A suspension back frame applied to a power-assisted device, a power-assisted device and a mechanism

Abstract

The application discloses a suspension back frame applied to a power assisting device, a motion power assisting device and a mechanism, wherein the suspension back frame comprises a waist structure, a shoulder structure and a back structure, the waist structure is connected with the lower end of the back structure through a first clamping assembly, the back structure can be spatially rotated and displaced relative to the waist structure, and the upper end of the back structure is connected with the shoulder structure through a second clamping assembly. The waist structure, the shoulder structure and the back structure are connected and matched to realize the dispersion and transfer of the weight pressure from the human shoulder to the human waist, so that the burden of the human shoulder can be effectively reduced. Moreover, the suspension back frame is used in cooperation with other motion power assisting devices or mechanisms, so that the dispersion effect of the weight pressure is better, the weight of the weight that can be borne by the human body is larger, the one-time transportation amount is correspondingly increased, and the carrying efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of motion assistive device technology, and more particularly to a suspension back frame, motion assistive device, and mechanism applied to assistive devices. Background Technology

[0002] Wearing exoskeleton assistive devices can effectively enhance the strength and endurance of the human upper or lower limbs. Currently, there are hip joint assistive exoskeletons, knee joint assistive exoskeletons, and upper limb assistive exoskeletons on the market, and many existing documents disclose the implementation mechanisms of such devices.

[0003] In practical use, to enhance the human body's load-bearing capacity, it is necessary to use a back frame with an exoskeleton to assist the body: distributing and transferring the pressure of heavy objects from the shoulders to reduce the burden on the body and enhance load-bearing capacity. In some existing solutions, the back frame system is rigidly connected to the exoskeleton device. This makes the back frame system difficult to disassemble and install, and the rigid connection cannot accommodate the natural movements of the human torso such as bending and twisting during exercise, resulting in a poor experience. In other solutions, the rigid back frame is directly equipped with a waist belt and shoulder straps, but the rigid back frame cannot be quickly disassembled and separated, failing to meet the requirement of sharing waist belts and shoulder straps with the exoskeleton device and being able to detach them quickly. Summary of the Invention

[0004] The purpose of this invention is to realize a suspension back frame, motion assist device and mechanism for use in assistive devices, which can distribute and transfer the pressure of heavy objects from the human shoulder to the human waist, and can effectively reduce the burden on the human shoulder.

[0005] Meanwhile, the suspension back frame of the present invention can achieve the following beneficial effects:

[0006] 1. The suspension back frame of this invention can be quickly installed and disassembled without tools, making it very convenient to use;

[0007] 2. The suspension back frame of this invention can adapt to natural movements such as bending and twisting of the torso during human movement, without affecting the flexibility of movement;

[0008] 3. The suspension back frame of this invention can indirectly transfer the weight of the back to the rigid lumbar frame of the exoskeleton, and then further transfer it downward, which can greatly reduce the burden on the human shoulder and spine.

[0009] 4. The suspension frame of this invention can be folded and expanded to meet the carrying needs of different equipment;

[0010] 5. The suspension back frame of this invention can share the waist belt and shoulder straps with the exoskeleton.

[0011] To achieve the above objectives, the present invention adopts the following technical solution:

[0012] In a first aspect, a suspension back frame is disclosed, comprising a waist structure, a shoulder structure and a back structure. The waist structure is connected to the lower end of the back structure via a first engaging component, and the back structure is spatially rotatable and displaceable relative to the waist structure. The upper end of the back structure is connected to the shoulder structure via a second engaging component.

[0013] Secondly, a motion assist device is disclosed, comprising a waist frame and a leg mechanism. The waist frame is a rigid structure and surrounds the wearer's waist to the left and right hips. The leg mechanism includes a thigh mechanism, which is arranged near the thighs of the human body. The upper end of the thigh mechanism is rotatably connected to the waist frame. The motion assist device has the aforementioned suspension back frame. The waist belt is fixedly connected to the waist frame at multiple points. The slings are disposed on the waist belt or the waist frame. The shoulder straps are connected to the waist belt or the waist frame at multiple points.

[0014] Thirdly, a motion assist mechanism is disclosed, including the motion assist device. The leg mechanism further includes a calf mechanism and / or a foot mechanism. The calf mechanism is arranged near the lower leg of the human body, and the foot mechanism is arranged near the ankle of the human body. The upper end of the calf mechanism is rotatably connected to the thigh mechanism, and the lower end of the calf mechanism is rotatably connected to the foot mechanism.

[0015] The embodiments of the present invention utilize the connection and cooperation of the waist structure, shoulder structure and back structure to distribute and transfer the pressure of heavy objects from the human shoulder to the human waist, which can effectively reduce the burden on the human shoulder.

[0016] Furthermore, by using it in conjunction with other motion-assist devices or mechanisms, it can better distribute the pressure of heavy objects, increase the weight that the body can bear, and correspondingly increase the amount of material transported at one time, thereby improving handling efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1a This is a schematic diagram of an embodiment of a suspended backrest vertical rigid frame according to the present invention;

[0019] Figure 1b This is a schematic diagram of an embodiment of a suspended backrest vertical rigid frame according to the present invention;

[0020] Figure 2a This is a schematic diagram of an embodiment of a suspension back brace belt according to the present invention;

[0021] Figure 2b This is a schematic diagram of an embodiment of a belt suspension structure according to the present invention;

[0022] Figure 3a This is a schematic diagram of an embodiment of a suspension back brace shoulder strap according to the present invention;

[0023] Figure 3b This is a schematic diagram of an embodiment of a shoulder strap sliding structure according to the present invention;

[0024] Figure 4 This is a schematic diagram of an embodiment of a suspension backrest hinge according to the present invention;

[0025] Figure 5a This is a schematic diagram of an embodiment of a suspension backrest fixing device according to the present invention;

[0026] Figure 5b This is a schematic diagram of an embodiment of a suspension backrest binding mechanism of the present invention;

[0027] Figure 6 This is a schematic diagram illustrating the wearing effect of a suspension back frame used alone according to an embodiment of the present invention.

[0028] Figure 7a This is a schematic diagram illustrating the wearing effect of a suspension back frame combined with a motion assist device according to an embodiment of the present invention.

[0029] Figure 7b This is a schematic diagram illustrating the wearing effect of a suspension back frame combined with a motion assist mechanism according to an embodiment of the present invention.

[0030] The attached figures are labeled as follows:

[0031] 1—Vertical rigid frame;

[0032] 2—Support rod, 21—First spring clip;

[0033] 3—Sliding rod, 31—Second spring clip;

[0034] 4—Hinge structure, 41—Hinge axis, 42—Base, 43—Upper limit position, 44—Lower limit position;

[0035] 5—Load-bearing pallet;

[0036] 6—Waist belt fixing mechanism, 61—Sling, 62—Fixed connector, 63—Waist belt, 64—Rigid fixing mechanism, 621—Insert hole, 622—Snap buckle hole, 623—Side guard;

[0037] 7—Shoulder strap, 71—Sliding connector, 711—Waist hole, 712—Concave groove;

[0038] 81—Fixing hole, 82—Fixing hook, 83—Water bottle, 84—Weight, 85—Binding strap;

[0039] 9—Motion assist device, 91—Waist frame, 92—Leg mechanism, 911—Waist bar, 912—Power module, 921—Thigh mechanism, 922—Lower leg mechanism, 923—Foot mechanism. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0042] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0043] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0044] The suspension frame includes a waist structure, a shoulder structure, and a back structure. The waist structure is connected to the lower end of the back structure via a first engaging assembly, and the back structure is spatially rotatable and displaceable relative to the waist structure. The upper end of the back structure is connected to the shoulder structure via a second engaging assembly.

[0045] The suspension back frame of the present invention includes a waist structure, a shoulder structure and a back structure.

[0046] In this embodiment, the waist structure, shoulder structure and back structure are connected and cooperated to distribute and transfer the pressure of heavy objects from the human shoulder to the human waist, which can effectively reduce the burden on the human shoulder.

[0047] In one embodiment, the waist structure includes a waist belt 63, the shoulder structure includes shoulder straps 7, and the back structure includes a vertical rigid frame 1; a first engaging component is disposed on the rear side of the waist belt 63 and connected to the vertical rigid frame 1, the vertical rigid frame 1 being able to rotate and shift relative to the waist belt 63 via the first engaging component; a second engaging component is disposed on the rear side of the shoulder straps 7 and slidably connected to the vertical rigid frame 1, the vertical rigid frame 1 being able to slide relative to the shoulder straps 7 via the second engaging component.

[0048] In this embodiment, as Figure 2a and 2b In the embodiment shown, the suspension back frame waist structure includes a waist belt 63 or a waist belt fastening mechanism 6 consisting of a waist belt 63 and a rigid fastening mechanism 64;

[0049] like Figure 3a and 3b In the embodiment shown, the suspension back frame shoulder structure includes shoulder straps 7;

[0050] like Figure 3a and Figure 3b The embodiment shown illustrates the connection between the suspension back frame and the shoulder straps.

[0051] In this embodiment, the vertical rigid frame is connected to the waist belt through the first engaging component, and the first engaging component allows the vertical rigid frame to rotate and shift relative to the waist belt in space. When bending over, leaning back, and twisting left and right, the vertical rigid frame can bear the load without hindering the wearer's various waist movements.

[0052] The vertical rigid frame 1 is connected to the shoulder strap 7 via the second engaging component, and the vertical rigid frame 1 can slide relative to the shoulder strap 7 via the second engaging component, which is beneficial for matching users of different heights.

[0053] In one embodiment, a support rod 2 is provided at the lower end of the vertical rigid frame 1, and the vertical rigid frame 1 is connected to the first engaging assembly through the support rod 2, thereby connecting to the waist belt 63; a sliding rod 3 is provided at the upper end of the vertical rigid frame 1, and the vertical rigid frame 1 is connected to the second engaging assembly through the sliding rod 3, thereby connecting to the shoulder strap 7.

[0054] In this embodiment, the support rod 2 and the sliding rod 3 can be regarded as extensions of the vertical rigid frame 1, that is, the support rod 2 and the sliding rod 3 are integrated with the vertical rigid frame 1. Such a design is more conducive to production. Of course, it can also be regarded as an external part of the vertical rigid frame 1, which will facilitate transportation, disassembly and storage.

[0055] Specifically, Figure 1a and Figure 1b This is a schematic diagram of an embodiment of the suspension back frame of the present invention, which mainly shows the back structure:

[0056] The back structure of the suspended backpack includes a vertical rigid frame 1, with a support rod 2 at the lower end of the frame 1 and a sliding rod 3 at the upper end. The support rod 2 is fixedly connected to the vertical rigid frame 1 and bears the downward load when the suspended backpack carries a heavy load. The sliding rod 3 is fixedly connected to the vertical rigid frame 1 and bears the force perpendicular to the sliding rod 3 generated when the suspended backpack carries a heavy load due to the center of gravity deviating from the support rod 2. To ensure the stability of the suspended backpack when carrying a heavy load, at least two support rods 2 are arranged, distributed on opposite sides to stably bear the load and prevent tipping; similarly, at least two sliding rods 3 are arranged, distributed on opposite sides to stably bear the force perpendicular to the sliding rod 3 and prevent tipping.

[0057] In some embodiments (e.g.) Figure 1b As shown, the vertical rigid frame 1, support rod 2, and sliding rod 3 are integrated into one structure, which makes production easier.

[0058] In one embodiment, the first engaging assembly includes a sling 61 and a fixing connector 62. The upper end of the sling 61 is connected to the rear side of the waist belt 63. The fixing connector 62 is disposed on the sling 61. The support rod 2 is connected to the sling 61 through the fixing connector 62, thereby realizing the flexible suspension connection of the vertical rigid frame 1 and bearing the load in the downward gravity direction of the suspended back frame.

[0059] In this embodiment, the fixed connector 62 connects to the support rod 2, and the sling 61 connects to the waist belt 63, thereby connecting the sling 61 and the fixed connector 62 to form a connection between the waist belt 63 and the support rod 2. Since the sling 61 can be made of flexible material and can be bent and twisted, the connection between the support rod 2 and the waist belt 63 is not a rigid connection, and the support rod 2 can rotate and move relative to the waist belt 63 in space.

[0060] like Figure 2a and Figure 2b The embodiment shown illustrates the flexible suspension connection between the back structure and the waist structure of the suspension frame.

[0061] like Figure 2aIn the illustrated embodiment, a suspender strap 61 is suspended from the rear side of the waist belt 63. The upper end of the suspender strap 61 is fixed to the waist belt 63. In this embodiment, the waist belt 63 is closed in front of the wearer, and the lower end of the suspender strap 61 is also fixed to the waist belt 63. In some other embodiments, the lower end of the suspender strap 61 may not be fixedly connected to the waist belt 63. The suspender strap 61 is made of a flexible or elastic material that can be bent and twisted. In this embodiment, the suspender strap 61 is made of webbing.

[0062] In some other embodiments, materials such as fabric, plastic sheets, and ropes can be sewn into the suspenders.

[0063] like Figure 2a In the illustrated embodiment, a fixed connector 62 is arranged on the sling 61, and the fixed connector 62 is fixedly connected to the sling. The vertical rigid frame 1 is connected to the fixed connector 62 through the support rod 2, realizing a flexible suspension connection of the vertical rigid frame 1. When the suspended back frame carries a heavy object, the load is transferred to the sling 61, and through the suspension action of the sling 61, the load is transferred to the waist belt 63. Through the dispersing action of the waist belt 63, the load is distributed to the wearer's entire waist, achieving uniform load bearing on the wearer's waist. At the same time, because the sling 61 is made of flexible material, it can be easily bent and twisted, so the vertical rigid frame 1 can easily achieve spatial rotation and spatial displacement relative to the waist belt 63. In this way, when the wearer bends over, leans back, or twists left and right, the suspended back frame can bear the load without hindering the wearer's various waist movements.

[0064] In one embodiment, the second engaging assembly includes a sliding connector with a waist hole 711 and a concave groove 712. The concave groove 712 connects to the shoulder strap 7. The waist hole 711 is disposed on the concave groove 712, which matches the sliding rod 3. The concave groove 712 accommodates the sliding rod 3 and allows it to slide up and down relative to the sliding connector along the axis of the sliding rod 3. The sliding connector or the sliding rod 3 has a protruding movable pin. The sliding rod 3 or the sliding connector has a waist hole 711 or a second groove that mates with the movable pin. The movable pin passes through the waist hole 711 or engages in the second groove to achieve a sliding connection between the sliding connector and the sliding rod 3 and to bear a force perpendicular to the sliding direction of the sliding rod 3.

[0065] In this embodiment, the relative engagement and fixation between the sliding rod 3 and the sliding connector is achieved by the movable pin engaging with the waist hole 711 or the second groove, which restricts movement in the direction perpendicular to the sliding rod 3, but does not restrict movement in the direction of the sliding rod 3.

[0066] Specifically, the waist hole 711 or the second groove are both extended along the direction (length direction) of the sliding rod 3.

[0067] like Figure 3a In the embodiment shown, a sliding connector 71 is arranged on the rear side of the shoulder strap 7, and the sliding connector is provided with a waist hole 711 and a concave groove 712.

[0068] In some embodiments, the movable pin is arranged on the sliding connector 71 and the waist hole is arranged on the sliding rod 3. This also allows the sliding rod 3 to slide relative to the sliding connector 71 along the direction of the sliding rod 3, and prevents the movement of both in the direction perpendicular to the sliding rod 3 (i.e., prevents the two from disengaging).

[0069] In one embodiment, the fixing connector 62 has an upward-facing opening or a first groove, and the support rod 2 is connected to the fixing connector 62 by passing downward through the opening or snapping into the first groove, thereby transferring the suspension back frame and its load to the fixing connector 62.

[0070] In this embodiment, Figure 2b In the illustrated embodiment, the fixing connector 62 is provided with an upward insertion hole 621 (i.e., an opening) through which the support rod 2 can pass. When the bottom end of the fixing connector 62 is closed, the insertion hole 621 forms a first groove. The diameter of the insertion hole 621 is slightly larger than the diameter of the support rod 2, allowing the support rod 2 to pass downward through the insertion hole 621 and be inserted into the fixing connector 62. The support rod 2 will reliably connect to the fixing connector 62 under load pressure.

[0071] In one embodiment, the concave groove 712 is a semi-tubular structure with a C-shaped opening in cross section, and the sliding rod 3 is a round tube that cooperates with the C-shaped sliding groove; the C-shaped opening of the concave groove 712 is elastic, and the sliding rod 3 can be directly inserted from the opening to form a sliding connection with the sliding connector.

[0072] In this embodiment, as Figure 3b As shown, the concave groove 712 is designed as a semi-tubular structure with a C-shaped opening in cross-section, and the sliding rod 3 is designed as a circular tube structure that matches the shape of the concave groove 712 and can be accommodated therein. The C-shaped opening of the concave groove 712 is elastic, and the sliding rod 3 can be inserted into the concave groove 712 of the sliding connector 71 through the C-shaped opening, and the sliding rod 3 can slide relative to the sliding connector 71 along the direction of the rod body.

[0073] In one embodiment, a load-bearing tray 5 is included. A hinge structure 4 is arranged on the support rod. The load-bearing tray 5 is fixedly connected to the hinge shaft 41 in the hinge structure 4. The load-bearing tray 5 can rotate up and down relative to the support rod 2. The upper and lower ends of the hinge structure 4 are provided with limiting structures, which limit the rotation angle of the load-bearing tray 5.

[0074] In this embodiment, by rotatably connecting the load-bearing tray and the support rod, the load-bearing tray can be spun up when not in use for easy storage.

[0075] Figure 1a and 1b , Figure 4 The illustrated embodiment demonstrates one embodiment of the hinge structure 4 of the suspension frame. The hinge structure 4 includes a base 42 and a hinge shaft 41. The base 42 is fixedly connected to the support rod 2, and the hinge shaft 41 is fixedly connected to the load-bearing tray 5. The hinge shaft 41 is rotatably connected to the base 42. Relative rotational movement between the hinge shaft 41 and the base 42 causes relative rotational movement between the load-bearing tray 5 and the support rod 2. An upper limit stop 43 is arranged at the upper end of the base 42, and a lower limit stop 44 is arranged at the lower end of the base 42. After the load-bearing tray 5 rotates upward relative to the support rod 2 to a certain position, the upper limit stop 43 will prevent the load-bearing tray 5 from continuing to rotate upward relative to the support rod 2; after the load-bearing tray 5 rotates downward relative to the support rod 2 to a certain position, the lower limit stop 44 will prevent the load-bearing tray 5 from continuing to rotate downward relative to the support rod 2. When the suspended back frame is carrying a heavy object, the load-bearing tray 5 will rotate downwards to its furthest position, where it will be stopped from rotating further by the lower limit 44.

[0076] The upper limit 43 and lower limit 44 mentioned above are the limit structures.

[0077] In one embodiment, the upper end of the vertical rigid frame 1 is bent corresponding to the scapula on the back of the human body, and the lower end of the vertical rigid frame 1 is bent corresponding to the waist of the human body, so as to fit the curve of the human back.

[0078] In this embodiment, when a person wears the suspension back brace, the vertical rigid frame 1 fits snugly against the back of the person. The upper part of the vertical rigid frame 1 near the shoulder blades of the person's back has a bend that conforms to the curve of the shoulder blades, and the lower part of the vertical rigid frame 1 near the waist of the person has a bend that conforms to the curve of the waist. This design of the suspension back brace allows it to fit the curve of the back of the person more closely.

[0079] In one embodiment, the fixed connector is further provided with a spring-loaded hole 622 and a first stop 623. The first stop 623 is provided on one side of the spring-loaded hole 622. The support rod 2 is provided with a first spring-loaded buckle 21, which engages in the spring-loaded hole 622. The first stop 623 is used to restrict the axial movement of the first spring-loaded buckle 21 relative to the support rod 2, thereby achieving a reliable connection between the support rod 2 and the fixed connector 62.

[0080] In this embodiment, as Figure 2b In the illustrated embodiment, the fixing connector 62 is further provided with a spring-loaded hole 622 and a first retaining edge 623. A first spring-loaded buckle 21 is arranged at the lower part of the support rod 2. When the support rod 2 is inserted into the fixing connector 62 through the insertion hole 621, the first spring-loaded buckle 21 springs up and passes through the spring-loaded hole 622. The first retaining edge 623 contacts the first spring-loaded buckle 21, preventing the first spring-loaded buckle 21 from moving along the length of the support rod 2, thus preventing the first spring-loaded buckle 21 from disengaging from the spring-loaded hole 622, thereby achieving a reliable connection between the support rod 2 and the fixing connector 62. Pressing the first spring-loaded buckle 21 to separate it from the retaining edge 623 allows the support rod 2 to be pulled upwards, separating the support rod 2 from the fixing connector 62.

[0081] In one embodiment, the movable pin is a second spring-loaded buckle 31, which cooperates with the waist hole 711. The edge of the waist hole 711 is provided with a second stop, which is used to prevent the second spring-loaded buckle 31 from moving relative to the sliding connector along the length direction perpendicular to the sliding rod 3. The second spring-loaded buckle 31 can slide relative to the sliding connector in the waist hole 711 along the length direction of the sliding rod 3.

[0082] In this embodiment, the movable pin is a second spring-loaded buckle 31. The sliding rod 3 is provided with a second spring-loaded buckle 31 that can retract into the rod body. The second spring-loaded buckle 31 protrudes beyond the sliding rod 3 and can pass through the waist hole 711. The second stop of the waist hole 711 will prevent the second spring-loaded buckle 31 from sliding perpendicularly to the sliding rod 3, thus preventing the separation of the sliding rod 3 and the sliding connector 71, but not preventing the second spring-loaded buckle 31 from sliding along the direction of the sliding rod 3 within the waist hole 711. In this way, the second spring-loaded buckle 31 achieves a reliable connection between the sliding rod 3 and the sliding connector 71. When it is necessary to separate the sliding rod 3 and the sliding connector 71, simply press the second spring-loaded buckle 31 to separate it from the waist hole 711, thus separating the sliding rod 3 from the sliding connector 71.

[0083] The sliding structure of the sliding rod 3 and the sliding connector 71 facilitates the assembly and disassembly of the suspension back frame of the present invention, and also helps to match users of different heights.

[0084] In some embodiments, the waist hole 711 is not open, and one side is closed as a groove (i.e., a second groove), which can also serve the same purpose.

[0085] The assembly and disassembly of the suspension back frame of the present invention are completed by quickly connecting and separating the support rod 2 from the waist belt and by quickly connecting and separating the sliding rod 3 from the shoulder strap 7.

[0086] In one embodiment, a fixing device is included, which is disposed on the vertical rigid frame 1. The fixing device includes any one or a combination of a small hole, a hanging ring, a hook, a clip, and a rope.

[0087] In this embodiment, a fixing device is provided on the vertical rigid frame 1 to increase the types of items that can be carried and enrich the functions of this suspension backpack.

[0088] Figure 5a and Figure 5b An embodiment of the suspended back frame carrying an item is shown.

[0089] like Figure 5a As shown, the suspension frame is also provided with fixing holes 81 and fixing hooks 82, both of which are fixing mechanisms.

[0090] In some embodiments, the suspension frame is also provided with fixing mechanisms such as fixing rings, fixing ropes, and fixing clips.

[0091] exist Figure 5a In the illustrated embodiment, a water bottle 83 is suspended on the suspension frame via the fixed hook 82.

[0092] In one embodiment, a binding mechanism is included to help secure large items placed on the load-bearing tray, the binding mechanism comprising any one or a combination of elastic ropes / straps and non-elastic ropes / straps.

[0093] like Figure 5b As shown, the suspension back frame is also equipped with a binding strap 85. One end of the binding strap 85 is connected to the suspension back frame. After the weight 84 is placed on the load-bearing tray 5, the binding strap 85 is tightened and the other end of the binding strap 85 is connected to the suspension back frame. This helps to fix the weight 84 placed on the load-bearing tray.

[0094] In some embodiments, the ends of the binding straps are hooked to the suspension back frame (an alternative to binding), which is simpler than tying.

[0095] Figure 5bIn the illustrated embodiments, the binding strap is an elastic rope / strap, but in some embodiments, the binding strap is a non-elastic rope / strap with buckles to help solve the problem of inconvenience in tightening caused by using a non-elastic rope / strap.

[0096] Figure 1a , Figure 1b , Figure 2a , Figure 2b , Figure 3a , Figure 3b , Figure 4 , Figure 5a , Figure 5b The main structure of the suspension back brace described in this invention and its load-bearing example are shown. In actual use, the suspension back brace described in this invention can be used independently or in conjunction with other motion assist devices.

[0097] like Figure 6 As shown, in some embodiments, the suspension back frame is used independently, the waist structure of the suspension back frame is a waist belt 63, the lower end of the vertical rigid frame 1 (or support rod 2) is suspended and connected to the waist belt 63, the upper end of the vertical rigid frame 1 (or sliding rod 3) is slidably connected to the shoulder strap 7, and the shoulder strap 7 is connected to the waist belt 63.

[0098] In one embodiment, a rigid fastening mechanism 64 is provided between the first engaging component on the rear side of the belt 63 and the belt 63 to form a belt fastening mechanism 6, and the first engaging component is connected to the belt 63 by connecting the rigid fastening mechanism 64.

[0099] In this embodiment, as Figure 2b In the illustrated embodiment, the waist belt fixing mechanism 6 includes a waist belt 63 and a rigid fixing mechanism 64. The sling 61 is not fixed to the waist belt 63, but to the rigid fixing mechanism 64. The waist belt 63 is fixed to the rigid fixing mechanism 64 at multiple points, and the waist belt closes in front of the wearer. When the suspended back frame carries a heavy object, the load is transmitted to the rigid fixing mechanism 64, and then, through the multi-point connection between the waist belt 63 and the rigid fixing mechanism 64, the load is further distributed to the wearer's waist via the rigid fixing mechanism 64 and the waist belt 63.

[0100] The purpose of setting up the rigid fastening mechanism 64 is to connect with other motion assist devices. Here, the rigid fastening mechanism 64 serves as a connector between the suspension back frame and other motion assist devices.

[0101] A motion assist device includes a waist frame 91 and a leg mechanism 92. The waist frame 91 is a rigid structure and surrounds the wearer's waist to the left and right hips. The leg mechanism 92 includes a thigh mechanism 921, which is located near the thighs of the wearer. The upper end of the thigh mechanism 921 is rotatably connected to the waist frame 91. The motion assist device has a suspension back frame. A waist belt 63 is fixedly connected to the waist frame 91 at multiple points. A sling 61 is disposed on the waist belt 63 or the waist frame 91. A shoulder strap 7 is connected to the waist belt 63 or the waist frame 91 at multiple points.

[0102] like Figure 7a As shown, in some embodiments, the suspension back frame can also be used in conjunction with the motion assist device 9. The waist structure of the suspension back frame is a waist belt fixing mechanism 6. The lower end (or support rod 2) of the vertical rigid frame 1 is suspended and connected to the waist belt fixing mechanism 6, and the upper end (or sliding rod 3) of the vertical rigid frame 1 is slidably connected to the shoulder strap 7. The shoulder strap 7 is connected to the waist belt fixing mechanism 6. The waist belt fixing structure 6 includes a waist belt 63 and a rigid fixing mechanism 64. The waist frame 91 of the motion assist device 9 is fixedly connected to the rigid fixing mechanism 64 as an integral structure. The motion assist device 9 is connected to the waist belt 63 at multiple points through the rigid fixing mechanism 64 and the waist frame 91. Similarly, when a person wears the suspension back frame, the vertical rigid frame 1 fits tightly against the back of the person. The upper part of the vertical rigid frame 1 has a bend near the scapula of the human back that conforms to the curve of the scapula, and the lower part of the vertical rigid frame 1 has a bend near the waist of the human body that conforms to the curve of the waist.

[0103] like Figure 7a and 7b As shown, the assistive device also includes a leg mechanism 92, the upper end of which is rotatably connected to the waist frame 91, and the leg mechanism 92 is arranged on the lower limbs of the human body.

[0104] Figure 7a In the embodiment shown, the leg mechanism 92 only includes the thigh mechanism 921, which is arranged on the outside of the human thigh. The thigh is bound by a thigh strap to achieve relative fixation between the thigh mechanism and the human thigh.

[0105] A motion assist device includes a leg mechanism 92, which further includes a lower leg mechanism 922 and / or a foot mechanism 923. The lower leg mechanism 922 is arranged near the lower leg of a human body, and the foot mechanism 923 is arranged near the ankle of a human body. The upper end of the lower leg mechanism 922 is rotatably connected to the thigh mechanism 921, and the lower end of the lower leg mechanism 922 is rotatably connected to the foot mechanism 923.

[0106] like Figure 7b In the illustrated embodiment, the leg mechanism 92 includes a calf mechanism 922 and a foot mechanism 923, in addition to the thigh mechanism 921. The calf mechanism 922 is located on the outer side of the lower leg, and its upper side is rotatably connected to the lower end of the thigh mechanism 921. The lower leg is secured with a calf strap to achieve relative fixation between the calf mechanism and the lower leg. The foot mechanism 923 is located at the ankle, and its upper end is rotatably connected to the lower end of the calf mechanism 922. The foot mechanism 923 contacts the ground. When the suspension frame bears a load, it transfers the load to the assist device. The assist device transmits the load to the ground through the thigh mechanism 921, calf mechanism 922, and foot mechanism 923, reducing the burden on the human body when bearing the load.

[0107] Figure 2b The illustrated embodiment details the lumbar structure configuration when the suspension back frame and the motion assist device 9 are used together. The lumbar frame 91 includes a lumbar support 911, a power module 912, and a main control frame 913. Most of the power modules 912 are located near the hip joint on the side of the waist, and the main control frame 913 is located in the lower back. The upper ends of the power modules 912 are fixedly connected to the lower ends of the lumbar support 911, and the upper ends of the lumbar support 911 are fixedly connected to the main control frame 913. The main control frame 913 and the rigid connection mechanism 64 are an integral structure. The waist belt 63 is connected to the rigid connection mechanism 64 at multiple points, or it can be considered that the waist belt 63 is connected to the main control frame 913 at multiple points.

[0108] In some embodiments, the belt 63 is also connected to the power module 912 on the side.

[0109] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A suspended back frame, characterized in that: It includes a waist structure, a shoulder structure and a back structure. The waist structure is connected to the lower end of the back structure through a first engaging component, and the back structure can rotate and shift relative to the waist structure in space. The upper end of the back structure is connected to the shoulder structure through a second engaging component. The waist structure includes a waist belt, the shoulder structure includes shoulder straps, and the back structure includes a vertical rigid frame. A first engaging component is disposed on the rear side of the waist belt and connected to the vertical rigid frame. The vertical rigid frame can rotate and shift relative to the waist belt via the first engaging component. A second engaging component is disposed on the rear side of the shoulder straps and slidably connected to the vertical rigid frame. The vertical rigid frame can slide relative to the shoulder straps via the second engaging component. A rigid fixing mechanism is provided between the first engaging component and the waist belt to form a waist belt fixing mechanism. The first engaging component connects to the waist belt via the rigid fixing mechanism. The waist belt is fixed to the rigid fixing mechanism at multiple points. A support rod is provided at the lower end of the vertical rigid frame, and the vertical rigid frame is connected to the first engaging assembly through the support rod, thereby connecting to the waist belt; a sliding rod is provided at the upper end of the vertical rigid frame, and the vertical rigid frame is connected to the second engaging assembly through the sliding rod, thereby connecting to the shoulder strap; The first engaging assembly includes a sling and a fixing connector. The upper end of the sling is connected to the rigid fixing mechanism. The fixing connector is disposed on the sling. The support rod is connected to the sling through the fixing connector, realizing a flexible suspension connection of the vertical rigid frame and bearing the downward gravity load of the suspension back frame. The sling is made of flexible or elastic material. The fixing connector is also provided with a snap-fit ​​hole and a first stop. The first stop is disposed on one side of the snap-fit ​​hole. The support rod is provided with a first snap-fit, which engages in the snap-fit ​​hole. The first stop is used to limit the axial movement of the first snap-fit ​​relative to the fixing connector, realizing a reliable connection between the support rod and the fixing connector. The second engaging assembly includes a sliding connector with a waist hole and a concave groove. The concave groove connects to the shoulder strap, and the waist hole is located on the concave groove. The concave groove matches the sliding rod and accommodates the sliding rod, allowing it to slide up and down relative to the sliding connector along the axis of the sliding rod. The sliding connector or the sliding rod has a protruding movable pin, and the sliding rod or the sliding connector has a waist hole or a second groove that engages with the movable pin. The movable pin passes through the waist hole or engages with the second groove to achieve a sliding connection between the sliding connector and the sliding rod and to bear a force perpendicular to the sliding direction of the sliding rod. The movable pin is a second snap fastener that engages with the waist hole. A second stop is provided at the edge of the waist hole to prevent the second snap fastener from moving relative to the sliding connector along the length direction perpendicular to the sliding rod. The second snap fastener can slide relative to the sliding connector in the waist hole along the length direction of the sliding rod.

2. The suspension back frame according to claim 1, characterized in that: The sliding rod, support rod, and vertical rigid frame are designed as a single integrated unit.

3. The suspension back frame according to claim 1, characterized in that: The fixed connector has an upward-facing opening or a first groove. The support rod is connected to the fixed connector by passing downward through the opening or snapping into the first groove, thereby transferring the suspension back frame and its load to the fixed connector.

4. The suspension back frame according to claim 1, characterized in that: The concave groove is a semi-tubular structure with a C-shaped opening in cross section, and the sliding rod is a round tube that mates with the C-shaped concave groove. The C-shaped opening of the concave groove is elastic, and the sliding rod can be directly inserted into the sliding connector from the opening to form a sliding connection.

5. The suspension back frame according to claim 1 or 2, characterized in that: The device includes a load-bearing tray, a hinge structure is arranged on the support rod, the load-bearing tray is fixedly connected to the hinge shaft in the hinge structure, the load-bearing tray can rotate up and down relative to the support rod, and the upper and lower ends of the hinge structure are provided with limiting structures, the limiting structures restricting the rotation angle of the load-bearing tray.

6. The suspension back frame according to claim 1, characterized in that: The upper end of the vertical rigid frame has a bend corresponding to the scapula on the back of the human body, and the lower end of the vertical rigid frame has a bend corresponding to the waist of the human body, so as to fit the curve of the human back.

7. The suspension back frame according to claim 1, characterized in that: It includes a fixing device, which is disposed on the vertical rigid frame, and the fixing device includes any one or a combination of a small hole, a hanging ring, a hook, a clip, and a rope.

8. The suspension back frame according to claim 5, characterized in that: Includes a binding mechanism for helping to secure large items placed on the load-bearing tray, the binding mechanism comprising any one or a combination of elastic ropes / straps and non-elastic ropes / straps.

9. The suspension back frame according to claim 1, characterized in that: The sling is made of any one of cloth, webbing, flexible plastic sheet, and rope.

10. A motion assist device comprising a waist frame and a leg mechanism, wherein the waist frame is a rigid structure and surrounds the wearer's waist to the left and right hips; the leg mechanism comprises a thigh mechanism disposed near the human thigh, the upper end of the thigh mechanism being rotatably connected to the waist frame, characterized in that: The motion assist device has a suspension back frame as described in any one of claims 1-9, the waist belt is fixedly connected to the waist frame at multiple points, the sling is disposed on the waist belt or the waist frame, and the shoulder strap is connected to the waist belt or the waist frame at multiple points.

11. A motion assist mechanism, characterized in that: The motion assist device as described in claim 10 includes a leg mechanism that further includes a calf mechanism and / or a foot mechanism. The calf mechanism is located near the lower leg of the human body, and the foot mechanism is located near the ankle of the human body. The upper end of the calf mechanism is rotatably connected to the thigh mechanism, and the lower end of the calf mechanism is rotatably connected to the foot mechanism.

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