high degree of fit. state, the back frame body 10 serves as the core component of the waist assist exoskeleton. The relative stability of the back frame body 10 and the human trunk can limit the alignment of each joint component in the exoskeleton system with the human joints. The waist wearing part 40 ensures that the back frame body 10 On the basis of effective wearing with the wearer's torso, it also improves the effective connection between other power-assisting components of the exoskeleton system and the wearer's limbs, thereby improving the overall wearing stability of the waist-assisted exoskeleton and ensuring its effective assistance to the wearer. .

In one embodiment, the elastic limiting portion 421 can elastically contract under the action of external force to release the restriction on the waist strap 42, so as to separate from the waist module 41 with the waist strap 42, or pass through the waist through hole 411 and then connect with the waist module 41. The resistance cooperation reduces the difficulty of disassembly and assembly of the waist strap 42, facilitates the rapid disassembly and assembly of the waist strap 42, and enables rapid switching of different operating modes of the waist assist exoskeleton. Illustratively, this embodiment takes two elastic limiting parts 421 as an example. When the waist strap 42 and the waist module 41 are in a separated state, the user can tighten the waist strap 42 Penetrate into the belt through hole 411, and let one of the elastic limiting parts 421 first reach the state of resisting the waist module 41. At this time, the wearer can further exert a force on the waist strap 42 in the direction of penetrating into the belt through hole 411. The force causes the waist module 41 to interact with the opposing elastic limiter 421, and finally the elastic limiter 421 is elastically deformed, retracts from one end of the waist module 41 into the belt through hole 411, and then penetrates further with the waist strap 42. The belt through hole 411 finally passes through the other end of the waist module 41 through the belt through hole 411, so that the two elastic limiting portions 421 are respectively pressed against the two ends of the waist module 41. When the waist strap 42 and the waist module 41 are in a connected state, the user can exert a force on the waist strap 42 in the direction away from the belt through hole 411, so that one of the elastic limiting parts 421 interacts with the waist module 41, and finally The elastic limiting portion 421 is elastically deformed, retracted from one end of the waist module 41 into the belt through hole 411, and the waist strap 42 further penetrates into the belt through hole 411, and finally passes through the belt through hole 411 from the other end of the waist module 41. out, so that the waist strap 42 can be detached from the waist module 41.

It should be noted that the length direction of the waist strap 42 refers to the direction in which the waist strap 42 extends along the outer circumference of the wearer's torso in the wearing state.

It can be understood that, in addition to the above-mentioned method of reserving space for movement, the waist strap 42 and the belt through hole 411 can actually be in a state of mutual contact, as long as the two are connected. It can be designed as a structural component with a certain degree of flexibility so that the waist strap 42 can deform under the action of external force, thereby achieving relative movement with the waist module 41.

As a specific structure of the waist strap 42, as shown in Figures 5-6 and 10-12, the waist strap 42 includes a first connecting part 422 and two ends separated along the length direction at opposite ends of the first connecting part 422. The first waist strap 423, the second waist strap 424, and the first connecting portion 422 serve as the support structure of the waist strap 42 in the application of the exoskeleton system. They are worn through the waist belt in a cooperative state with the waist module 41. The state in the hole 411 is to cooperate with the first waist strap 423 and the second waist strap 424 to bind the wearer's waist and abdomen to the lower part of the back frame body 10. The most important thing is to keep the wearer's trunk in contact with the back frame. The body 10 matches and fits. Among them, in order to reduce the movement space between the waist strap 42 and the belt through hole 411, so that the waist strap 42 can reduce the movement gap between the wearer and the exoskeleton system while the waist strap 42 is binding the wearer, the first The size of the connecting part 422 matches the size of the belt through hole 411, and the movable gap between the outer circumference of the first connecting part 422 and the inner wall of the belt through hole 411 is minimized. In this way, it is ensured that the first connecting part 422 is connected to the waist. While the insertion of the module 41 is stable, the belt through hole 411 will not exert excessive pressure on the waist strap 42, ensuring that the waist strap 42 can be smoothly disassembled and assembled from the waist module 41.

Specifically, the elastic limiting portions 421 are located at opposite ends of the first connecting portion 422 along the length direction of the waist strap 42. It should be understood that the first connecting portion 422 can be disposed on any surface of the waist strap 42. , the dimensions of the first connecting part 422 mentioned above may include its width dimension, length dimension and thickness dimension, and the dimensions of the two along the length direction match each other, which can ensure that the elastic limiting parts 421 located at both ends of the first connecting part 422 are When the first connecting portion 422 is placed in the belt through hole 411, it can accurately resist the two ends of the waist module 41, reducing the movement space of the waist strap 42 in the length direction, and the two sizes match in the thickness direction. , and matching the size in the width direction, the hole wall of the belt through hole 411 and the peripheral side of the first connecting portion 422 can be in a state of contact with each other, reducing the overall movement of the waist strap 42 in the thickness direction and width direction. move.

Here, the first waist strap 423 is connected to the first end of the first connecting part 422, the second waist strap 424 is connected to the second end of the first connecting part 422, and the first waist strap 423 is connected to the second waist strap 422. The straps 424 are respectively extended in opposite directions. The inner surface of the first waist strap 423 is formed with a first fitting surface, and the inner surface of the second waist strap 424 is also correspondingly formed with a second fitting surface. In the wearing state, The first fitting surface and the second fitting surface are used to stick to the wearer. The fitting area of the first fitting surface and the second fitting surface to the wearer determines the binding stability of the waist wearing part 40 to the human body. , the first waist strap 423 and the second waist strap 424 are detachably connected, so that the first fitting surface and the second fitting surface are closed to define a wearing space of the waist, or expanded to provide a putting on and taking off position. When the first waist strap 423 and the second waist strap 424 are closed, the first waist strap 423 and the second waist strap 424 cooperate with the first connecting part 422 or the waist module 41 to surround the wearer's waist and abdomen. , and exert a certain pressure on the surface of the wearer's torso through the first fitting surface and the second fitting surface, thereby achieving effective binding of the human body and the back frame body 10 .

On the basis of the above solution, in this embodiment, the waist strap 42 is provided as an integral structure, and the first connecting part 422, the first waist strap 423 and the second waist strap 424 are integrally processed and formed, so that the first waist strap 42 can be integrally formed. The ends of the strap 423 and the second waist strap 424 that are far away from each other can move freely relative to the first connecting portion 422. In this way, the first waist strap 423 and the second waist strap 424 can be driven closer to each other or closer to each other under the user's guidance. Swing in the away direction to achieve a closed connection between the first waist strap 423 and the second waist strap 424, or allow the first waist strap 423 and the second waist strap 424 to be re-expanded in the closed state, providing the user with a better connection between the legs and the legs. The space for putting on and taking off the leg connector is convenient for users to put on and take off.

In order to further optimize the wearing experience of the waist wearing piece 40, following the above embodiment, as shown in Figures 10 and 11, a first fitting portion 4231 is formed on an end of the first waist strap 423 away from the first connecting portion 422. Correspondingly, A second fitting part 4241 is formed on one end of the second waist strap 424 away from the first connecting part 422. The first waist strap 423 and the second waist strap 424 are detachably connected through the first fitting part 4231 and the second fitting part 4241. . Here, the first mating part 4231 and the second mating part 4241 can be any component suitable for detachable connection, such as a first fastener and a second fastener that snap together, or a first magnet and a third magnet that magnetically fit with each other. Two magnets etc.

In order to further improve the binding effect of the waist strap 42, the waist strap 42 of this embodiment is further improved as follows based on the above-mentioned embodiment. The first fitting part 4231 is provided on the outside of the first waist strap 423, and the second fitting part 4231 is provided on the outside of the first waist strap 423. The fitting portion 4241 is provided on the second waist strap 424 On the inside, the second waist strap 424 can be connected and fixed with the first waist strap 423 by being stacked on the outer surface of the first waist strap 423. Here, the waist strap 42 also includes a third waist strap 425, The third waist strap 425 is connected to the first end of the first connecting part 422. A third matching part (not shown) is provided on the inside of the third waist strap 425. Correspondingly, a third matching part (not shown) is provided on the outside of the second waist strap 424. There is a fourth matching portion 4242, so that when the second waist strap 424 is stacked on the outer side of the first waist strap 423, the third waist strap 425 can be stacked on the outside of the second waist strap 424. The second waist strap 424 and the third waist strap 425 are connected through the third fitting part and the fourth fitting part 4242, so that on the basis of the first waist strap 423 and the second waist strap 424 being cooperatively bound, The binding strength of the waist strap 42 is further improved to ensure the wearing effectiveness between the human body and the exoskeleton system.

In other embodiments, the third waist strap 425 may also be disposed at the second end of the first connecting part 422. When the third waist strap 425 is disposed at the second end of the first connecting part 422, the first waist strap 425 may be disposed at the second end of the first connecting part 422. The outer side of the strap 423 is provided with the above-mentioned fourth fitting portion 4242 for fitting and connecting with the third fitting portion of the third waist strap 425 .

Through the above arrangement method, when the waist strap 42 is in a state of binding the wearer, the first waist strap 423, the second waist strap 424 and the third waist strap 425 respectively located at both ends of the first connecting part 422 can realize the binding of the wearer. The binding method of alternating layered connections allows the straps to form a connection method similar to bite, which increases the contact area of the waist strap 42 connection, thereby improving the connection strength.

In this embodiment, the first fitting part 4231 and the second fitting part 4241 use Velcro as the connection means. The first fitting part 4231 and the second fitting part 4241 are respectively provided as the rough surface and the hook surface of the Velcro, and the third fitting part The fourth matching part 4242 is respectively provided as the matte surface and the hook surface of Velcro. For example, when the matte surface and the hook surface are close to each other, the harder bristles on the hook surface can be hung on the round hairs on the matte surface. , to achieve the fit between hook surface and rough surface. In this way, when the first waist strap 423 and the second waist strap 424 are stacked together, a stable connection can be achieved through the corresponding rough surfaces and hook surfaces of the first matching part 4231 and the second matching part 4241. Similarly, When the third waist strap 425 is stacked and attached to the second waist strap 424, it can achieve stable fit through the rough surfaces and hook surfaces respectively provided in the third fitting part and the fourth fitting part 4242.

In one embodiment, through the above arrangement, each strap is connected in a stacked manner. On the basis of ensuring a stable connection between the straps, the length adjustment between the straps is also relatively simple. When the straps are closed and bound, In this state, the overall flatness of the waist strap 42 can also be maintained.

Taking the above-mentioned third waist strap 425 being provided at the first end of the first connecting part 422 as an example, when the first fitting part 4231 is a rough surface, the third fitting part is a hook surface, or when the first fitting part 4231 is a hook surface When hooking the surface, the third matching part is the rough surface. The third waist strap 425 and the first waist strap 423 can be stacked together through the first fitting part 4231 and the third fitting part, so that the waist strap 42 is in an unfolded state and the third waist strap 425 can be stably attached. It is combined with the first waist strap 423 to avoid the two being in a relatively free state, which is not conducive to the storage of the waist strap 42 .

In order to allow the elastic limiting part 421 to smoothly realize elastic deformation under the action of external force, as shown in FIGS. 10 and 11 , two elastic limiting parts 421 are provided as an example. The two elastic limiting parts 421 are respectively arranged on the first Between the waist strap 423 and the first connecting part 422, and between the second waist strap 424 and the first connecting part 422, specifically, the elastic limiting part 421 includes a convex part 4211 and a transition part 4212. The convex part 4211 is convex. Provided on one side of the first connecting portion 422, that is, when the waist strap 42 is connected to the belt through hole 411, the protruding design of the convex portion 4211 can allow it to press against the waist module 41, playing a certain role. Within the force range, it can be ensured that the waist strap 42 will not move further along the length direction. The two ends of the convex portion 4211 are transitionally connected to the first waist strap 423 and the first connection portion 422 through the transition portion 4212, and the two ends of the convex portion 4211 are transitionally connected to the second waist strap 424 and the first connection portion through the transition portion 4212. part 422. Here, the transition part 4212 realizes the connection transition between the convex part 4211 and the first waist strap 423 or the second waist strap 424. The transition part 4212 is formed by one end of the first waist strap 423 or the second waist strap 424. , a flat or arc surface inclined toward the direction of the convex portion 4211. When the waist module 41 acts on the elastic limiting part 421 on either side, the waist module 41 will first resist the transition part 4212 and act on the transition part 4212. As the waist strap 42 moves further along the length direction, The force between the waist module 41 and the transition part 4212 will become larger and larger as the transition part 4212 tilts toward the convex part 4211. Finally, the elastic limiting part 421 as a whole can smoothly achieve elastic deformation and retract into the waistband. hole 411, and elastically resets after being separated from the belt through hole 411, and the movement of the waist strap 42 along the length direction is re-limited by the protrusion 4211 and the waist module 41.

In one embodiment, the elastic limiting portion 421 can be disposed on either side of the waist strap 42, as long as it can interact with the waist module 41 to prevent the waist strap 42 from being connected to the belt through hole 411. The waist strap 42 can be used to limit the position.

In order to facilitate production and production, the waist strap 42 of this embodiment has a flat belt structure as an example. The elastic limiting portion 421 can be provided at the side edge of the waist strap 42 to facilitate the processing of the waist strap 42. The elastic limiting part 421 is cut out so that the elastic limiting part 421 and the waist strap 42 are integrally formed.

As a specific structure of the waist module 41, as shown in Figure 11, the waist module 41 includes a first waist fabric 412 and a second waist fabric 413, wherein the first waist fabric 412 is provided on the outside of the waist module 41, and the second waist fabric 413 It is arranged inside the waist module 41. The first waist fabric 412 and the second waist fabric 413 are connected at the upper and lower sides along the length direction, so that the first waist fabric 412 and the second waist fabric 413 are enclosed to form a belt through hole 411 extending along the left and right directions in Figure 11. Of course, In this embodiment, in order to keep the first waist strap 423 and the second waist strap 424 at the same level as the wearer and facilitate subsequent binding operations, the two ends of the belt through hole 411 are designed to extend in the horizontal direction. structure, and in other embodiments, the two ends of the belt through hole 411 can also be directed in other directions according to other design requirements. Extended in the direction, this embodiment does not specifically limit this.

In one embodiment, the second waist fabric 413 forms a wearing surface. When the waist strap 42 is connected to the belt through hole 411, the first connecting portion 422 will not actually come into contact with the human body, and the waist wearing part 40 passes through the waist module. The wearing surface of 41 matches the waist of the human body.

It should be understood that the above-mentioned first waist fabric 412 and second waist fabric 413 include but are not limited to fabrics. For example, the fabrics can be cotton, linen, silk, woolen, leather, chemical fiber, blended fabric, modal, plastic-coated fabric, etc. , and in this embodiment, in order to improve the breathability of the first waist strap 423 and the second waist strap 424, the first waist fabric 412, the second waist fabric 413 and the fabric used to make the second waist strap 424 adopt mesh. Cloth or other fabrics with mesh holes, and the outer edges of the first waist strap 423 and the second waist strap 424 can be provided with hemming portions to strengthen the strap structure, or avoid burrs on the edges of the fabric, or The edges of the first waist fabric 412 and the second waist fabric 413 are stitched together to connect the two fabrics.

In this embodiment, the above-mentioned waist strap 42 can also be formed by the above-mentioned fabric arrangement method, and the waist strap 42 and the waist module 41 can be provided with padding on the fitting surface and the wearing surface. It can be understood that, The pads are generally made of flexible materials to cushion the force exerted by the waist wearing part 40 on the wearer's body, reduce the wearer's body pressure, and improve their comfort. Here, the flexible material can be further configured as a material with an elastic recovery function, such as memory foam, which not only provides a binding buffering function, but also helps the waist strap 42 maintain its shape.

As shown in Figures 5 and 6, in the application of the above-mentioned waist wearing part 40 in the waist assist exoskeleton, the waist assist exoskeleton includes a back frame body 10. The back frame body 10 serves as the contact area and interaction with the wearer in the exoskeleton system. The most powerful part, it can provide wearing space for the wearer's waist, back and even upper hips. In order to realize the wearing and fixation between the back frame body 10 and the human body, the back frame body 10 is provided with a wearing part. The back frame body 10 can be worn on the human trunk through the wearing part. It should be noted that the wearing part in this embodiment includes In addition to the above-mentioned waist wearing piece 40, it may also include a back wearing piece 50 and a leg wearing piece 13. The back frame body 10 is used to be worn on the wearer's torso. In the wearing state, the back frame body 10 is located on the back side of the wearer. , so that there is good synchronization between the exoskeleton system and the wearer. The back wearing part 50 is provided with shoulder straps 51. The two ends of the shoulder straps 51 are respectively connected to the left and right sides of the upper part of the back frame body 10 and the left and right sides of the lower part. Side, for example, the back frame body 10 can provide an installation position for the shoulder straps 51 and the waist strap 42. One end of the shoulder strap 51 can be connected to the backpack module, and the back wearing part 50 is set on the back frame body 10 On the other side, the waist module 41 is arranged at the lower part of the back body 10, and the other end of the shoulder strap 51 can be connected to the waist module 41, so that when the back body 10 is worn, the wearer's arms can move from the shoulder strap 51 The shoulder strap 51 passes through the space formed around the back frame body 10 and rests on the wearer's shoulder. It can be understood that, in order to ensure that the force exerted by the back frame body 10 on the wearer can be relatively evenly transmitted to the wearer's torso, the backpack module of this embodiment is provided with one shoulder strap 51 and two shoulder straps on each left and right sides. The other end of 51 is connected to the left and right sides of the waist module 41 respectively. Similarly, the waist strap 42 is detachably connected to the waist belt through hole 411 of the waist module 41 through the above-mentioned embodiment. In the wearing state, the waist strap 42 surrounds the wearer's waist to cooperate with the shoulder strap 51 The back frame body 10 is fixed to the wearer's trunk.

According to the above solution, the back frame body 10 of this embodiment adopts a combination of rigidity and flexibility. The back frame body 10 provides good support for the wearer's trunk, and through flexible structures such as waist straps 42 and shoulder straps 51, the back frame can The good fit between the body 10 and the human body can not only improve the human-machine compliance, but also ensure that the back body 10 stably fits the human body, improve the wearing comfort, and during the wearer's exercise The flexible structure does not restrict the normal range of activities of the human body and ensures the stretchability of the human body's own limbs. In one embodiment, in order to provide assistance to the wearer's arms, as shown in Figures 1 to 4, and further reduce the burden on the wearer's back and arms when carrying objects, the waist assist exoskeleton of this embodiment also includes an arm Assembly 20, the arm assembly 20 can support human arms or weight-bearing objects. Correspondingly, the back A second connection part 151 is formed on the upper part of the bracket 15. The second connection part 151 provides a connection position for the arm assembly 20. In the wearing state, the second connection part 151 is correspondingly disposed on the back side of the wearer's shoulder. In the wearing state, when the wearer does not need to carry objects, the arm assembly 20 is in an unloaded state, and the wearer's arm can also be separated from the support of the arm assembly 20, so that the arm can carry out normal activities. When the wearer When it is necessary to carry heavy objects, the load-bearing objects can be directly hung on the arm assembly 20. In another embodiment, the wearer can place both arms on the arm assembly 20 to support the arm assembly 20. When the arm carries a heavy object, the arm component 20 supports the wearer's arm and transmits the force exerted by the heavy object and the arm on it to the back support 15 so as to be transmitted to the human trunk through the back support 15 or through the elastic plate 11 It is transmitted to the waist support 12 to achieve the effect of reducing the burden on the wearer's arms.

As a specific structure of the arm assembly 20, the arm assembly 20 includes a support rod 21 and an adjustment rod 22. The support rod 21 is provided with a connecting ring 211. The connecting ring 211 can provide a position for the arm strap to pass through, and can also provide support. The passing position of the hanging structure of the load-bearing object, taking arm straps as an example. In the wearing application, one end of the arm straps is connected to the back bracket 15, and extends to the adjustment rod 22 and the support rod 21 in turn, and from the connecting ring 211 Wear it out to provide space for the wearer's arms. One end of the adjusting rod 22 is connected to the support rod 21, and the other end is movably connected to the second connecting part 151. The adjusting rod 22 can drive the supporting rod 21 to move around the second connecting part 151, so that the supporting rod 21 moves to the front of the back bracket 15. When the wearer needs to carry it, the adjusting rod 22 can be rotated to the front side of the back frame body 10 so that the arm straps are located in front of the wearer to facilitate binding of the wearer's hands. During transportation, the adjustment rod 22 can be rotated to the rear side of the back frame body 10 to avoid interference between the arm assembly 20 and the wearer.

The arm strap of this embodiment can be a belt-like structure, which is wrapped around the wearer's arm when in the wearing state, or can be a glove. In the wearing state, the wearer puts the arm into the glove, which can protect the hand on the one hand, and can protect the hand on the other hand. It is convenient for the hand to exert force, and both embodiments can support the wearer's hand and play a supporting role.

Optionally, the hand strap and the back support 15 can be connected through a steel wire. As a material with high structural strength, strong toughness, and the ability to move with the movement of the wearer, the steel wire rope is used as the hand strap and the back support 15. Connector between back supports 15. Of course, in other embodiments, components or materials of other structures may also be used as connectors between the two, and this embodiment does not impose any specific limitations. The steel wire rope and the back support 15 can be fixedly connected so that the distance between the hand strap and the back support 15 is relatively fixed. A rope winding mechanism can also be arranged between the steel wire rope and the back support 15, and a coil spring is arranged in the rope winding mechanism, so that the hand strap can be wound up in the rope winding mechanism without external force, and when the wearer needs to carry it When heavy objects are placed on the hand strap and external force is exerted on the hand strap, the steel wire rope can be extended from the rope winding mechanism and exert a certain force on it through the coil spring to provide a certain amount of assistance to the wearer's arm.

In order to improve the versatility of the arm assembly 20 and make its structure suitable for wearers with different arm structures and arm lengths, the support rod 21 and the adjustment rod 22 of this embodiment are sleeve-fitted. The support rod 21 and the adjustment rod 22 can be in Telescopic movement is performed in the direction of approaching or moving away from each other to adjust the relative position of the connecting ring 211 and the back support 15. In this way, the distance between the hand strap and the back support 15 can also be adjusted to suit different wearers. body structure.

Corresponding to the structure of the human body, the arm components 20 of this embodiment are divided into two groups. The two arm components 20 can respectively support both arms of the human body. The back bracket 15 is formed with two second connection parts 151. The two second connection parts 151 are respectively Provides a connection position for the arm assembly 20; a downwardly concave notch 152 is formed between the two second connection parts 151. In the wearing state, the notch 152 is correspondingly formed on the back side of the wearer's neck for adapting to the human body. Movements such as tilting the neck back to ensure flexibility.

In summary, through the implementation of the above technical solutions, the waist-assisted exoskeleton can improve the support and assisting effect of the wearer's trunk in the application of the exoskeleton system, thereby benefiting the wearer's work and improving the wearer's load capacity. It also reduces the risk of injury to the wearer.

In the description of this specification, reference to the terms "an embodiment," "example," etc., means that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. middle. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example.

In addition, it should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole. , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

The technical principles of the present disclosure have been described above in conjunction with specific embodiments. These descriptions are only for explaining the principles of the present disclosure and should not be construed as limiting the scope of the present disclosure in any way. Based on the explanations here, those skilled in the art can think of other specific implementations of the present disclosure without any creative effort, and these methods will all fall within the protection scope of the present disclosure.

Claims

A waist assist exoskeleton, which includes:

The back frame body is provided with a wearing part, and the back frame body can be worn on the human trunk through the wearing part;

The back frame body includes an elastic plate member that extends longitudinally along the human trunk. In the wearing state, the elastic plate member can bend and deform with the movement of the wearer's trunk;

The waist assist exoskeleton also includes a leg wearing piece and an elastic energy storage piece. The leg wearing piece can be worn on the human leg. The leg wearing piece is connected to the back frame body through the elastic energy storage piece. connect.
The waist assist exoskeleton according to claim 1, wherein the elastic plate member is configured as an arc-shaped member that fits the curve of the human back.
The waist assist exoskeleton according to claim 1, wherein the length of the elastic plate is set to be greater than half the length of the back frame body.
The waist assist exoskeleton according to claim 1, wherein the back frame body further includes a waist support, the waist support is wearable on the waist of the human body, and the elastic energy storage member is connected to the waist support close to the legs. One side of the leg wearing piece, one end of the elastic plate is connected to the side of the waist support away from the leg wearing piece;

The other end of the elastic plate extends along the human trunk in a direction away from the waist support, and the waist support is a rigid body.
The waist assist exoskeleton according to claim 4, wherein the waist support is disposed from a side away from the leg wearing piece to a side close to the leg wearing piece toward the rear of the back frame body. Tilt laterally.
The waist assist exoskeleton according to claim 5, wherein the left and right sides of the waist support are arranged to gradually bend in the front direction.
The waist assist exoskeleton according to any one of claims 1 to 6, wherein the elastic energy storage member is an elastic cord or a flat elastic band.
The waist assist exoskeleton according to claim 7, wherein there are two leg wearing parts and two elastic energy storage parts, and the two leg wearing parts can be respectively worn on both legs of the human body. Elastic energy storage parts are respectively connected to the back sides of the two leg wearing parts;

The lower part of the back frame body is formed with two mounting parts. The two mounting parts respectively provide the connection positions of the elastic energy storage components. In the wearing state, the two mounting parts are respectively arranged on the wearer's legs. rear side, so that the entire elastic energy storage member is located on the rear side of the wearer's leg.
The waist assist exoskeleton according to claim 8, wherein a restraint belt is provided between the two elastic energy storage members.
The waist assist exoskeleton according to claim 1, wherein the leg wear includes:

a first leg strap with an inner surface forming a first wearing surface; and

a second leg strap, the inner surface of the second leg strap is formed with a second wearing surface, the first leg strap is detachably connected to the second leg strap, so that the The first wearing surface and the second wearing surface are closed to define a wearing space for the legs, or expanded to provide a putting on and taking off position for the legs;

When the first wearing surface and the second wearing surface are in a closed or unfolded state, the first wearing surface is maintained as an arc surface curved along its length direction, so that the leg wearing piece can be worn easily. In this state, the first wearing surface can fit against the wearer's legs.
The waist assist exoskeleton according to claim 10, wherein the second leg strap is a flexible belt;

The first leg strap is connected to the end of the second leg strap, so that the end of the second leg strap away from the first leg strap can be close to the first leg. the first leg strap or move in a direction away from the first leg strap.
The waist assist exoskeleton according to claim 10 or 11, wherein the first leg strap includes:

A first leg fabric is provided on the outside of the first leg strap; and

A second leg fabric is provided on the inner side of the first leg strap, and the first leg fabric and the second leg fabric are connected at opposite ends along the length direction;

The length dimension of the first leg fabric is greater than the length dimension of the second leg fabric to cause the first leg strap to bend inward.
The waist assist exoskeleton according to claim 12, wherein a filling space is defined between the first leg fabric and the second leg fabric;

The filling space is filled with flexible filler.
The waist assist exoskeleton according to claim 12, wherein the first leg fabric and the second leg fabric are sutured and connected by a first suture.
The waist assist exoskeleton according to claim 1, wherein the first leg strap and the second leg strap are integrally formed;

One end of the first leg strap is connected to one end of the second leg strap, and a second suture is sewn between the first leg strap and the second leg strap. The second suture is used to block the interaction force between the first leg strap and the second leg strap.
The waist assist exoskeleton according to claim 1, wherein the first leg strap is connected to an end of the second leg strap;

The first leg strap is formed with a third connecting portion at one end thereof away from the second leg strap. Correspondingly, an end of the second leg strap away from the first leg strap is formed with a third connecting portion. The fourth connection part, the first leg strap and the second leg strap are detachably connected through the third connection part and the fourth connection part.
The waist assist exoskeleton according to claim 16, wherein the third connection part is provided on the outside of the first leg strap, and the fourth connection part is provided on the outside of the second leg strap. inside; or

The third connection part is provided on the inside of the first leg strap, and the fourth connection part is provided on the outside of the second leg strap;

The third connecting part and the fourth connecting part are respectively configured as a mat surface and a hook surface of Velcro.
The waist assist exoskeleton according to claim 1, further comprising a waist wearing part, the waist wearing part is arranged on the The lower part of the back frame body, the waist wearing piece includes:

A waist module, the inside of the waist module defines a belt through hole that runs through its opposite ends;

The waist strap is movably connected to the belt through hole. The waist strap is provided with at least two elastic limiting parts along its length direction. The two elastic limiting parts can respectively resist the Opposite ends of the waist module to limit the freedom of movement of the waist strap along the length direction;

The elastic limiting portion can elastically contract under the action of external force to release restrictions on the movement of the waist strap in the length direction.
The waist assist exoskeleton according to claim 18, wherein the waist strap includes:

A first connecting part, the size of the first connecting part matches the through hole of the waistband, so as to be stably inserted into the through hole of the waistband, and the elastic limiting part is along the length of the waist strap. The length direction is located at opposite ends of the first connecting part;

A first waist strap connected to the first end of the first connecting part;

A second waist strap is connected to the second end of the first connecting part. The first waist strap is detachably connected to the second waist strap, so that the waist strap is closed to define the waist. space for wearing, or expand to provide a place for putting on and taking off.
The waist assist exoskeleton according to claim 19, wherein a first fitting portion is formed on an end of the first waist strap away from the first connecting portion;

A second fitting portion is formed on one end of the second waist strap away from the first connecting portion. The first waist strap and the second waist strap pass through the first fitting portion and the second fitting portion. Removable connection.
The waist assist exoskeleton according to claim 20, wherein the waist strap further includes:

A third waist strap is connected to the first end of the first connecting part. A third matching part is provided on the inside of the third waist strap. Correspondingly, a third matching part is provided on the outside of the second waist strap. Four fitting parts, the third fitting part and the fourth fitting part are detachably connected.
The waist assist exoskeleton according to claim 21, characterized in that the first fitting part is arranged on the outside of the first waist strap, and the second fitting part is arranged on the outside of the second waist strap. The inner side; the first matching part and the second matching part are respectively configured as the matte surface and the hook surface of the Velcro; the third mating part and the fourth mating part are respectively configured as the matte surface and the hook surface of the Velcro. face; and

When the first fitting part is a rough surface, the third fitting part is a hook surface; when the first fitting part is a hook surface, the third fitting part is a rough surface.
The waist assist exoskeleton according to claim 19, characterized in that the elastic limiting part is provided between the first waist strap and the first connecting part, and the elastic limiting part is provided between the second waist strap and the first connecting portion;

The elastic limiting part includes a convex part and a transition part. The convex part is protruding on one side of the first connecting part. Both ends of the convex part are transitionally connected to the first waist strap through the transition part. The belt and the first connecting part, and the two ends of the convex part are transitionally connected to the second waist strap and the first connecting part through the transition part.
The waist assist exoskeleton according to any one of claims 18-23, characterized in that the waist module includes:

The first waist fabric is provided on the outside of the waist module; and

The second waist fabric is arranged on the inside of the waist module, the first waist fabric and the second waist fabric are enclosed to form the belt through hole; the second waist fabric forms a wearing surface, and the waist The module can be matched and attached to the waist of the human body through the wearing surface.
The waist assist exoskeleton according to claim 1, wherein the back frame body further includes:

Back support, the back support can be worn on the back of the human body and can move with the wearer's back;

One end of the elastic plate is connected to the side of the back bracket close to the elastic energy storage element. The elastic plate is arranged between the back bracket and the elastic energy storage element. The back bracket is a rigid body.
The waist assist exoskeleton according to claim 25, further comprising:

Arm assembly, used to support load-bearing objects;

A second connection part is formed on the upper part of the back support. The second connection part provides a connection position for the arm component. In the wearing state, the second connection part is correspondingly arranged behind the wearer's shoulder. side;

The arm assembly includes:

The support rod is provided with a connecting ring;

Adjustment rod, one end of the adjustment rod is connected to the support rod, and the other end is movably connected to the second connection part. The adjustment rod can drive the support rod to move around the second connection part, so that the support The rod moves to the front or rear side of the back support;

The support rod is sleeve-fitted with the adjustment rod;

The support rod and the adjustment rod can telescopically move toward or away from each other to adjust the relative position of the connecting ring and the back support.