Waist and Abdomen Assisting Exoskeleton

Abstract

The present invention discloses a waist and abdomen assisting exoskeleton, which is provided with a waistband. Both side surfaces of the waistband are respectively connected to a torque balance mechanism through horizontal rotating shafts. The upper end of each torque balance mechanism is correspondingly connected to the lower end of a support skeleton symmetrically arranged at the back of the waistband. The lower end of each torque balance mechanism is connected to a wire rope. There is a wire rope fixing part at the lower part of the wire rope. The upper and lower ends of the support skeleton are connected to shoulder straps. There is no mechanical structure that uses a rotating shaft to connect the upper body skeleton and the leg skeleton. Only the wire rope applies a pulling force to the support skeleton through the torque balance mechanism, and the support skeleton then pulls the shoulder straps to act on the human body, providing a torque opposite to the direction of the handling force to the human body to achieve the assisting effect. The structure is simple and lightweight, which can improve the movement flexibility and wearing comfort of the wearer, and the assisting effect is remarkable.

Description

Technical Field

[0001] The present invention relates to a wearable device, in particular to a lumbar-abdominal assistive exoskeleton that can improve movement flexibility and wearing comfort. Background Art

[0002] The lumbar-abdominal assistive exoskeleton is a wearable device that can improve the carrying capacity and endurance of the wearer. The basic structure of the existing lumbar-abdominal assistive exoskeleton is to drive the rotating shaft located at the hip joint through a motor, pneumatic, hydraulic or elastic element, and then, through the leg skeleton and upper body skeleton connected to the rotating shaft, provide a force in the opposite direction of the carrying force at the front side of the wearer's thigh and the chest to help the human torso straighten to provide assistance. Those driven by a motor, pneumatic or hydraulic are active type, those driven by elastic elements such as springs and rubbers are passive type, and those driven by elastic elements and clutch systems are semi-automatic type. No matter in what form the assistance effect is achieved, since the upper body skeleton and the leg skeleton are connected by a multi-rotating shaft mechanical structure, the structure is complex and heavy, and the degrees of freedom of the mechanical skeleton cannot fully match the human movement, which affects the movement flexibility and wearing comfort of the wearer. In addition, although the existing lumbar-abdominal assistive exoskeleton can provide assistance, it cannot provide effective direct protection for the lumbar spine. Summary of the Invention

[0003] The present invention is to solve the above technical problems existing in the prior art, and provides a lumbar-abdominal assistive exoskeleton that can improve movement flexibility and wearing comfort.

[0004] The technical solution of the present invention is: a lumbar-abdominal assistive exoskeleton is provided with a waistband, both sides of the waistband are respectively connected to a torque balance mechanism through a horizontal rotating shaft, the upper end of each torque balance mechanism is correspondingly connected to the lower end of a support skeleton symmetrically arranged behind the waistband, the lower end of each torque balance mechanism is connected to a wire rope, a wire rope fixing member is arranged at the lower part of the wire rope, and the upper and lower ends of the support skeleton are connected to shoulder straps.

[0005] A vertical shaft runner and a first horizontal shaft runner are arranged in the middle of the torque balance mechanism, a second horizontal shaft runner is arranged at the lower end of the torque balance mechanism, a transverse wire conduit is arranged behind the waistband, the wire rope passes through the wire conduit and both ends are sequentially connected to the wire rope fixing member through the vertical shaft runner, the first horizontal shaft runner and the second horizontal shaft runner.

[0006] The present invention is a rigid-flexible combined exoskeleton, which does not require a mechanical structure with a rotating shaft to connect the upper body skeleton and the leg skeleton. Only a wire is needed to apply a tensile force to the support skeleton through a torque balance mechanism, and the support skeleton then pulls the shoulder strap to act on the human body, providing a torque opposite to the direction of the handling force on the human body to achieve an assisting effect. The structure is simple and lightweight, which can improve the movement flexibility and wearing comfort of the wearer, and the assisting effect is remarkable. Especially the special wire structure design can provide pressure on the back of the lumbar spine while providing assistance to the human body to stabilize the lumbar spine, playing a role in protecting the lumbar spine. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a schematic structural diagram of an embodiment of the present invention.

[0008] Figure 2 is a partially enlarged view of the waistband part of an embodiment of the present invention.

[0009] Figure 3 is a schematic structural diagram of the torque balance mechanism part of an embodiment of the present invention.

[0010] Figure 4 is a schematic wearing diagram of an embodiment of the present invention.

[0011] Figure 5 is a schematic diagram of the action effect of an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0012] The lumbar and abdominal assisting exoskeleton of the present invention is as shown in Figures 1 - 3 . It is provided with a waistband 1. The two side surfaces of the waistband 1 are respectively connected to the center of a torque balance mechanism 3 located outside the waistband 1 through flanges and horizontal rotating shafts 2, so that the torque balance mechanism 3 can rotate relative to the waistband 1. The torque balance mechanism 3 has two arms extending from the center, and there is a certain angle between the two arms. The outer end of one arm is the upper end of the torque balance mechanism 2, and the outer end of the other arm is the lower end of the torque balance mechanism 2. The upper end of each torque balance mechanism 2 is correspondingly connected to the lower end of a support skeleton 4 symmetrically arranged behind the waistband 1, that is, the upper end of one torque balance mechanism 2 is connected to the lower end of one support skeleton 4. The lower end of each torque balance mechanism 2 is connected to a wire 5, and there is a wire fixing member 6 at the lower part of the wire 5. The wire 5 can be an elastic rope or a passive type formed by connecting elastic elements such as springs and rubbers in series, and can also be an active type formed by driving the wire by a motor, pneumatic or hydraulic means as in the prior art. Of course, it can also be made into a semi-automatic type. The wire fixing member 6 can be a strap for fixing the wire 5 to the part of the calf near the knee to limit the fluttering of the wire 5, or a foot wearing structure, or both the strap and the foot wearing structure can be provided at the same time. The upper end of the support skeleton 4 is connected to a shoulder strap 7. The length of the shoulder strap 7 can be adjusted through an adjustment buckle, and the lower end of the shoulder strap 7 can be connected to the lower end of the support skeleton 4 through a connection buckle 12.

[0013] To provide effective protection for the wearer's lumbar spine, a vertical shaft runner 8 and a first horizontal shaft runner 9 are provided in the middle of the torque balance mechanism 5, and a second horizontal shaft runner 10 is provided at the lower end of the torque balance mechanism 5. A horizontal wire conduit 11 is provided at the back of the waistband 1. The wire conduit 11 can be placed in the sandwich layer of the waistband 1 as Figure 2 shown, or can be placed on the outer surface of the waistband 1. The wire rope 5 passes through the wire conduit 11 and its two ends are successively connected to the wire rope fixing member 7 through the vertical shaft runner 8, the first horizontal shaft runner 9 and the second horizontal shaft runner 10.

[0014] When the embodiment of the present invention is worn as Figure 4 shown: the waistband 1 and the shoulder strap 7 are respectively located at the waist and shoulders of the wearer, and the wire rope fixing member 6 is fixed to the human body. When the wearer is in a non-working (bending) state such as standing upright or walking, the wire rope 6 remains slack and does not affect the movement of the wearer.

[0015] The effect of the embodiment of the present invention is as Figure 5 shown. When the wearer is in a forward flexion state such as bending or leaning forward, the wire rope 6 is in a tensioned state. The torque balance mechanism 3 generates a torque in the same direction as from the bending state to the straight waist state under the action of the tension of the wire rope 6. The torque is transmitted through the support skeleton 4 connected to the torque balance mechanism 3, and then the assistance is transmitted to the upper body trunk of the human body through the shoulder strap 7.

Claims

1. A waist and abdomen assisting exoskeleton, characterized in that: There is a belt (1), and both sides of the belt (1) are respectively connected to the center of a torque balance mechanism (3) through a horizontal rotating shaft (2), enabling the torque balance mechanism (3) to rotate relative to the belt (1). The torque balance mechanism (3) has two arms extending from the center. The outer end of one arm is the upper end of the torque balance mechanism (3), and the outer end of the other arm is the lower end of the torque balance mechanism (3). The upper end of each torque balance mechanism (3) is correspondingly connected to the lower end of a support skeleton (4) symmetrically arranged behind the belt (1). The lower end of each torque balance mechanism (3) is connected to a pull wire (5). There is a pull wire fixing member (6) at the lower part of the pull wire (5). The upper and lower ends of the support skeleton (4) are connected to a shoulder strap (7); the pull wire fixing member (6) is a binding band and / or a foot-wearing structure for fixing the pull wire (5) to the part of the calf near the knee. A vertical shaft runner (8) and a first horizontal shaft runner (9) are provided in the middle of the torque balance mechanism (3). A second horizontal shaft runner (10) is provided at the lower end of the torque balance mechanism (3). A horizontal wire conduit (11) is provided behind the belt (1). The pull wire (5) passes through the wire conduit (11) and is sequentially connected to the pull wire fixing member (6) through the vertical shaft runner (8), the first horizontal shaft runner (9), and the second horizontal shaft runner (10) at both ends. When the wearer is in an upright or walking non-working state, the pull wire (5) remains slack; when the wearer is in a bent-over or forward-bending state, the pull wire (5) is in a taut state.

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