Body-hugging waist assisting device

Abstract

The application discloses a close-fitting waist assisting device, which comprises a power module arranged around the hip joints of a wearer, a waist rod module, a chest rod module and a leg rod module. The power module comprises a waistband for tightly fixing the power module on the waist of the wearer. The waist rod module comprises a waist rod in transmission connection with the power module and arranged on the left and right sides of the trunk of the wearer. The chest rod module is arranged on the upper part of the chest of the wearer and comprises two rod members arranged on the left and right sides respectively and in parallel transmission connection to form an assembly, and the assembly forms a pi-shaped linkage structure with the waist rod. The leg rod module is arranged on the outer side of the thigh of the wearer and comprises a leg belt. The upper end of the leg rod module is fixedly connected with the power module, so that the power module drives the leg rod module to swing the leg of the wearer forward or backward. The lower end of the leg rod module is fixed with the thigh of the wearer through the leg belt. The application can be applied to the application scenarios of sideways bending or twisting the waist.

Description

Technical Field

[0001] This invention relates to the field of human body assistive devices, and in particular to a close-fitting waist assistive device. Background Technology

[0002] In daily work and life, people often encounter situations where they want to enhance the strength and endurance of their upper or lower limbs. Wearable powered exoskeletons are devices that meet this type of application, including hip-assisted exoskeletons, knee-assisted exoskeletons, and upper limb-assisted exoskeletons. Many existing documents disclose the implementation mechanisms of such devices.

[0003] In existing lumbar assistive exoskeleton technologies, hip extension torque is provided during bending to lift / support the wearer's shoulders. Most existing solutions employ a rigid mechanism on the back, using shoulder straps to lift the wearer's shoulders and transmit the hip extension torque. However, this method relies on the shoulder straps for force application, resulting in a loose fit between the straps and the wearer. When the assistive device applies torque, the rigid mechanism on the back separates significantly from the wearer's back, leading to delayed force application. Furthermore, the rigid mechanism on the back is somewhat obtrusive, increasing the risk of collisions with machinery in confined workspaces and compromising safety. Another approach places the rigid mechanism in front of the wearer's shoulders, applying hip extension torque through a lifting motion. This method is highly efficient, but it's only suitable for assistive devices with low force. If applied to devices with high force, the outward tilting torque from the hip extension torque is very large, causing the assistive device to malfunction. Existing technologies do not disclose solutions to address this outward tilting torque. Summary of the Invention

[0004] This invention provides a close-fitting waist support device, which aims to overcome the aforementioned defects of the prior art.

[0005] This invention provides a close-fitting waist support device, comprising:

[0006] A power module is disposed around the hip joints on both sides of the wearer. The power module includes a power base, a power output disc, and a waist belt. The power output disc can rotate relative to the power base and output torque. The waist belt is fixedly connected to the power base to secure the power module tightly to the wearer's waist.

[0007] The waist support module includes a waist support and shoulder straps that are connected to the power module. The waist support is located on the left and right sides of the wearer's torso, with its upper end extending to the front of the wearer's shoulder. The shoulder straps are used to fix the upper end of the waist support to the wearer's shoulder, chest, and back. The lower end of the waist support is located above the wearer's hip joint and on both sides of the waist, and is connected to the power base.

[0008] A chest bar module is set on the upper part of the wearer's chest. The chest bar module includes two rods respectively set on the left and right sides and connected in parallel to form a combination. The combination and the waist bar form a π-shaped linkage structure.

[0009] A leg bar module is installed on the outside of the wearer's thigh. The leg bar module includes a leg strap. The upper end of the leg bar module is fixedly connected to the power module so that the power module drives the leg bar module to swing the wearer's leg forward or backward. The lower end of the leg bar module is fixed to the wearer's thigh through the leg strap.

[0010] Furthermore, the top of the waist bar located on the left and right sides of the wearer's torso is respectively equipped with a left connection limit and a right connection limit;

[0011] The root of each rod is rotatably connected to the upper end of the corresponding side waist bar. When two rods are connected to form a combination, the combination and the waist bar form a π-shaped linkage structure. The connection limit on the left and right sides respectively contacts the top and root of one of the rods to prevent the waist bar from rotating outward based on the vertical axis, so as to balance the external rotation torque brought about by the power module applying hip extension torque to the wearer.

[0012] Furthermore, the top of each of the left and right waist bars is equipped with a connecting shaft, and each bar is rotatably connected to the waist bar on the corresponding side through the corresponding connecting shaft;

[0013] The connecting shaft is a vertical axis, so that the two rods can be rotated to open or close in the horizontal direction relative to the waist rod;

[0014] Alternatively, the connecting shaft may be a spherical shaft to support the corresponding fitting of the two rods into the waist rod for storage.

[0015] Furthermore, one of the members has a top hole or a top post at its top, and one of the waist members has a breast member connecting post that mates with the top hole or a breast member connecting hole that mates with the top post at its top; one of the members can rotate inward based on the connecting axis to fit the top hole into the breast member connecting post or fit the top post into the breast member connecting hole, thereby connecting the left and right waist members and one of the members to form a π-shaped structure;

[0016] One of the rods can rotate inward based on the connecting axis. The other rod has a snap-fit ​​protrusion or snap-fit ​​hole. One rod has a snap-fit ​​hole or snap-fit ​​protrusion that matches the other rod. After the other rod rotates inward and fits against the first rod, the snap-fit ​​protrusion or snap-fit ​​hole is engaged with the snap-fit ​​hole or snap-fit ​​protrusion, thereby achieving a fixed connection between the two rods. As a result, the left and right waist rods and the assembly form a rigid π-shaped connection.

[0017] Furthermore, the snap-fit ​​protrusion is a spring buckle, and the snap-fit ​​hole is a spring buckle hole. One of the rods has a C-shaped cross-section to surround and accommodate another rod on the outside. One of the rods has a spring buckle hole corresponding to the spring buckle, or a spring buckle corresponding to the spring buckle hole. One of the rods rotates inward to fit against the other rod, and the spring buckle snaps into the spring buckle hole, thereby achieving a fixed connection between the two rods. As a result, the left and right waist rods and the assembly form a rigid π-shaped connection.

[0018] Furthermore, one of the rods includes a main rod section and a movable rod section, wherein the movable rod section is slidably connected to the main rod section to accommodate wearers with different chest sizes.

[0019] Furthermore, the main section of the rod has a limiting hole, the movable section of the rod has a limiting post, the movable section of the rod is disposed inside the main section of the rod, the movable section of the rod slides inside the main section of the rod, and the limiting post slides inside the limiting hole;

[0020] Alternatively, the main section of the rod has a limiting post, the movable section of the rod has a limiting hole, the movable section of the rod is disposed inside the main section of the rod, the movable section of the rod slides inside the main section of the rod, and the limiting post slides inside the limiting hole.

[0021] Furthermore, the waist support includes a main waist support and a waist support extension rod, which can slide relative to each other to adjust the length of the waist support to accommodate wearers of different heights;

[0022] The main waist pole has a sleeve structure, and the waist pole extension pole has a pole body structure. The waist pole extension pole extends into the sleeve of the main waist pole so that the main waist pole and the waist pole extension pole can slide up and down relative to each other.

[0023] The main waist pole has several main pole snap-lock holes, and the waist pole extension pole has extension rod snap-locks that mate with the main pole snap-lock holes. When the extension rod snap-lock is pressed down, the waist pole extension pole slides up and down relative to the main waist pole. When the extension rod snap-lock is released at the corresponding position of the main pole snap-lock hole, the top end of the extension rod snap-lock will extend out from the main pole snap-lock hole, thereby preventing the waist pole extension pole from sliding relative to the main waist pole, thus fixing the waist pole extension pole and the main waist pole together.

[0024] Alternatively, the main waist pole is a pole body structure, and the waist pole extension is a sleeve structure. The main waist pole extends into the sleeve of the waist pole extension, so that the main waist pole and the waist pole extension slide relative to each other up and down.

[0025] The main waist pole has several main pole spring buckles, and the waist pole extension pole has extension pole spring buckle holes that mate with the main pole spring buckle holes. When the main pole spring buckle is pressed down, the main waist pole slides up and down relative to the waist pole extension pole. When the main pole spring buckle pops up at the corresponding position of the extension pole spring buckle hole, the top end of the main pole spring buckle will extend from the extension pole spring buckle hole, thereby preventing the main waist pole from sliding relative to the waist pole extension pole, so that the waist pole extension pole and the main waist pole are fixedly connected.

[0026] Furthermore, the power base is provided with a waist support that is located around the hip joints on both sides of the wearer and fits the wearer, and the waist belt is arranged in a C-shape around the wearer's waist.

[0027] The belt is provided with a belt buckle, and the waist support has a belt hole. The belt passes through the waist support hole and is closed by the belt buckle to fix the waist support to the wearer.

[0028] Furthermore, it also includes a main control module electrically connected to the power module and used to drive the power module. The main control module is disposed close to the waist belt or near the hip joint, and the main control module is provided with several buttons for adjusting the assist level and / or mode.

[0029] Furthermore, it also includes a sling system, which includes slings, wristbands, and hooks;

[0030] The upper end of the suspender is fixed to the upper end of the waist bar, and the lower end is fixed with a wristband and a hook. The wristband is fixed to the wearer's palm, and the hook is set on the wearer's palm. The length of the suspender is similar to that of the wearer's arm.

[0031] Furthermore, the wristband is provided with a wristband magnet, and the waist belt is provided with a corresponding waist belt magnet on its side, and the wristband magnet can be attracted to the waist belt magnet.

[0032] Furthermore, the wristband is provided with a protruding shaft or an opening, and the belt is provided with an opening or a protruding shaft that matches the protruding shaft, and the protruding shaft can be inserted into the opening.

[0033] Furthermore, the sling has a double-layer structure with limited elasticity; the double-layer structure includes a fabric sleeve structure with an elastic inner core and an inelastic outer fabric sleeve, so that the sling can wrinkle and shrink and bear great force.

[0034] The inner core is an elastic rubber rope that can slide relative to the fabric sleeve structure, and the natural length of the inner core is less than the natural length of the fabric sleeve structure.

[0035] Furthermore, the bracelet is also equipped with a finger sleeve switch that is electrically connected to the main control module. The finger sleeve switch is a circular or C-shaped finger sleeve structure made of flexible or semi-flexible material and fits with the wearer's finger. The circular finger sleeve structure has several thin-plate-shaped switches embedded in it.

[0036] Furthermore, each of the upper ends of the left and right waist bars is provided with a pulley, and the fixing point of the sling is located at the lower end of the leg bar module. The sling wraps around the pulley from bottom to top and then connects downward to the wristband and hook.

[0037] The waist assist device provided in this invention has the following advantages: 1. It is close-fitting, compact, and highly flexible. The main frame structure is located on the wearer's ribs, with no protrusions on the back or front. It is very close-fitting and flexible, and can adapt to application scenarios where the wearer bends or twists their waist at work; 2. The front shoulder support method provides high efficiency in adding force; 3. The straps can be flexibly stored without affecting work; 4. The assist can be flexibly controlled by finger buttons. Attached Figure Description

[0038] 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.

[0039] Figure 1 This is a schematic diagram of the structure of a close-fitting waist assist device provided in an embodiment of the present invention;

[0040] Figure 2 This is a structural schematic diagram of a close-fitting waist assist device provided in an embodiment of the present invention from another angle;

[0041] Figure 3 A schematic diagram of a chest module of a close-fitting waist support device provided in an embodiment of the present invention;

[0042] Figure 4 A cross-sectional top view of the chest module of a close-fitting waist assist device provided in an embodiment of the present invention;

[0043] Figure 5 This is another structural schematic diagram of a close-fitting waist assist device provided in an embodiment of the present invention;

[0044] The attached figures are labeled as follows:

[0045] 1—Power module; 11—Power base; 111—Power connection shaft; 112—Waist support; 12—Power output disc; 13—Waist belt; 131—Waist belt buckle; 132—Waist belt magnetic attraction; 14—Power extension line;

[0046] 2—Waist pole module; 21—Waist pole; 211—Waist pole main pole; 2111—Main pole spring buckle hole; 212—Waist pole extension pole; 2121—Extension pole spring buckle; 213—Waist pole root; 214—Waist pole top; 215—Chest pole connecting post; 216—Left connecting shaft; 217—Left connecting limit; 218—Right connecting shaft; 219—Right connecting limit; 21A—Chest support; 22—Shoulder strap; 221—Chest strap buckle;

[0047] 3—Breast pole module; 31—Left pole; 311—Left pole hole; 312—Left pole spring buckle hole; 313—Left pole shaft hole; 32—Right pole; 321—Right pole main section; 3211—Right pole limiting hole; 322—Right pole movable section; 3221—Right pole limiting post; 323—Right pole spring buckle; 324—Right pole top hole; 325—Right pole bearing hole;

[0048] 4—Leg module; 41—Leg adapter section; 42—Leg shaft; 43—Leg body; 44—Leg shell; 45—Leg belt;

[0049] 5—Sling system; 51—Sling; 52—Wristband; 521—Wristband magnetic attachment; 522—Finger cot switch; 53—Hook; 54—Pulley;

[0050] 6—Main control module; 61—Button. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Please see below. Figure 1 — Figure 4 As shown, an embodiment of the present invention provides a close-fitting waist assist device including a power module 1, a waist bar module 2, a chest bar module 3, and a leg bar module 4;

[0056] The power module 1 is disposed around the hip joints on both sides of the wearer and includes a power base 11, a power output disc 12 and a waist belt 13. The power output disc 12 can rotate relative to the power base 11 and output torque. The waist belt 13 is fixedly connected to the power base 11 to tightly fix the power module 1 to the wearer's waist.

[0057] The waist support module 2 includes a waist support 21 and shoulder straps 22; the waist support 21 is located on both sides of the wearer's torso, with its upper end extending to the front of the wearer's shoulder; the shoulder straps 22 fix the upper end of the waist support 21 to the wearer's shoulder, chest and back; the lower end of the waist support 21 is located above the wearer's hip joint and on both sides of the waist, and is connected to the power base 21 for transmission.

[0058] The waist bar 21 is located on the left and right sides of the wearer's torso, and the upper ends of each waist bar on the left and right sides extend to the front of the wearer's shoulders. The shoulder straps are used to fix the upper ends of the waist bars on the left and right sides to the wearer's shoulders, chest and back. The lower ends of the waist bars on the left and right sides are located above the wearer's hip joint and on both sides of the waist, and are respectively connected to the power base for transmission.

[0059] The chest support module 3 includes two rods (such as those respectively disposed on the left and right sides and connected in parallel transmission to form an assembly) to form a combination. Figure 1The left rod 31 and right rod 32 mentioned above are described below as two specific rods. In practical applications, the left rod 31 and right rod 32 are structurally interchangeable (achieving the same technical effect). The left rod 31 and right rod 32 are connected in parallel to form a combined unit, which is positioned on the upper chest of the wearer. The roots of the left rod 31 and right rod 32 are rotatably connected to the upper ends of the left and right waist rods 21, respectively. The tops 214 of the left and right waist rods... Each rod has a left connecting limit 217 and a right connecting limit 219. When the left rod 31 and the right rod 32 are connected to form a combination, the combination and the left and right side waist rods 21 form a π-shaped connecting rod structure. The left connecting limit 217 is connected to the top of the right rod 32, and the right connecting limit 219 is connected to the root of the right rod 32 to prevent the left and right side waist rods 21 from rotating (outward rotation) based on the vertical axis, so as to balance the outward rotation torque brought about by the power module 1 applying hip extension torque to the wearer.

[0060] The leg pole module 4 includes a leg pole adapter section 41, a leg pole pivot 42, a leg pole body 43, a leg shell 44, and a leg strap 45. The leg pole adapter section 41 and the leg pole body 43 are rotatably connected by the leg pole pivot 42, which is horizontally arranged along the sagittal plane to support the wearer's leg being raised outward. The leg pole module 4 is located on the outer side of the wearer's thigh, with the upper end being the leg pole adapter section 41, which is fixedly connected to the power output disc 12, and the lower end being the leg pole body 43. The lower end of the leg pole body 43 is connected to the leg shell 44. The leg shell 43 is located on the front side of the wearer's thigh and is fixed to the wearer's thigh by the leg strap 45 that surrounds the wearer's thigh. The power module 1 can drive the leg pole module 4 to swing the wearer's leg forward or backward.

[0061] like Figure 1 , Figure 2As shown, the waist bar 21 includes a main waist bar 211 and a waist bar extension bar 212. The main waist bar 211 and the waist bar extension bar 212 can slide relative to each other to adjust the length of the waist bar 21 to accommodate wearers of different heights. The main waist pole 211 is a sleeve structure, and the waist pole extension rod 212 is a rod structure. In this embodiment, a round rod is used as an example. The waist pole extension rod 212 extends into the sleeve of the main waist pole 211 and can slide up and down relative to the main waist pole 211. The main waist pole 211 has several main pole snap holes 2111, and the extension rod 212 has an extension rod snap 2121 that cooperates with the main pole snap holes 2111. When the extension rod snap 2121 is pressed down, the extension rod 212 can slide up and down relative to the main waist pole 211. When the extension rod snap 2121 pops up at the corresponding position of the main pole snap hole 2111, its top end will extend out from the main pole snap hole 2111, thereby preventing the extension rod 212 from sliding relative to the main waist pole 211, so that the extension rod 212 and the main waist pole 211 form a stable connection.

[0062] The main waist pole 211 and the extension waist pole 212 are interchangeable. That is, the main waist pole 211 can also be a pole structure, and the extension waist pole 212 can also be a sleeve structure, with the same function.

[0063] The top of each of the left and right waist bars 21 is equipped with a connecting shaft, and each bar is rotatably connected to the waist bar 21 on the corresponding side through the corresponding connecting shaft.

[0064] The connecting shaft is a vertical axis, so that the two rods can be rotated to open or close in the horizontal direction relative to the waist rod;

[0065] Alternatively, the connecting shaft may be a spherical shaft to support the two rods to be correspondingly fitted and stored in the waist rod 21.

[0066] Specifically, such as Figure 1 , Figure 2 As shown, the lower end of the waist bar 21, i.e. the waist bar root 213, is rotatably connected to the power base 11 based on the power connecting shaft 111. The power connecting shaft 111 is set horizontally along the sagittal plane. In this way, the relative angle between the waist bar 21 and the power module 1 in the coronal plane can be changed, improving the comfort of wearers of different body types when using the close-fitting waist assist device.

[0067] like Figure 1 , Figure 2As shown, the upper ends of the waist bars 21 on the left and right sides, i.e., the top 214 of the waist bars, are equipped with a left connecting shaft 216 and a right connecting shaft 218. The left bar 31 is rotatably connected to the waist bar 21 on the left side via the left connecting shaft 216, and the right bar 32 is rotatably connected to the waist bar 21 on the right side via the right connecting shaft 218. The left connecting shaft 216 and the right connecting shaft 218 can be vertical shafts, so that the left bar 31 and the right bar 32 can be rotated open or closed in the horizontal direction relative to the waist bars 21, so as to support the wearer to put on the device and fasten the left bar 31 and the right bar 32 together. The left connecting shaft 216 and the right connecting shaft 218 can also be spherical shafts, so that the left bar 31 and the right bar 32 can be stored close to the waist bars 21 on the left and right sides.

[0068] like Figure 1 , Figure 3 and Figure 4 As shown, the right bar 32 has a right bar top hole 324 at its top, and the waist bar 21 has a chest bar connecting post 215 on its top 214 that mates with the right bar top hole 324; when the wearer puts on the close-fitting waist assist device, as Figure 3 As shown, the right rod 32 is rotated inward based on the right connecting shaft 218, and the top hole 324 of the right rod is fitted into the breast rod connecting post 215. This connects the left and right waist rods 21 and the right rod 32 to form a π-shaped structure, and positions the right rod 32 relative to the left waist rod 21, so that the left rod 31 can be fastened to the right rod 32 later. Then, the left rod 31 is rotated inward based on the left connecting shaft 216, and the right rod 32... The left rod 31 has a C-shaped cross-section and can surround and accommodate the right rod 32 on the outside. It has a spring buckle hole 312 corresponding to the spring buckle 323. The left rod 31 rotates inward to fit against the right rod 32, and the spring buckle 323 is inserted into the spring buckle hole 312 of the opposite rod, thereby realizing the fixed connection between the left rod 31 and the right rod 32. In this way, the waist rod 21 on the left and right sides and the combination of the left rod 31 and the right rod 32 form a rigid π-shaped connection.

[0069] The hole-post structures of the right rod top hole 324 and the breast rod connecting post 215 are interchangeable. That is, the right rod 32 has a right rod top post at its top, and the waist rod top 214 of the waist rod 21 has a breast rod connecting hole that matches the right rod top post, achieving the same effect. Furthermore, the left rod 31 has a snap-fit ​​protrusion / snap hole, and the right rod 32 has a snap-fit ​​hole / snap protrusion that matches the left rod 31. After the left rod 31 rotates inward to fit against the right rod 32, the snap-fit ​​protrusion / snap hole engages with the snap-fit ​​hole / snap protrusion, thereby achieving a fixed connection between the left rod 31 and the right rod 32. This, in turn, forms a rigid π-shaped connection between the left and right waist rods 21 and the combination of the left rod 31 and the right rod 32.

[0070] like Figure 1 and Figure 2 As shown, when the close-fitting waist assist device is working, the power module 1 applies a hip extension torque, and the leg bar module 4 obtains an extension torque relative to the waist bar module 2. At this time, the leg bar module 4 presses against the wearer's thighs through the leg shell 44, and the waist bar module 2 presses against the front of the wearer's shoulders through the top 214 of the waist bar on the left and right sides. The power amplification line 14 of the power to the wearer's body is as follows: Figure 1 As shown; since the power module 1 is located on the outside of the wearer's hip, it has a force arm L with the power line 14, which will generate an outward torque T.

[0071] The close-fitting waist assist device counteracts the outward turning torque T by setting a limit between the waist bar 21 and the left bar 31 and right bar 32. For example... Figure 4 As shown, when the left rod 31 and the right rod 32 are connected to each other, the left connecting limit 217 and the right connecting limit 219 on the top 214 of the waist rod contact the top and root of the right rod 32, respectively. When the power module 1 applies force, the outward torque T will cause the top 214 of the waist rod on the left and right sides to flip outward relative to the left rod 31 and the right rod 32. At this time, the left connecting limit 217 and the right 219 will prevent the top 214 of the waist rod on the left and right sides from flipping outward, thereby preventing the power module 1 and the leg rod module 4 from flipping outward, thus ensuring that the close-fitting waist assist device can work stably.

[0072] like Figure 1 , Figure 3 , Figure 4 As shown, the right rod 32 includes a main section 321 and a movable section 322. The movable section 322 is slidably connected to the main section 321 to accommodate wearers with different chest sizes. The main section 321 has a limiting hole 3211, and the movable section 322 has a limiting post 3221. The movable section 322 is disposed within the main section 321. The movable section 322 slides within the main section 321, and the limiting post 3221 also slides within the limiting hole 3211. The limiting hole 3211 ensures that the movable section 322 will not detach from the main section 321.

[0073] like Figure 1 As shown, the shoulder strap 22 includes left and right parts, and also has a chest strap buckle 221. The left and right parts are connected by the chest strap buckle 221, which can further prevent the waist bars 21 on the left and right sides from separating outward.

[0074] In specific application scenarios, the structures of the left rod 31 and the right rod 32 can be interchanged, and they have the same function.

[0075] The power base 11 is provided with a waist support 12 that is located around the hip joints on both sides of the wearer and fits the wearer, and the waist belt 13 is arranged in a C-shape around the wearer's waist.

[0076] The waist belt 13 has a waist belt buckle at the front abdomen, and the waist support 12 has a waist belt hole. The waist belt 13 passes through the waist support hole and closes at the front abdomen through the waist belt buckle to fix the waist support 12 to the wearer.

[0077] The upper end of the waist bar 21 is provided with a corresponding chest support 21A. The chest support 21A fits under the left and right sides of the wearer's ribs, and the shoulder straps fix the chest support 21A to the wearer's back, chest and shoulders.

[0078] like Figure 2 As shown, to achieve a closer fit between the waist support device and the wearer, the power base 11 on both sides is also equipped with a lumbar support 12. The lumbar support 12 is located near the wearer's hip joints on both sides, conforming to the wearer's pelvic bones. The waist belt 13 is set around the wearer's waist in a C-shape, with a waist belt buckle 131 at the front abdomen. The lumbar support 112 has a waist belt hole, through which the waist belt 13 passes and closes at the front abdomen through the waist belt buckle 131, fixing the lumbar support 112 to the wearer. The waist belt 13 can be adjusted to accommodate wearers with different waist sizes by adjusting its relative position to the lumbar support. The upper end of the waist bar 21 on both sides is also equipped with a chest support 21A. The chest support 21A conforms to the wearer's ribs on both sides, and the shoulder straps 22 fix the chest support 21A to the wearer's back, chest, and shoulders. The lumbar support 12 and chest support 21A are made of rigid or semi-rigid materials, which can increase the contact area between the device of the present invention and the human body and improve the comfort of wearing and using it.

[0079] like Figure 1 , Figure 2 As shown, the close-fitting waist assist device also includes a main control module 6, which is electrically connected to the power module 1 and can drive the power module 1 to rotate the leg bar module 1 or output torque to it. The main control module 6 also has several buttons, which the wearer can use to set the assist level or assist mode. The main control module 6 has a flat box structure and is set close to the waist belt 13 or near the hip joint, making it convenient for the wearer to operate and use, and it fits the body without being obtrusive.

[0080] By adopting the aforementioned waist and chest bar structure, the power module 1 in the close-fitting waist assist device can be closer to the wearer, thereby making the close-fitting waist assist device close-fitting, compact, and unobtrusive, making it convenient for the wearer to work in crowded environments.

[0081] In addition, the waist belt buckle 131 and the chest belt buckle 221 can adjust the size of the waist belt 13 and the shoulder strap 22 respectively, so as to adapt to wearers with different waist and chest sizes.

[0082] The working principle of this invention embodiment is as follows:

[0083] like Figure 2 As shown, when the wearer bends over to lift a heavy object, the power module 1 outputs an assist torque, causing the waist bar 21 and the leg bar module 4 to extend relative to each other. At this time, the leg bar body 43 presses against the front of the wearer's thigh through the thigh guard 44, and the waist bar 21 lifts the wearer's shoulder in the front in a counterclockwise direction, thereby pulling the wearer's shoulder and chest upward, helping the wearer to stretch their waist to lift the heavy object, and reducing the burden on the wearer's back muscles and lumbar spine.

[0084] The close-fitting waist support device described in this embodiment of the invention also includes a sling system 5, such as... Figure 2 As shown, the sling system 5 includes a sling 51, a wristband 52, and a hook 53. The upper end of the sling 51 is fixed to the upper end of the waist bar 21, and the lower end is fixed with the wristband 52 and the hook 53. The wristband 52 is fixed to the wearer's palm, and the hook 53 is set on the wearer's palm. The length of the sling 51 is similar to that of the wearer's arm. The wearer can grab a heavy object through the hook 53. The weight of the heavy object is transferred directly to the waist bar 21 through the sling 51, bypassing the wearer's arm. The power module 1 applies a hip extension torque to the waist bar 21 to lift the upper end of the waist bar 21, thereby helping the wearer to lift heavy objects and reducing the load on the waist and arms when the wearer bends over to lift heavy objects.

[0085] like Figure 2 As shown, the wristband 52 is also equipped with a wristband magnet 521, and the waist belt 13 is also equipped with a waist belt magnet 132 on its side. When the suspender 51 is not in use, the wristband magnet 521 and the waist belt magnet 132 are attracted together, thereby quickly attracting and fixing the suspender 51, wristband 52 and hook 53 to the vicinity of the waist, preventing the suspender 51 from getting caught in the machine or getting caught on other items in the workplace.

[0086] The aforementioned quick-fixing solution for the magnetic bracelet 521 can also achieve the same function using a snap-fit ​​device instead of a magnetic attachment: the bracelet 52 has a protruding shaft, and the belt 13 has an opening that matches the protruding shaft, allowing the protruding shaft to snap into place; when the suspender 51 is not in use, snapping the protruding shaft into the opening quickly fixes the suspender 51, bracelet 52, and hook 53. Of course, having an opening on the bracelet 52 and a matching protruding shaft on the belt 13 also achieves the same effect.

[0087] The sling 51 has a double-layer structure with limited elasticity; the double-layer structure includes a fabric sleeve structure with an elastic inner core and an inelastic outer fabric sleeve, so that the sling 51 can wrinkle and shrink and bear great force.

[0088] The inner core is an elastic rubber rope that can slide relative to the fabric sleeve structure, and the natural length of the inner core is less than the natural length of the fabric sleeve structure.

[0089] To facilitate better storage when the strap 51 is not in use, the strap 51 employs a double-layer structure with limited elasticity. The strap 51 uses a fabric cover structure with an elastic inner core. The outer fabric cover of the strap 51 is inelastic, allowing it to fold and shrink and bear heavy loads. Its inner core is an elastic rubber rope that can slide relative to the fabric cover, and its natural length is shorter than the fabric cover. Thus, when the strap 51 is not in use, such as when the wristband magnet 521 and the waist belt magnet 132 are engaged, the inner core of the strap 51 will shorten the strap 51 to its inner core length, allowing the strap 51 to fit snugly against the front of the wearer's torso to prevent the strap 51 from getting caught in debris. When the strap 51 is used to pull heavy objects, the outer fabric cover extends to its maximum length to bear the pulling force and protect the elastic inner core from excessive stretching and damage.

[0090] like Figure 2 As shown, the wristband 52 is also provided with a finger sleeve switch 522 that is electrically connected to the main control module 6. The finger sleeve switch 522 is a circular finger sleeve structure made of flexible material and fits with the wearer's finger. The circular finger sleeve structure has several thin-plate-shaped switches embedded in it.

[0091] The wristband 52 also includes a finger sleeve switch 522. The finger sleeve switch 522 is a circular or C-shaped finger sleeve structure made of flexible or semi-flexible material, designed to fit the wearer's finger. Several thin-plate-shaped switches are embedded within the finger sleeve structure. The finger sleeve switch 522 is electrically connected to the main control module 6. When the wearer puts the finger sleeve switch 522 on their thumb / index finger and presses down on a heavy object while carrying it, the finger sleeve switch 522 is triggered. This signal is sensed by the main control module 6, which then drives the power module 1 to increase or decrease the output of the assist torque.

[0092] Figure 5 This is a schematic diagram of another embodiment of a close-fitting waist assist device provided by the present invention. Each of the upper ends of the left and right waist bars is provided with a pulley 54. The fixing point of the sling 51 is located at the lower end of the leg bar module 4. The sling 51 passes through the pulley 54 from bottom to top and then connects to the wristband 52 and hook 53 downwards.

[0093] In this embodiment, a pulley 54 is provided at the upper end of the waist bar 21, and the fixing point of the sling 51 is located at the lower end of the leg bar module 4. The sling 51 passes through the pulley 54 from bottom to top and then connects to the wristband 52 and hook 53 downwards. When the wearer uses the sling 51 to lift a heavy object, as the wearer's waist straightens, the pulley 54 moves upward with the waist bar 21, increasing the distance between the pulley 54 and the fixing end of the sling 51, thus decreasing the distance between the pulley 54 and the end of the sling 51, i.e., the wearer's hand. In this way, when the wearer is upright, the heavy object can be lifted higher by the close-fitting waist assist device, thus the assist stroke of the power module 1 in this embodiment is greater, which can help the wearer lift the heavy object higher.

[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to in the method section. It should be noted that those skilled in the art can make various improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0095] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A close-fitting waist support device, characterized in that, include: A power module is disposed around the hip joints on both sides of the wearer. The power module includes a power base, a power output disc, and a waist belt. The power output disc can rotate relative to the power base and output torque. The waist belt is fixedly connected to the power base to secure the power module tightly to the wearer's waist. The waist support module includes a waist support and shoulder straps that are connected to the power module. The waist support is located on the left and right sides of the wearer's torso, with its upper end extending to the front of the wearer's shoulder. The shoulder straps are used to fix the upper end of the waist support to the wearer's shoulder, chest, and back. The lower end of the waist support is located above the wearer's hip joint and on both sides of the waist, and is connected to the power base. A chest bar module is set on the upper part of the wearer's chest. The chest bar module includes two rods respectively set on the left and right sides and connected in parallel to form a combination. The combination and the waist bar form a π-shaped linkage structure. A leg bar module is installed on the outside of the wearer's thigh. The leg bar module includes a leg strap. The upper end of the leg bar module is fixedly connected to the power module so that the power module drives the leg bar module to swing the wearer's leg forward or backward. The lower end of the leg bar module is fixed to the wearer's thigh through the leg strap. The top of each of the left and right waist bars is equipped with a connecting shaft, and each bar is rotatably connected to the waist bar on the corresponding side through the corresponding connecting shaft; The connecting shaft is a vertical axis, so that the two rods can be rotated to open or close in the horizontal direction relative to the waist rod; Alternatively, the connecting shaft may be a spherical shaft to support the two rods to be correspondingly fitted and stored in the waist rod; One of the members has a top hole or a top post at its top, and one of the waist members has a breast member connecting post or a breast member connecting hole that mates with the top hole at its top; one of the members can rotate inward based on the connecting axis to fit the top hole into the breast member connecting post or fit the top post into the breast member connecting hole, thereby connecting the left and right waist members and one of the members to form a π-shaped structure; One of the rods can rotate inward based on the connecting axis. The other rod has a snap-fit ​​protrusion or snap-fit ​​hole. One rod has a snap-fit ​​hole or snap-fit ​​protrusion that matches the other rod. After the other rod rotates inward and fits against the first rod, the snap-fit ​​protrusion or snap-fit ​​hole is engaged with the snap-fit ​​hole or snap-fit ​​protrusion, thereby achieving a fixed connection between the two rods. As a result, the left and right waist rods and the assembly form a rigid π-shaped connection.

2. The body-hugging waist support device according to claim 1, characterized in that, The top of the waist bar, located on the left and right sides of the wearer's torso, is equipped with a connection limiter. The root of each rod is rotatably connected to the upper end of the corresponding side waist bar. When two rods are connected to form a combination, the combination and the waist bar form a π-shaped linkage structure. The connection limit on the left and right sides respectively contacts the top and root of one of the rods to prevent the waist bar from rotating outward based on the vertical axis, so as to balance the external rotation torque brought about by the power module applying hip extension torque to the wearer.

3. The body-hugging waist support device according to claim 1, characterized in that, The snap-fit ​​protrusion is a spring buckle, and the snap-fit ​​hole is a spring buckle hole. One of the rods has a C-shaped cross-section to surround and accommodate another rod on the outside. One of the rods has a spring buckle hole corresponding to the spring buckle, or a spring buckle corresponding to the spring buckle hole. One of the rods rotates inward to fit against the other rod, and the spring buckle snaps into the spring buckle hole, thereby achieving a fixed connection between the two rods. As a result, the left and right waist rods and the assembly form a rigid π-shaped connection.

4. The body-hugging waist support device according to claim 1, characterized in that, One of the rods includes a main section and a movable section, the movable section being slidably connected to the main section to accommodate wearers with different chest sizes.

5. The body-hugging waist support device according to claim 4, characterized in that, The main section of the rod has a limiting hole, and the movable section of the rod has a limiting post. The movable section of the rod is disposed inside the main section of the rod, and the movable section slides inside the main section of the rod. The limiting post slides inside the limiting hole. Alternatively, the main section of the rod has a limiting post, the movable section of the rod has a limiting hole, the movable section of the rod is disposed inside the main section of the rod, the movable section of the rod slides inside the main section of the rod, and the limiting post slides inside the limiting hole.

6. The body-hugging waist support device according to claim 1, characterized in that, The waist support includes a main waist support and a waist support extension rod. The main waist support and the waist support extension rod can slide relative to each other to adjust the length of the waist support to accommodate wearers of different heights. The main waist pole has a sleeve structure, and the waist pole extension pole has a pole body structure. The waist pole extension pole extends into the sleeve of the main waist pole so that the main waist pole and the waist pole extension pole can slide up and down relative to each other. The main waist pole has several main pole snap-lock holes, and the waist pole extension pole has extension rod snap-locks that mate with the main pole snap-lock holes. When the extension rod snap-lock is pressed down, the waist pole extension pole slides up and down relative to the main waist pole. When the extension rod snap-lock is released at the corresponding position of the main pole snap-lock hole, the top end of the extension rod snap-lock will extend out from the main pole snap-lock hole, thereby preventing the waist pole extension pole from sliding relative to the main waist pole, thus fixing the waist pole extension pole and the main waist pole together. Alternatively, the main waist pole is a pole body structure, and the waist pole extension is a sleeve structure. The main waist pole extends into the sleeve of the waist pole extension, so that the main waist pole and the waist pole extension slide relative to each other up and down. The main waist pole has several main pole spring buckles, and the waist pole extension pole has extension pole spring buckle holes that mate with the main pole spring buckle holes. When the main pole spring buckle is pressed down, the main waist pole slides up and down relative to the waist pole extension pole. When the main pole spring buckle pops up at the corresponding position of the extension pole spring buckle hole, the top end of the main pole spring buckle will extend from the extension pole spring buckle hole, thereby preventing the main waist pole from sliding relative to the waist pole extension pole, so that the waist pole extension pole and the main waist pole are fixedly connected.

7. The body-hugging waist support device according to claim 2, characterized in that, The power base is provided with a waist support that is located around the hip joints on both sides of the wearer and fits the wearer, and the waist belt is arranged in a C-shape around the wearer's waist. The belt is provided with a belt buckle, and the waist support has a belt hole. The belt passes through the waist support hole and is closed by the belt buckle to fix the waist support to the wearer.

8. The body-hugging waist support device according to claim 1, characterized in that, It also includes a main control module that is electrically connected to the power module and is used to drive the power module. The main control module is set close to the waist belt or near the hip joint, and the main control module is provided with several buttons for adjusting the assist level and / or mode.

9. The body-hugging waist support device according to claim 8, characterized in that, It also includes a sling system, which comprises slings, wristbands, and hooks; The upper end of the suspender is fixed to the upper end of the waist bar, and the lower end is fixed with a wristband and a hook. The wristband is fixed to the wearer's palm, and the hook is set on the wearer's palm. The suspender is about the same length as the wearer's arm.

10. The body-hugging waist support device according to claim 9, characterized in that, The wristband is equipped with a wristband magnet, and the waist belt is correspondingly equipped with a waist belt magnet on its side. The wristband magnet can be attracted to the waist belt magnet.

11. The body-hugging waist support device according to claim 9, characterized in that, The wristband is provided with a protruding shaft or an opening, and the belt is provided with an opening or a protruding shaft that matches the protruding shaft, and the protruding shaft can be inserted into the opening.

12. The body-hugging waist support device according to claim 9, characterized in that, The sling has a double-layer structure with limited elasticity; the double-layer structure includes a fabric sleeve structure with an elastic inner core and an inelastic outer fabric sleeve, so that the sling can wrinkle and shrink and bear great force. The inner core is an elastic rubber rope that can slide relative to the fabric sleeve structure, and the natural length of the inner core is less than the natural length of the fabric sleeve structure.

13. The body-hugging waist support device according to claim 9, characterized in that, The wristband is also equipped with a finger sleeve switch that is electrically connected to the main control module. The finger sleeve switch is a circular or C-shaped finger sleeve structure made of flexible or semi-flexible material and fits with the wearer's finger. The circular finger sleeve structure has several thin-plate-shaped switches embedded in it.

14. The body-hugging waist support device according to claim 9, characterized in that, Each of the left and right waist bars is equipped with a pulley at its upper end. The fixing point of the sling is located at the lower end of the leg bar module. The sling wraps around the pulley from bottom to top and then connects to the wristband and hook downwards.

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