Portable passive exoskeleton device worn on waist

Abstract

The invention discloses a portable waist wearing passive exoskeleton device, and particularly relates to the field of exoskeleton devices.The portable waist wearing passive exoskeleton device comprises a back plate, a first fixing block is arranged in the middle of the back of the back plate, connecting blocks are movably arranged on the two sides of the first fixing block, connecting frames are arranged at the bottoms of the connecting blocks, and two second fixing blocks are arranged at the top end of the back of the back plate; a groove is formed in the surface of the second fixing block, a buckle device is movably arranged outside the groove, and a top frame is arranged between the buckle mechanism and the groove. When the legs are lifted, the induction device arranged in the motor is excited and started to follow the legs to be lifted, and when the legs fall, the induction device arranged in the motor is excited and started to follow the legs to fall; the exoskeleton device is made of aluminum alloy except for the motor, so that the overall weight of the exoskeleton device is low, the burden of the human body is greatly reduced, and the exoskeleton device can ascend and descend along with the action of the human body by utilizing the induction equipment arranged on the motor, so that the coordination between the exoskeleton device and the human body is improved.

Description

Technical Field

[0001] The present invention relates to the field of exoskeleton devices, and more particularly to a lightweight waist-worn passive exoskeleton device. Background Art

[0002] An exoskeleton is a human body weight-bearing assist device. It is an external bracket designed for the wearer. It transmits the weight of the external attachment to the ground while amplifying the wearer's limb dynamics, thereby enhancing the body's working ability while maintaining its flexibility. The exoskeleton can enhance the body's load-bearing capacity, reduce fatigue, reduce the chance of injury, and improve combat effectiveness without restricting movement flexibility. It can effectively solve the physical fitness problems of the human body in complex urban terrain environments and oxygen-deficient environments in plateaus and mountains.

[0003] Existing exoskeleton devices are all equipped with power devices to drive the device to operate, so as to assist human activities. However, the power devices of existing exoskeleton devices are heavy, which increases the burden on human movement. Moreover, when the power devices are driven, the human body needs to cooperate with the power devices, which makes the coordination between the exoskeleton device and the human body poor. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the present invention provides a lightweight waist-worn passive exoskeleton device to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a lightweight waist-worn passive exoskeleton device, comprising a backboard, characterized in that a fixing block 1 is arranged at the middle part of the back of the backboard, connecting blocks are movably arranged on both sides of the fixing block 1, and connecting frames are arranged at the bottom of the connecting blocks, two groups of fixing blocks 2 are arranged at the top of the back of the backboard, a groove is opened on the surface of the fixing block 2, and a buckle device is movably arranged outside the groove, and a top frame is arranged between the buckle mechanism and the groove; A connecting plate is provided at one end of the connecting frame away from the connecting block, a binding strap 1 and a binding strap 2 are provided between the two groups of connecting plates, two groups of through holes are provided at both ends of the binding strap 1 and the binding strap 2, bolts are provided between the through holes provided at one end of the binding strap 1 and the binding strap 2 and one group of connecting plates, a clamp 1 and a clamp 2 are provided on the surface of the binding strap 1, the binding strap 2 and the other group of connecting plates, a connecting column 1 is provided on the surface of the clamp 1, a connecting column 2 is provided on the surface of the clamp 2, and the connecting column 1 and the connecting column 2 are provided inside the through holes provided by the binding strap 1, the binding strap 2 and the other group of connecting plates; A motor is arranged inside the connecting plate, a fixed plate is arranged on one side of the motor, a movable plate is arranged on the side of the fixed plate away from the motor, a through hole is opened in the middle part of the fixed plate, a connecting shaft is arranged on the surface of the movable plate, and the connecting shaft is connected to the power end of the motor, a base frame is arranged at the bottom of the movable plate, a restraining plate is arranged at the other end of the base frame, and a strap four is arranged on the surface of the restraining plate.

[0006] In a preferred embodiment, an induction device is provided inside the motor, and the induction device is electrically connected to the motor rotor, and when the power end of the motor rotates, the motor is stimulated to rotate following the momentum.

[0007] In a preferred embodiment, a groove is provided at the bottom of the movable plate, a fixing column is fixedly arranged inside the groove, and a hinge block is sleeved on the surface of the fixing column, and the bottom of the hinge block is connected to the base frame.

[0008] In a preferred embodiment, a fixing ring is provided on the surface of one end of the top frame away from the fixing block 2, a groove is provided on the surface of the fixing ring, a strap 3 is provided inside the groove, two groups of through grooves are provided on the surface of the back plate, and the through grooves are movably connected to the other end of the strap 3.

[0009] In a preferred embodiment, two groups of rings are provided at one end of the base frame away from the movable plate, and an adjusting member is clamped between the two groups of rings, and one end of the adjusting member is connected to the restraining plate.

[0010] In a preferred embodiment, a groove is provided in the middle part of the connecting column one, and a plurality of card slots are provided on the inner wall of the groove, a plurality of through slots are provided on the surface of the connecting column two, and a card block that is movably provided inside the through slot and is engaged with the card slot is movably provided, a movable column is movably provided inside the connecting column two, a push block is provided on the surface of the movable column, a groove is provided on one side of the card block located inside the connecting column two, the groove is consistent with the surface of the push block, and a magnetic sheet is provided on the inner wall of the groove.

[0011] In a preferred embodiment, a threaded hole is provided in the middle portion of the movable column disposed inside the second connecting column, and a bolt is threadedly connected inside the threaded hole.

[0012] In a preferred embodiment, the first strap and the second strap are arranged opposite to each other, and the through holes formed in the first strap and the second strap correspond to each other, and the first strap and the second strap are located at the waist of the human body.

[0013] In a preferred embodiment, a slide rail is provided at one end of the clamping member, a slider is provided at the top end of the clamping member, and the slider moves inside the slide rail.

[0014] The present invention provides a lightweight waist-worn passive exoskeleton device, which has the following beneficial effects: The present invention supports a pair of connecting frames through a fixed block set in the middle part of the back plate, 1 uses the connecting frame to connect the connecting plate and the back plate, and uses strap 1 and strap 2 to wrap around the human body's waist, and uses strap 3 set between the top frame and the back plate to wrap around the human body's arms, and then uses the bottom frame to connect the movable plate and the restraining plate, and uses strap 4 to wrap around the human body's legs, so as to complete the wearing of the exoskeleton device. When the human body's legs are lifted, the induction device set inside the motor is excited and starts to follow the lifting of the human body's legs. When the legs fall, the induction device set inside the motor is excited and starts to follow the falling of the legs. Except for the motor, all parts of the present invention are made of aluminum alloy, so that the overall weight of the present invention is relatively low, which greatly reduces the burden on the human body. At the same time, the induction device set by the motor can enable the exoskeleton device to rise and fall following the human body's movements, thereby improving the coordination between the exoskeleton device and the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 It is a schematic structural diagram of the back of the back panel of the present invention.

[0017] Figure 3 for Figure 1 Schematic diagram of the back shown.

[0018] Figure 4 It is a schematic diagram of the structure below the back plate of the present invention.

[0019] Figure 5 It is a structural schematic diagram of the connection structure between the first clamp and the second clamp of the present invention.

[0020] Figure 6 It is a schematic diagram of the structure inside the second connecting column of the present invention.

[0021] Figure 7 It is a structural schematic diagram of the movable plate of the present invention.

[0022] Figure 8 It is a structural schematic diagram of one end of the restraining plate of the present invention.

[0023] Fig. 9 It is a schematic structural diagram of the other end of the restraining plate of the present invention.

[0024] The accompanying drawings are marked as follows: 1. back plate; 2. top frame; 3. connecting frame; 4. connecting plate; 5. strap one; 6. strap two; 7. fixing ring; 8. strap three; 9. movable plate; 10. bottom frame; 11. restraining plate; 12. strap four; 13. fixing block one; 14. connecting block; 15. fixing block two; 16. snap device; 17. clamp one; 18. hinge block; 19. connecting column one; 20. clamp two; 21. connecting column two; 211. clamp block; 212. bolt; 213. push block; 214. magnetic sheet; 22. motor; 23. fixing plate; 24. connecting shaft; 25. collar; 26. adjusting piece. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The present invention provides a lightweight waist-worn passive exoskeleton device, comprising a back plate 1, a fixing block 13 is arranged at the middle part of the back of the back plate 1, connecting blocks 14 are movably arranged on both sides of the fixing block 13, and connecting frames 3 are arranged at the bottom of the connecting blocks 14, two groups of fixing blocks 15 are arranged at the top of the back of the back plate 1, grooves are opened on the surface of the fixing blocks 15, and buckle devices 16 are movably arranged outside the grooves, and a top frame 2 is arranged between the buckle mechanism and the grooves; A connecting plate 4 is provided at one end of the connecting frame 3 away from the connecting block 14, and a binding band 1 5 and a binding band 2 6 are provided between the two groups of connecting plates 4. Two groups of through holes are provided at both ends of the binding band 1 5 and the binding band 2 6, and a bolt 212 is provided between the through hole provided at one end of the binding band 1 5 and the binding band 2 6 and one group of connecting plates 4. A clamp 17 and a clamp 20 are provided on the surfaces of the binding band 1 5, the binding band 2 6 and the other group of connecting plates 4, a connecting column 1 19 is provided on the surface of the clamp 1 17, and a connecting column 21 is provided on the surface of the clamp 2 20, and the connecting column 1 19 and the connecting column 2 21 are provided inside the through holes provided by the binding band 1 5, the binding band 2 6 and the other group of connecting plates 4; A motor 22 is arranged inside the connecting plate 4, a fixed plate 23 is arranged on one side of the motor 22, a movable plate 9 is arranged on the side of the fixed plate 23 away from the motor 22, a through hole is opened in the middle part of the fixed plate 23, a connecting shaft 24 is arranged on the surface of the movable plate 9, and the connecting shaft 24 is connected to the power end of the motor 22, a base frame 10 is arranged at the bottom of the movable plate 9, a restraining plate 11 is arranged at the other end of the base frame 10, and a strap 12 is arranged on the surface of the restraining plate 11.

[0027] Based on the above, the above scheme is further refined and introduced in combination with the following specific working methods. See the following description for details.

[0028] like Figure 7 As shown, the motor 22 is provided with an induction device inside, and the induction device is electrically connected to the rotor of the motor 22. When the power end of the motor 22 rotates, the motor 22 is stimulated to rotate following the momentum. Further, the motor 22 is driven to rotate by the induction device provided inside the motor 22. Therefore, when the legs are lifted, the induction device provided inside the motor 22 is stimulated to start following the leg lifting; when the legs are dropped, the induction device provided inside the motor 22 is stimulated to start following the leg dropping.

[0029] like Figure 4 As shown, a groove is provided at the bottom of the movable plate 9, a fixed column is fixed inside the groove, and a hinge block 18 is sleeved on the surface of the fixed column, and the bottom of the hinge block 18 is connected to the base frame 10. Furthermore, the hinge block 18 sleeved on the surface of the fixed column can be rotated to adjust the position of the restraining plate 11.

[0030] like Figure 2 As shown, a fixing ring 7 is provided on the surface of one end of the top frame 2 away from the fixing block 2 15, a groove is provided on the surface of the fixing ring 7, and a strap 3 8 is provided inside the groove. Two groups of through grooves are provided on the surface of the back plate 1, and the through grooves are movably connected to the other end of the strap 3 8. Furthermore, the human arm is fixed by the strap 3 8 provided between the top frame 2 and the back plate 1.

[0031] like Figure 8 As shown, two groups of rings 25 are provided at one end of the base frame 10 away from the movable plate 9, and an adjusting member 26 is clamped between the two groups of rings 25, and one end of the adjusting member 26 is connected to the restraining plate 11. Furthermore, the direction of the restraining plate 11 can be adjusted by the rings 25 and the adjusting member 26 arranged on the surface of the base frame 10.

[0032] like Figure 5 and Figure 6 As shown, a groove is provided in the middle part of the connecting column 19, and a plurality of slots are provided on the inner wall of the groove, a plurality of through slots are provided on the surface of the connecting column 21, and a block 211 which is engaged with the slot is movably provided inside the through slot, a movable column is movably provided inside the connecting column 21, and a push block 213 is provided on the surface of the movable column, a groove is provided on one side of the block 211 located inside the connecting column 21, and the groove is consistent with the surface of the push block 213, and a magnetic sheet 214 is provided on the inner wall of the groove, further, the push block 213 is driven to move by pushing the movable column, and the push block 213 is used to push the block 211 outward, so that the block 211 is engaged with the slot provided on the connecting column 19, thereby fixing the strap 1 5 and the strap 2 6.

[0033] like Figure 5 and Figure 6 As shown, a threaded hole is provided in the middle part of the movable column arranged inside the second connecting column 21, and a bolt 212 is threadedly connected inside the threaded hole. Furthermore, since the threaded hole provided in the movable column is threadedly connected with the bolt 212, the movable column can be driven to move horizontally when the bolt 212 rotates.

[0034] like Figure 1 As shown, strap 1 5 and strap 2 6 are arranged opposite to each other, and the through holes formed by strap 1 5 and strap 2 6 correspond to each other, and strap 1 5 and strap 2 6 are located at the waist of the human body. Furthermore, the waist of the human body is fixed by strap 1 5 and strap 2 6.

[0035] like Figure 5 As shown, a slide rail is provided at one end of the clamp 17, a slider is provided at the top of the clamp 2 20, and the slider moves inside the slide rail. Furthermore, the slider and the slide rail are connected to each other so that the clamp 17 and the clamp 2 20 are engaged with each other, thereby fixing the strap 1 5 and the strap 2 6.

[0036] In summary, the workflow of the present invention is: The present invention supports the connecting frame 3 by a fixed block 13 provided in the middle part of the back plate 1, connects the connecting plate 4 with the back plate 1 by using the connecting frame 3, and wraps around the human body's waist by using the strap 1 5 and the strap 2 6, and wraps around the human body's arms by using the strap 3 8 provided between the top frame 2 and the back plate 1, and then connects the movable plate 9 with the restraining plate 11 by using the bottom frame 10, and wraps around the human body's legs by using the strap 4 12, so as to complete the wearing of the exoskeleton device. When the human body's legs are lifted, the induction device provided inside the motor 22 is excited and starts to follow the lifting of the human body's legs. When the legs fall, the induction device provided inside the motor 22 is excited and starts to follow the falling of the legs. Except for the motor 22, all parts of the present invention are made of aluminum alloy, so that the overall weight of the present invention is relatively low, which greatly reduces the burden on the human body. At the same time, the induction device provided by the motor 22 can enable the exoskeleton device to rise and fall following the human body's movements, thereby improving the coordination between the exoskeleton device and the human body.

[0037] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lightweight waist-worn passive exoskeleton device, comprising a back plate (1), characterized in that: A fixing block 1 (13) is arranged in the middle of the back of the back plate (1), connecting blocks (14) are movably arranged on both sides of the fixing block 1 (13), and connecting frames (3) are arranged at the bottom of the connecting blocks (14), two groups of fixing blocks 2 (15) are arranged at the top of the back of the back plate (1), a groove is opened on the surface of the fixing block 2 (15), and a buckle device (16) is movably arranged outside the groove, and a top frame (2) is arranged between the buckle mechanism and the groove; A connecting plate (4) is provided at one end of the connecting frame (3) away from the connecting block (14); a binding strap 1 (5) and a binding strap 2 (6) are provided between the two groups of connecting plates (4); two groups of through holes are provided at both ends of the binding strap 1 (5) and the binding strap 2 (6); a bolt (212) is provided between the through hole provided at one end of the binding strap 1 (5) and the binding strap 2 (6) and one group of connecting plates (4); a clamping piece 1 (17) and a clamping piece 2 (20) are provided on the surfaces of the binding strap 1 (5), the binding strap 2 (6) and the other group of connecting plates (4); a connecting column 1 (19) is provided on the surface of the clamping piece 1 (17); a connecting column 2 (21) is provided on the surface of the clamping piece 2 (20); and the connecting column 1 (19) and the connecting column 2 (21) are provided inside the through holes provided in the binding strap 1 (5), the binding strap 2 (6) and the other group of connecting plates (4); A motor (22) is arranged inside the connecting plate (4), a fixed plate (23) is arranged on one side of the motor (22), a movable plate (9) is arranged on the side of the fixed plate (23) away from the motor (22), a through hole is opened in the middle part of the fixed plate (23), a connecting shaft (24) is arranged on the surface of the movable plate (9), and the connecting shaft (24) is connected to the power end of the motor (22), a bottom frame (10) is arranged at the bottom of the movable plate (9), a binding plate (11) is arranged at the other end of the bottom frame (10), and a binding belt (12) is arranged on the surface of the binding plate (11).

2. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: An induction device is provided inside the motor (22), and the induction device is electrically connected to the rotor of the motor (22). When the power end of the motor (22) rotates, the motor (22) is stimulated to rotate following the momentum.

3. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: The bottom of the movable plate (9) is provided with a groove, a fixing column is fixedly arranged inside the groove, and a hinge block (18) is sleeved on the surface of the fixing column, and the bottom of the hinge block (18) is connected to the bottom frame (10).

4. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: A fixing ring (7) is arranged on the surface of one end of the top frame (2) away from the fixing block 2 (15), a groove is arranged on the surface of the fixing ring (7), and a binding belt 3 (8) is arranged inside the groove. Two groups of through grooves are arranged on the surface of the back plate (1), and the through grooves are movably connected to the other end of the binding belt 3 (8).

5. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: Two groups of collars (25) are provided at one end of the base frame (10) away from the movable plate (9), and an adjusting member (26) is clamped between the two groups of collars (25), and one end of the adjusting member (26) is connected to the restraining plate (11).

6. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: The middle part of the connecting column 1 (19) is provided with a groove, and the inner wall of the groove is provided with a plurality of slots, the surface of the connecting column 2 (21) is provided with a plurality of through slots, and a clamping block (211) is movably provided inside the through slot and is clamped in the slot, a movable column is movably provided inside the connecting column 2 (21), and a push block (213) is provided on the surface of the movable column, a groove is provided on one side of the clamping block (211) located inside the connecting column 2 (21), and the groove is matched with the surface of the push block (213), and a magnetic sheet (214) is provided on the inner wall of the groove.

7. A lightweight waist-worn passive exoskeleton device according to claim 6, characterized in that: A threaded hole is provided in the middle portion of the movable column arranged inside the second connecting column (21), and a bolt (212) is threadedly connected inside the threaded hole.

8. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: The strap one (5) and the strap two (6) are arranged opposite to each other, and the through holes of the strap one (5) and the strap two (6) correspond to each other, and the strap one (5) and the strap two (6) are located at the waist of the human body.

9. A lightweight waist-worn passive exoskeleton device according to claim 1, characterized in that: A slide rail is provided at one end of the first clamp (17), and a slider is provided at the top end of the second clamp (20), and the slider moves inside the slide rail.

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