Exoskeleton waist and hip power assisting device

Abstract

The invention relates to the technical field of exoskeletons, in particular to an exoskeleton waist and hip power assisting device which comprises a waist and hip power assisting assembly, a back plate, a waist belt arranged at the end of the back plate, a hip part arranged on the outer wall of the waist belt and a waist and back fixing lug. The shoulder girdles are stretched outwards to drive the torsion bar to rotate, the tightening degree of the second elastic belt can be properly adjusted according to the body shape of a user, the second elastic belt fixed to the winding shaft is wound, the second elastic belt has larger elastic force and is used for better assisting when the user lifts a heavy object upwards, and therefore the user can conveniently lift the heavy object. Meanwhile, through outward stretching of the shoulder straps, convenient resetting of the second elastic bands can be achieved, and the practicability and convenience of the device are improved.

Description

Technical Field

[0001] The invention relates to the technical field of exoskeleton, in particular to an exoskeleton waist and hip power assisting device. Background Art

[0002] As a new type of auxiliary device that combines mechanical structure with intelligent control, exoskeleton technology has received widespread attention and application in many fields in recent years. Especially in training, due to the high incidence of waist training injuries, it is particularly important to develop an exoskeleton waist and hip assist device that can effectively reduce the burden on the waist and improve training efficiency. Exoskeleton technology simulates the human bone structure to provide additional support and assistance to the wearer, thereby reducing the pressure on the waist and hips during training to a certain extent and reducing the risk of sports injuries.

[0003] Traditional exoskeleton devices are often complex in structure and cumbersome to wear. Due to differences in the width of the upper body and the need for waist support, wearers require different levels of support in different situations. However, traditional devices cannot adjust adaptively. At the same time, some exoskeleton devices have deficiencies in force transmission and cannot effectively transmit the power to the waist and hips, causing the wearer to still feel a heavy load during actual training.

[0004] The patent with publication number CN113500587A discloses an exoskeleton carrying robot. This technical solution can transfer part of the carried weight to the ground through the back frame, thigh structure, calf structure, and sole structure, thereby achieving the effect of weight reduction. At the same time, the back frame is connected to the leg structure through elastic straps, which can store energy when bending over and provide assistance when carrying and standing up.

[0005] However, this technical solution still has some defects: the device cannot adaptively adjust the length and elasticity of the elastic drawstring between the back frame and the leg structure according to the difference in user's body shape, which will cause the length of the elastic drawstring to be relatively long when used by users with smaller bodies, and users can rarely rely on the assistive effect of the potential energy stored in the elastic drawstring when bending over. Summary of the invention

[0006] In view of the above problems in the prior art, the present invention is proposed.

[0007] In order to solve the above technical problems, the present invention provides the following technical solutions: an exoskeleton waist and hip assist device, which includes a waist and hip assist assembly, including a back plate, a waist belt arranged at the end of the back plate, a hip component arranged on the outer wall of the waist belt, and a waist and back fixing ear;

[0008] The outer wall of the back plate is provided with a shoulder strap worn on the upper body of the user, the outer wall of the shoulder strap is provided with a first elastic belt, and the outer wall of the waist belt is provided with an outer fixing ear, and the outer fixing ear is connected to the first elastic belt.

[0009] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, the outer wall of the hip component is provided with a movable groove, the inner wall of the movable groove is provided with a torsion spring, the outer wall of the waist and back fixing ear is provided with a second elastic band, the second elastic band extends away from one end of the waist and back fixing ear to the back plate, and the outer wall of the second elastic band is also provided with a back tension spring.

[0010] As a preferred embodiment of the exoskeleton waist and hip assist device of the present invention, the waist and hip assist component also includes a knee fixing sleeve, the outer wall of the knee fixing sleeve is provided with Velcro and a thigh rod is fixed to the outer wall of the Velcro, the end of the thigh rod extends to the inner wall of the hip component and engages with the torsion spring, the outer wall of the knee fixing sleeve is also provided with a leg strap and one end of the leg strap is connected to the waist and back fixing ear.

[0011] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, the inner wall of the back plate is provided with an adjustment component, the adjustment component includes a rotating rod, the outer wall of the rotating rod is provided with a protrusion, the inner wall of the rotating rod is engaged with a torsion bar, one end of the torsion bar is fixed with a spring, and the end of the torsion bar away from the spring is sleeved and fixed with a turntable.

[0012] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, the outer wall of the turntable is provided with a movable ring and the movable ring is sleeved on the outer wall of the torsion bar, the outer wall of the movable ring is provided with a recess, the recess is engaged with the protrusion, the outer wall of the turntable is also provided with an arc rod, the outer wall of the turntable is provided with a brake disc and the inner wall of the brake disc is provided with an arc groove.

[0013] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, the outer wall of the brake disc is also provided with a fixed block, a cam is provided at the end of the fixed block, the cam axis is connected to the torsion bar, the end of the fixed block is also hinged with an angular block, the outer wall of the angular block is provided with a limiting block and the end of the angular block is also hinged with a push tooth.

[0014] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, the inner wall of the back plate is also provided with a winding shaft, a connecting head is provided at the end of the winding shaft, a movable rod is provided in an array on the inner wall of the connecting head and a first elastic member is provided at the end of the movable rod, a gear is sleeved on the outer wall of the winding shaft, a limiting ring is provided on the outer wall of the gear and the limiting ring is sleeved on the outer wall of the movable rod.

[0015] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, wherein: the inner wall array of the limiting ring is provided with a limiting opening and the outer wall array of the limiting ring is provided with a sliding groove, the inner wall of the limiting ring is movably provided with a special-shaped ring, the inner wall array of the special-shaped ring is provided with a groove and the end face of the special-shaped ring is provided with a connecting rod.

[0016] As a preferred solution of the exoskeleton waist and hip assist device described in the present invention, the outer wall of the torsion bar is also sleeved with a pushing ring, the outer wall of the pushing ring is provided with a push rod, the end of the push rod is provided with a half gear and the outer wall of the half gear is provided with a moving block, the inner wall of the moving block is provided with a rack and the rack is meshed with the half gear.

[0017] As a preferred solution of the exoskeleton waist and hip assist device of the present invention, a ball bar is arranged on the inner wall of the movement block, a cover plate is arranged on one end of the ball bar, and the cover plate is connected to the connecting rod.

[0018] The beneficial effects of the present invention are as follows: the present invention drives the torsion bar to rotate by stretching the shoulder straps outward, and can appropriately adjust the tightening degree of the second elastic band according to the user's body shape. By winding up the second elastic band fixed on the winding shaft, the second elastic band has greater elastic force, which can better assist the user in lifting heavy objects upward. At the same time, the second elastic band can be easily reset by stretching the shoulder straps outward, thereby improving the practicality and convenience of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0020] Figure 1 It is a schematic diagram of the overall structure of an exoskeleton waist and hip assist device of the present invention;

[0021] Figure 2 is a schematic diagram of the internal structure of the hip component in the present invention;

[0022] Figure 3 is a schematic diagram of the internal structure of the backplane in the present invention;

[0023] Figure 4 It is a structural schematic diagram of the regulating component in the present invention;

[0024] Figure 5 It is a schematic diagram of the connection relationship between the rotating rod and the torsion rod in the present invention;

[0025] Figure 6 For the present invention Figure 5 A schematic diagram of the structure enlargement at point A;

[0026] Figure 7 It is a schematic diagram of the connection relationship between the rotating disk and the brake disk in the present invention;

[0027] Figure 8 It is a schematic diagram of the positional relationship between the angular block and the gear in the present invention;

[0028] Fig. 9 It is a schematic diagram of the explosion of the structure inside the gear in the present invention;

[0029] Fig.10 It is a schematic diagram of the position of the push ring in the present invention;

[0030] Fig.11 It is a schematic diagram of the connection relationship between the half gear and the moving block in the present invention.

[0031] Reference numerals: 100, waist and hip assist assembly; 101, back plate; 1011, shoulder strap; 1012, first elastic belt; 102, waist belt; 1021, outer fixing ear; 103, hip component; 1031, movable groove; 1032, torsion spring; 104, waist and back fixing ear; 1041, second elastic belt; 1042, back tension spring; 105, knee fixing sleeve; 1051, Velcro; 1052, thigh rod; 1053, leg belt;

[0032] 200, adjustment assembly; 201, rotating rod; 2011, convex block; 2012, torsion bar; 2013, spring coil; 202, turntable; 2021, moving ring; 2022, notch; 2023, arc rod; 2024, brake disc; 2025, arc groove; 203, fixed block; 2031, cam; 2032, angular block; 2033, limit block; 2034, push tooth; 204, winding shaft; 2 041, connector; 2042, movable rod; 2043, first elastic member; 2044, gear; 2045, limit ring; 2046, limit opening; 2047, slide groove; 2048, special-shaped ring; 2049, groove; 20410, connecting rod; 205, push ring; 2051, push rod; 2052, half gear; 2053, moving block; 2054, rack; 2055, club; 2056, cover plate. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0034] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0036] Example 1

[0037] This is the first embodiment of the present invention, which provides an exoskeleton waist and hip assist device.

[0038] Specifically, refer to Figure 1 , Figure 2 The waist and hip booster assembly 100 includes a back plate 101, a waist belt 102 disposed at the end of the back plate 101, a hip component 103 disposed on the outer wall of the waist belt 102, and a waist and back fixing ear 104;

[0039] The outer wall of the back plate 101 is provided with a shoulder strap 1011 to be worn on the upper body of the user, the outer wall of the shoulder strap 1011 is provided with a first elastic belt 1012 , and the outer wall of the waist belt 102 is provided with an outer fixing ear 1021 , which is connected to the first elastic belt 1012 .

[0040] Among them, one end of the shoulder strap 1011 is fixed at the bottom of the back plate 101, and the other end is rolled up and contracted inside the back plate 101, which can be adjusted according to the size of the user's body. The shoulder strap 1011 is wrapped around the user's chest, and the waist belt 102 is fixed to the user's waist. The outer fixing ears 1021 on both sides of the shoulder strap 1011 and the waist belt 102 are connected by the first elastic band 1012 to provide assistance when the user bends to the left or right.

[0041] Preferably, a movable groove 1031 is provided on the outer wall of the hip component 103, a torsion spring 1032 is provided on the inner wall of the movable groove 1031, a second elastic band 1041 is provided on the outer wall of the waist and back fixing ear 104, the second elastic band 1041 extends into the back plate 101 away from one end of the waist and back fixing ear 104, and a back tension spring 1042 is also provided on the outer wall of the second elastic band 1041.

[0042] The hip component 103 is located at both sides of the waist belt 102, and is hinged below the outer fixing ear 1021. A movable groove 1031 is provided on the outer surface, and a torsion spring 1032 is fixed inside. A waist and back fixing ear 104 is fixed to the back of the waist belt 102. A second elastic belt 1041 is installed outside the waist and back fixing ear 104. The second elastic belt 1041 is fixed to the back plate 101. At the same time, a back tension spring 1042 is also provided outside the second elastic belt 1041. The second elastic belt 1041 is close to the user's back and can also isolate the back tension spring 1042 from contacting the user's back skin. At the same time, the back tension spring 104 2 is also provided with a drawstring, one end of which is fixed on the back plate 101, and the other end is wound on the spring winch inside the waist and back fixing ear 104. The spring winch inside the waist and back fixing ear 104 has an electromagnetic clutch. When the electromagnetic clutch is relaxed, the flexible drawstring can freely extend and retract with the waist movement, while the length of the flexible drawstring is fixed when the electromagnetic clutch is locked. The state of the electromagnetic clutch is determined by the intelligent fusion results of multiple sensors such as human posture sensor, electromyography sensor, and human-computer interaction key input, so that the electromagnetic clutch is relaxed when the wearer's waist needs to move, and locked when the waist needs to maintain a posture.

[0043] Preferably, the waist and hip assistance assembly 100 also includes a knee fixing sleeve 105, the outer wall of the knee fixing sleeve 105 is provided with a Velcro 1051 and a thigh rod 1052 is fixed to the outer wall of the Velcro 1051, the end of the thigh rod 1052 extends to the inner wall of the hip component 103 and engages with the torsion spring 1032, the outer wall of the knee fixing sleeve 105 is also provided with a leg strap 1053 and one end of the leg strap 1053 is connected to the waist and back fixing ear 104.

[0044] Among them, the upper end of the thigh rod 1052 extends into the interior of the hip component 103 through the movable groove 1031 and is combined with the torsion spring 1032, and the lower end is fixed to the outside of the Velcro 1051, tightly attached to the outside of the knee fixing sleeve 105, and can be used when the user bends over to lift heavy objects, so as to better fix the waist belt 102 and prevent excessive tension on the upper body, which causes the waist belt 102 to move up and weaken the power-assisting effect. When walking, the leg belt 1053 can be loosened to reduce its interference with normal walking.

[0045] When the user's thigh flexes and extends, the thigh rod 1052 is driven to rotate relative to the hip component 103, thereby storing energy in the torsion spring 1032. When the user's thigh flexes and extends, the torsion spring 1032 releases the stored energy, thereby providing assistance for the flexion and extension of the hip joint.

[0046] Example 2

[0047] This is the second embodiment of the present invention, which is implemented based on the previous embodiment.

[0048] Specifically, refer to Figure 3 to Figure 7 An adjustment component 200 is arranged on the inner wall of the back plate 101, and the adjustment component 200 includes a rotating rod 201, a protrusion 2011 is arranged on the outer wall of the rotating rod 201, a torsion bar 2012 is meshed with the inner wall of the rotating rod 201, a spring 2013 is fixed at one end of the torsion bar 2012, and a turntable 202 is fixed on the end of the torsion bar 2012 away from the spring 2013.

[0049] Among them, the adjustment component 200 is fixed inside the back plate 101, the rotating rod 201 is connected to the shoulder strap 1011, and when the rotating rod 201 rotates, the upper end of the shoulder strap 1011 is rotated and received inside the back plate 101, and the inner wall of the rotating rod 201 is provided with a torsion bar 2012, one side of the torsion bar 2012 is meshed and connected with the rotating rod 201, and the rotating rod 201 is sleeved on the outside of the torsion bar 2012, and a spring 2013 is fixed at one end of the torsion bar 2012. When the torsion bar 2012 rotates, the spring 2013 accumulates potential energy. When the external force is lost, the spring 2013 is reset to drive the torsion bar 2012 to rotate.

[0050] Under normal circumstances, when the shoulder strap 1011 is pulled outward or retracted, the torsion bar 2012 rotates synchronously with the rotating rod 201. When the torsion bar 2012 is stuck and cannot rotate, continuing to pull the shoulder strap 1011 outward will cause one end of the torsion bar 2012 to twist and deform, and the outer rotating rod 201 can continue to rotate half a circle.

[0051] Better, refer to Figure 5 to Figure 7 A moving ring 2021 is provided on the outer wall of the turntable 202 and the moving ring 2021 is sleeved on the outer wall of the torsion bar 2012. A notch 2022 is provided on the outer wall of the moving ring 2021 and the notch 2022 is engaged with the protrusion 2011. An arc rod 2023 is also provided on the outer wall of the turntable 202. A brake disc 2024 is provided on the outer wall of the turntable 202 and an arc groove 2025 is provided on the inner wall of the brake disc 2024.

[0052] The turntable 202 is fixed to the other end of the torsion bar 2012 , and a brake disc 2024 is provided on the outer wall of the turntable 202 . The brake disc 2024 is fixed by the support frame and cannot rotate, and the turntable 202 rotates inside the brake disc 2024 .

[0053] A sleeve is provided on one side of the rotating disk 202 and is sleeved on the outside of the torsion bar 2012. At the same time, a moving ring 2021 is sleeved on the sleeve. Figure 6As shown, a short groove is provided on the outer wall of the sleeve, and a slider is provided on the inner wall of the movable ring 2021 to slide inside the short groove, thereby limiting the movable ring 2021 so that it rotates synchronously with the turntable 202. At the same time, the notch 2022 on the surface of the movable ring 2021 engages with the protrusion 2011 on the side of the rotating rod 201, and they rotate synchronously under normal circumstances. When one end of the torsion bar 2012 is fixed, the rotating rod 201 rotates half a circle more outside the torsion bar 2012, which will cause the protrusion 2011 to slide out from the notch 2022, causing the movable ring 2021 to move toward the turntable 202.

[0054] The arc rods 2023 arranged in an array on the surface of the rotating disk 202 are as follows: Figure 7 As shown, under normal circumstances, the top end of the arc rod 2023 moves inward. When the rotation speed of the turntable 202 increases, under the influence of inertia, the top end of the arc rod 2023 will be thrown outward and stuck in the arc groove 2025 on the surface of the brake disc 2024. At this time, the turntable 202 will stop moving due to the restriction of the arc rod 2023.

[0055] In summary, when in use, when the user wears the backpack, the shoulder strap 1011 is pulled outward, and the shoulder strap 1011 is fixed on the rotating rod 201, driving the rotating rod 201 to rotate together, and the internal torsion bar 2012 rotates together with the rotating rod 201. At this time, the spring coil springs 2013 at both ends of the torsion bar 2012 and the turntable 202 all rotate together outside the torsion bar 2012. When the backpack is put on, the spring coil spring 2013 rotates to tighten the shoulder strap 1011 so that it fits tightly against the user's upper body. When the user wants to take off the back plate 101, the shoulder strap 1011 is pulled outward to pull the upper body out of the shoulder strap 1011. At the same time, the spring coil spring 2013 will rotate the torsion bar 2012 to retract the shoulder strap 1011 into the back plate 101 after the shoulder strap 1011 loses its tension, and the shoulder strap 1011 can be made to fit the upper body of users with different body shapes through the spring coil spring 2013.

[0056] Example 3

[0057] This is the third embodiment of the present invention, which is implemented based on the previous embodiment.

[0058] Specifically, refer to Figure 8 A fixed block 203 is also provided on the outer wall of the brake disc 2024, a cam 2031 is provided on the end of the fixed block 203, the axis of the cam 2031 is connected to the torsion bar 2012, an angular block 2032 is hinged on the end of the fixed block 203, a limiting block 2033 is provided on the outer wall of the angular block 2032, and a push tooth 2034 is hinged on the end of the angular block 2032.

[0059] Among them, the fixed block 203 is fixed inside the back plate 101, close to the brake disc 2024, the cam 2031 at the top of the fixed block 203 is fixed on the outside of the torsion bar 2012, and is affected by the rotation of the torsion bar 2012 and moves synchronously with the turntable 202. A roller is provided at the bottom of the angular block 2032, which is attached to the outer wall of the cam 2031. A right-angle torsion spring is provided at the hinge between the angular block 2032 and the fixed block 203, so that the roller always fits the outer wall of the cam 2031.

[0060] Preferably, refer to Fig. 9 A winding shaft 204 is also provided on the inner wall of the back plate 101, a connecting head 2041 is provided on the end of the winding shaft 204, a movable rod 2042 is arranged in an array on the inner wall of the connecting head 2041, and a first elastic member 2043 is provided on the end of the movable rod 2042, a gear 2044 is sleeved on the outer wall of the winding shaft 204, a limiting ring 2045 is provided on the outer wall of the gear 2044, and the limiting ring 2045 is sleeved on the outer wall of the movable rod 2042.

[0061] Among them, the winding shaft 204, like the rotating rod 201, is fixed inside the back plate 101 by a support frame. A connecting head 2041 is provided at one end of the winding shaft 204, and a movable rod 2042 inside the connecting head 2041 is engaged in the limiting opening 2046 of the inner wall of the limiting ring 2045.

[0062] The limiting ring 2045 is fixed on the outside of the gear 2044. The gear 2044 is driven by the angular block 2032. The torsion bar 2012 rotates one circle, driving the cam 2031 to rotate one circle. The roller at the bottom of the angular block 2032 is pushed once by the recess of the cam 2031, driving the push tooth 2034 at the top of the angular block 2032 to slide from the current tooth groove to the next tooth groove, thereby pushing the gear 2044 to rotate one grid. The limiting block 2033 on the outer wall of the angular block 2032 and the push tooth 2034 at the top both have a limiting effect on the gear 2044 to prevent the gear 2044 from reversing.

[0063] The cam 2031 is driven to rotate by the torsion bar 2012, thereby pushing the gear 2044 to rotate. The connecting head 2041 is engaged with the inside of the limit opening 2046 through the movable rod 2042, forming a whole with the gear 2044. The rotation of the gear 2044 drives the winding shaft 204 to rotate, and the top end of the second elastic band 1041 is wound on the winding shaft 204. When the winding shaft 204 rotates, the second elastic band 1041 is wound up. Since the distance between the back plate 101 and the waist belt 102 is not shortened, the second elastic band 1041 is stretched and has a greater elastic force, thereby assisting the user to increase the weight that the upper body can lift.

[0064] The inner wall array of the limiting ring 2045 is provided with a limiting opening 2046 and the outer wall array of the limiting ring 2045 is provided with a sliding groove 2047, the inner wall of the limiting ring 2045 is movably provided with a special-shaped ring 2048, the inner wall array of the special-shaped ring 2048 is provided with a groove 2049 and the end face of the special-shaped ring 2048 is provided with a connecting rod 20410.

[0065] Among them, a special-shaped ring 2048 is installed on the inner wall of the limiting ring 2045, and a groove 2049 is set on the inner wall of the special-shaped ring 2048. When the movable rod 2042 inside the connecting head 2041 is engaged in the limiting opening 2046 on the inner wall of the limiting ring 2045, the groove 2049 of the special-shaped ring 2048 is opposite to the limiting opening 2046. At this time, the connecting head 2041 and the limiting ring 2045 are engaged together to form a whole. The rotation of the gear 2044 can drive the winding shaft 204 to rotate, and the second elastic band 1041 is wound up to make it stretched.

[0066] Better, refer to Fig.11 The outer wall of the torsion bar 2012 is also sleeved with a pushing ring 205, the outer wall of the pushing ring 205 is provided with a push rod 2051, the end of the push rod 2051 is provided with a half gear 2052 and the outer wall of the half gear 2052 is provided with a moving block 2053, the inner wall of the moving block 2053 is provided with a rack 2054 and the rack 2054 is meshed with the half gear 2052, the inner wall of the moving block 2053 is provided with a ball rod 2055, one end of the ball rod 2055 is provided with a cover plate 2056, and the cover plate 2056 is connected to the connecting rod 20410.

[0067] Among them, the pushing ring 205 is sleeved on the outer wall of the torsion bar 2012 and is close to the moving ring 2021. When the torsion bar 2012 is twisted, the external rotating rod 201 rotates half a circle more, and the external protrusion 2011 pushes the moving ring 2021 to move backward. The moving ring 2021 drives the pushing ring 205 to move in the direction of the turntable 202. The pushing ring 205 is not affected by the rotation of the torsion bar 2012 and only moves horizontally on the outside.

[0068] When the push ring 205 moves toward the turntable 202, the return spring inside is squeezed, and the push rod 2051 is driven to move at the same time. The push rod 2051 is hinged on the outer wall of the push ring 205. The half gear 2052 set at the other end of the push rod 2051 is in the column inside the back plate 101, and is driven by the push rod 2051 to rotate. The half gear 2052 is meshed with the rack 2054 inside the moving block 2053, pushing the moving block 2053 outward. Fig.10 As shown, the push rod 2051 rotates around the half gear 2052 under the influence of the push ring 205. When the push rod 2051 rotates, it drives the locking column outside the column to move, unlocking the moving block 2053 so that it can move from the inside of the column to the outside.

[0069] The moving block 2053 and the cover plate 2056 are connected by the ball rod 2055, and the cover plate 2056 is connected to the connecting rod 20410 fixed on the surface of the special-shaped ring 2048. When the gear 2044 rotates, the cover plate 2056 rotates on the surface of the limiting ring 2045, and the ball rod 2055 rotates with one end of the moving block 2053 as the axis.

[0070] In summary, when in use, the user wears the device on the body, and according to the different body shapes of the user, the shoulder strap 1011 is stretched outward to different lengths, and the torsion bar 2012 inside the back plate 101 rotates different numbers of times. At the same time, the rotation of the torsion bar 2012 drives the cam 2031 to rotate, and the push of the push tooth 2034 drives the gear 2044 to rotate the corresponding number of times. The rotation of the gear 2044 drives the winding shaft 204 at the axis to rotate, and the second elastic band 1041 fixed on the winding shaft 204 is stretched, so that the second elastic band 1041 is stretched out. The elastic band 1041 has greater elasticity to assist the user. A user with a larger body pulls more of the shoulder strap 1011 outward, and the second elastic band 1041 is rolled up more, which is more conducive to assisting the user, especially when the user bends over to lift a heavy object, the upper body bends further outward to drive the shoulder strap 1011, so that the second elastic band 1041 is further rolled up and straightened. At this time, the second elastic band 1041 between the waist belt 102 and the back panel 101 has greater elastic potential energy, which is more conducive to the user lifting the heavy object and straightening the body.

[0071] When the user finishes using the device, the shoulder strap 1011 can be rolled up and restored by the clockwork coil spring 2013, but the second elastic band 1041 is rolled up on the winding shaft 204 and also needs to be released back to its original state. At this time, the user only needs to pull the shoulder strap 1011 faster, and the fast rotation of the rotating rod 201 drives the torsion bar 2012 to rotate quickly, so that the rotating disk 202 outside the torsion bar 2012 is engaged and fixed with the brake disc 2024 through the arc rod 2023. At this time, the torsion bar 2012 is braked and stops rotating. The shoulder strap 1011 continues to be pulled outward. At this time, since the torsion bar 2012 stops, and the rotating rod 201 continues to rotate, The torsion bar 2012 is twisted and deformed, but when the rotating rod 201 rotates, the external protrusion 2011 pushes the moving ring 2021 to move. When the moving ring 2021 rotates toward the turntable 202, it drives the pushing ring 205 to move. The push rod 2051 drives the half gear 2052 to rotate through the backward movement of the pushing ring 205, and the moving block 2053 engaged with it moves forward from the column. When the moving block 2053 moves forward, since the cover plate 2056 is fixed on the surface of the limit ring 2045, the moving block 2053 pushes the ball rod 2055 forward to move, and the cover plate 2056 cannot move in the horizontal direction and can only rotate on the surface of the limit ring 2045.

[0072] The rotation of the cover plate 2056 drives the special-shaped ring 2048 to rotate inside the limiting ring 2045. When the special-shaped ring 2048 rotates, the movable rod 2042 inside the connecting head 2041 is squeezed through the groove 2049 on the inner wall of the special-shaped ring 2048 to shrink inward. Finally, the groove 2049 is not aligned with the limiting opening 2046. At this time, the top of the movable rod 2042 is squeezed out of the limiting opening 2046, and the connecting head 2041 loses its engagement with the limiting ring 2045. At this time, the second elastic band 1041 returns to its initial state under the action of elastic force.

[0073] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. An exoskeleton waist and hip assist device, characterized in that: include: A waist and hip support assembly (100) comprises a back plate (101), a waist belt (102) arranged at the end of the back plate (101), a hip component (103) arranged on the outer wall of the waist belt (102), and waist and back fixing ears (104); The outer wall of the back plate (101) is provided with a shoulder strap (1011) to be worn on the upper body of a user, the outer wall of the shoulder strap (1011) is provided with a first elastic belt (1012), and the outer wall of the waist belt (102) is provided with an outer fixing ear (1021), and the outer fixing ear (1021) is connected to the first elastic belt (1012).

2. The exoskeleton waist and hip assist device according to claim 1, characterized in that: The outer wall of the hip component (103) is provided with a movable groove (1031), the inner wall of the movable groove (1031) is provided with a torsion spring (1032), the outer wall of the waist and back fixing ear (104) is provided with a second elastic band (1041), the second elastic band (1041) extends into the back plate (101) at one end away from the waist and back fixing ear (104), and the outer wall of the second elastic band (1041) is also provided with a back tension spring (1042).

3. The exoskeleton waist and hip assist device as claimed in claim 2, characterized in that: The waist and hip assistance assembly (100) further comprises a knee fixing sleeve (105), the outer wall of the knee fixing sleeve (105) is provided with a Velcro (1051) and a thigh rod (1052) is fixed to the outer wall of the Velcro (1051), the end of the thigh rod (1052) extends to the inner wall of the hip component (103) and is engaged with the torsion spring (1032), the outer wall of the knee fixing sleeve (105) is also provided with a leg strap (1053) and one end of the leg strap (1053) is connected to the waist and back fixing ear (104).

4. The exoskeleton waist and hip assist device according to claim 1, characterized in that: An adjustment component (200) is arranged on the inner wall of the back plate (101), and the adjustment component (200) comprises a rotating rod (201), a protrusion (2011) is arranged on the outer wall of the rotating rod (201), a torsion rod (2012) is meshed with the inner wall of the rotating rod (201), a spring coil (2013) is fixed to one end of the torsion rod (2012), and a rotating disk (202) is sleeved and fixed to one end of the torsion rod (2012) away from the spring coil (2013).

5. The exoskeleton waist and hip assist device as claimed in claim 4, characterized in that: The outer wall of the rotating disk (202) is provided with a moving ring (2021) and the moving ring (2021) is sleeved on the outer wall of the torsion bar (2012); the outer wall of the moving ring (2021) is provided with a notch (2022) and the notch (2022) is engaged with the protrusion (2011); the outer wall of the rotating disk (202) is also provided with an arc rod (2023); the outer wall of the rotating disk (202) is provided with a brake disc (2024) and the inner wall of the brake disc (2024) is provided with an arc groove (2025).

6. The exoskeleton waist and hip assist device as claimed in claim 5, characterized in that: The outer wall of the brake disc (2024) is also provided with a fixed block (203), the end of the fixed block (203) is provided with a cam (2031), the axis of the cam (2031) is connected to the torsion bar (2012), the end of the fixed block (203) is also hinged with an angular block (2032), the outer wall of the angular block (2032) is provided with a limiting block (2033), and the end of the angular block (2032) is also hinged with a push tooth (2034).

7. The exoskeleton waist and hip assist device as claimed in claim 6, characterized in that: The inner wall of the back plate (101) is also provided with a winding shaft (204), the end of the winding shaft (204) is provided with a connector (2041), the inner wall of the connector (2041) is provided with a movable rod (2042) in an array, and the end of the movable rod (2042) is provided with a first elastic member (2043), the outer wall of the winding shaft (204) is sleeved with a gear (2044), the outer wall of the gear (2044) is provided with a limit ring (2045), and the limit ring (2045) is sleeved on the outer wall of the movable rod (2042).

8. The exoskeleton waist and hip assist device as claimed in claim 7, characterized in that: The inner wall array of the limiting ring (2045) is provided with a limiting opening (2046) and the outer wall array of the limiting ring (2045) is provided with a sliding groove (2047); the inner wall of the limiting ring (2045) is movably provided with a special-shaped ring (2048); the inner wall array of the special-shaped ring (2048) is provided with a groove (2049) and the end face of the special-shaped ring (2048) is provided with a connecting rod (20410).

9. The exoskeleton waist and hip assist device as claimed in claim 8, characterized in that: The outer wall of the torsion bar (2012) is also sleeved with a push ring (205), the outer wall of the push ring (205) is provided with a push rod (2051), the end of the push rod (2051) is provided with a half gear (2052), and the outer wall of the half gear (2052) is provided with a moving block (2053), the inner wall of the moving block (2053) is provided with a rack (2054), and the rack (2054) is meshed with the half gear (2052).

10. The exoskeleton waist and hip assist device according to claim 9, characterized in that: A ball rod (2055) is disposed on the inner wall of the moving block (2053), a cover plate (2056) is disposed at one end of the ball rod (2055), and the cover plate (2056) is connected to the connecting rod (20410).

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