An exoskeleton lumbar and hip assist device

Abstract

The present invention relates to the technical field of exoskeletons, in particular to an exoskeleton waist and hip assist device, which includes a waist and hip assist component, comprising a back plate, a waist belt provided at the end of the back plate, a hip component provided on the outer wall of the waist belt, and a back and waist fixing ear; according to the present invention, the outward stretching of the shoulder strap drives the torsion bar to rotate, and the tightening degree of the second elastic band can be appropriately adjusted according to the user's body type. By winding up the second elastic band fixed on the winding shaft, it has greater elasticity, which is used to better assist the user when lifting heavy objects upwards. At the same time, the convenient reset of the second elastic band can also be realized through the outward stretching of the shoulder strap, improving the practicability and convenience of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeletons, and particularly to an exoskeleton lumbar and hip assist device. Background Art

[0002] As a new type of auxiliary device that combines mechanical structure and intelligent control, exoskeleton technology has received extensive attention and applications in multiple fields in recent years. Especially during training, due to the high incidence of lumbar training injuries, it is particularly important to develop an exoskeleton lumbar and hip assist device that can effectively reduce the burden on the waist and improve training efficiency. Exoskeleton technology provides additional support and assistance to the wearer by simulating the human bone structure, 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 often have complex structures and cumbersome wearing processes. Moreover, due to the differences in the width of the upper body and the waist support requirements of the human body, the wearer needs different support forces in different situations, but traditional devices cannot be adjusted adaptively. At the same time, some exoskeleton devices have deficiencies in force transmission and cannot effectively transmit the assistance to the waist and hips, resulting in the wearer still feeling a relatively large load during actual training.

[0004] The patent with the publication number CN113500587A discloses an exoskeleton handling robot. This technical solution can conduct part of the weight of the handling through the back frame, thigh structure, calf structure, and sole structure to the ground to achieve a weight reduction effect. At the same time, the back frame is connected to the leg structure through an elastic strap, which can store energy when bending down and assist when getting up during handling.

[0005] However, this technical solution still has some defects: The device cannot adaptively adjust the length and elastic force of the elastic strap between the back frame and the leg structure according to the differences in the body shapes of users. As a result, for smaller-sized users, the length of the elastic strap is relatively long during use, and they can rarely rely on the potential energy stored by the elastic strap when bending down for assistance. Summary of the Invention

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

[0007] To solve the above technical problems, the present invention provides the following technical solution: An exoskeleton lumbar and hip assist device, which includes a lumbar and hip assist component, including a back plate, a waist belt provided at the end of the back plate, a hip component provided on the outer wall of the waist belt, and a lumbar and back fixing ear;

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

[0009] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, wherein: an activity groove is formed on the outer wall of the hip component, a torsion spring is arranged on the inner wall of the activity groove, a second elastic band is arranged on the outer wall of the lumbar and dorsal fixed ear, one end of the second elastic band departing from the lumbar and dorsal fixed ear extends into the back plate, and a back pull spring is further arranged on the outer wall of the second elastic band.

[0010] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, wherein: the lumbar and hip assistance assembly further includes a knee fixing sleeve, a magic tape is arranged on the outer wall of the knee fixing sleeve and a thigh rod is fixed on the outer wall of the magic tape, the end of the thigh rod extends into the inner wall of the hip component and is engaged with the torsion spring, and a leg band is further arranged on the outer wall of the knee fixing sleeve and one end of the leg band is connected with the lumbar and dorsal fixed ear.

[0011] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, wherein: an adjusting assembly is arranged on the inner wall of the back plate, the adjusting assembly includes a rotating rod, a convex block is arranged on the outer wall of the rotating rod, a torsion rod is engaged with the inner wall of the rotating rod, a clockwork spring is fixed at one end of the torsion rod, and a turntable is sleeved and fixed at the end of the torsion rod departing from the clockwork spring.

[0012] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, wherein: a moving ring is arranged on the outer wall of the turntable and the moving ring is sleeved on the outer wall of the torsion rod, a notch is formed on the outer wall of the moving ring, the notch is engaged with the convex block, an arc-shaped rod is further arranged on the outer wall of the turntable, a brake disc is arranged on the outer wall of the turntable and an arc-shaped groove is formed on the inner wall of the brake disc.

[0013] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, wherein: a fixed block is further arranged on the outer wall of the brake disc, a cam is arranged at the end of the fixed block, the axis of the cam is connected with the torsion rod, an angled block is hinged at the end of the fixed block, a limiting block is arranged on the outer wall of the angled block and a push tooth is hinged at the end of the angled block.

[0014] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, wherein: a winding shaft is further arranged on the inner wall of the back plate, a connecting head is arranged at the end of the winding shaft, movable rods are arranged in an array on the inner wall of the connecting head and a first elastic member is arranged at the end of the movable rods, a gear is sleeved on the outer wall of the winding shaft, a limiting ring is arranged on the outer wall of the gear and the limiting ring is sleeved on the outer wall of the movable rods.

[0015] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, the inner wall of the limiting ring is provided with a plurality of limiting openings in an array, and the outer wall of the limiting ring is provided with a plurality of sliding grooves in an array. An irregular ring is movably arranged on the inner wall of the limiting ring. The inner wall of the irregular ring is provided with a plurality of grooves in an array, and a connecting rod is arranged on the end face of the irregular ring.

[0016] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, a pushing ring is further sleeved on the outer wall of the torsion bar. A push rod is arranged on the outer wall of the pushing ring. A semi-gear is arranged at the end of the push rod, and a moving block is arranged on the outer wall of the semi-gear. A rack is arranged on the inner wall of the moving block, and the rack is meshed with the semi-gear.

[0017] As a preferred embodiment of the exoskeleton lumbar and hip assistance device of the present invention, a ball rod is arranged on the inner wall of the moving block. A cover plate is arranged at one end of the ball rod, and the cover plate is connected with the connecting rod.

[0018] The beneficial effects of the present invention: By stretching the shoulder strap outward, the torsion bar is driven to rotate, and the tightening degree of the second elastic band can be adjusted appropriately according to the body type of the user. By winding the second elastic band fixed on the winding shaft, it has greater elasticity, which is used to better assist the user when lifting heavy objects upward. At the same time, by stretching the shoulder strap outward, the convenient reset of the second elastic band can also be realized, improving the practicability and convenience of the device. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

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

[0022] Figure 3 It is a schematic diagram of the internal structure of the back plate of the present invention;

[0023] Figure 4 It is a schematic diagram of the structure of the adjustment component of the present invention;

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

[0025] Figure 6 For the present inventionFigure 5 Schematic enlarged view of the structure at position A in

[0026] Figure 7 Schematic diagram of the connection relationship between the turntable and the brake disc in the present invention;

[0027] Figure 8 Schematic diagram of the positional relationship between the angled block and the gear in the present invention;

[0028] Figure 9 Exploded schematic diagram of the internal structure of the gear in the present invention;

[0029] Figure 10 Schematic diagram of the position of the push ring in the present invention;

[0030] Figure 11 Schematic diagram of the connection relationship between the semi-gear and the moving block in the present invention.

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

[0032] 200, adjustment assembly; 201, rotating rod; 2011, convex block; 2012, torsion rod; 2013, clockwork spring; 202, turntable; 2021, moving ring; 2022, notch; 2023, arc rod; 2024, brake disc; 2025, arc groove; 203, fixed block; 2031, cam; 2032, angled block; 2033, limit block; 2034, push tooth; 204, take-up reel; 2041, connecting head; 2042, movable rod; 2043, first elastic member; 2044, gear; 2045, limit ring; 2046, limit port; 2047, chute; 2048, special-shaped ring; 2049, groove; 20410, connecting rod; 205, push ring; 2051, push rod; 2052, semi-gear; 2053, moving block; 2054, rack; 2055, ball rod; 2056, cover plate. Detailed implementation manners

[0033] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific implementation manners of the present invention will be given in conjunction with the accompanying drawings of the specification.

[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] Among them, the hip component 103 is located on both sides of the waistband 102, hinged below the outer fixing ear 1021. An activity groove 1031 is provided on the outer surface, and a torsion spring 1032 is fixed inside. A lumbar back fixing ear 104 is fixed on the back of the waistband 102. A second elastic band 1041 is installed outside the lumbar back fixing ear 104. The second elastic band 1041 is fixed to the backboard 101. At the same time, a back pulling spring 1042 is also provided outside the second elastic band 1041. The second elastic band 1041 can be closely attached to the user's back to isolate the back pulling spring 1042 from contacting the user's back skin. At the same time, a pulling rope is provided inside the back pulling spring 1042. One end of the pulling rope is fixed on the backboard 101, and the other end is wound around the spring winch inside the lumbar back fixing ear 104. The spring winch inside the lumbar back fixing ear 104 has an electromagnetic clutch. In the relaxed state of the electromagnetic clutch, the flexible pulling rope can freely stretch and contract following the movement of the waist, while in the locked state of the electromagnetic clutch, the length of the flexible pulling rope is fixed. The state of the electromagnetic clutch is determined by the multi-sensor intelligent fusion results of the human body posture sensor, electromyogram sensor, human-computer interaction button input, etc., 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-hip power assist assembly 100 further includes a knee fixing sleeve 105. A magic tape 1051 is provided on the outer wall of the knee fixing sleeve 105, and a thigh rod 1052 is fixed on the outer wall of the magic tape 1051. The end of the thigh rod 1052 extends into the inner wall of the hip component 103 and engages with the torsion spring 1032. A leg band 1053 is also provided on the outer wall of the knee fixing sleeve 105, and one end of the leg band 1053 is connected to the lumbar 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 activity groove 1031 and is combined with the torsion spring 1032. The lower end is fixed outside the magic tape 1051 and closely adheres to the outside of the knee fixing sleeve 105. It can be used when the user bends down to lift heavy objects to better fix the waistband 102 and prevent the upper body from exerting too much pulling force, resulting in the upward movement of the waistband 102 and weakening the power assist effect. When walking, the leg band 1053 can be loosened to reduce its interference with normal walking.

[0045] And when the user's thigh makes flexion and extension movements, it drives the thigh rod 1052 to rotate relative to the hip component 103, thereby storing energy in the torsion spring 1032. When performing reverse flexion and extension, the torsion spring 1032 releases the stored energy to provide power assistance for the flexion and extension of the hip joint.

[0046] Embodiment 2

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

[0048] Specifically, refer to Figures 3 to 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 Figures 5 to 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 in the figure, a short groove is provided on the outer wall of the sleeve, and a slider is provided on the inner wall of the moving ring 2021 to slide inside the short groove, limiting the moving ring 2021 to rotate synchronously with the turntable 202. At the same time, the notch 2022 on the surface of the moving ring 2021 meshes with the convex block 2011 on the side of the rotating rod 201. Under normal circumstances, they rotate synchronously. When one end of the torsion rod 2012 is fixed, when the rotating rod 201 rotates half a turn more outside the torsion rod 2012, the convex block 2011 will slide out of the notch 2022, causing the moving ring 2021 to move towards the turntable 202.

[0054] The arc-shaped rods 2023 arranged in an array on the surface of the turntable 202 are as Figure 7 shown. Under normal circumstances, the tops of the arc-shaped rods 2023 move closer to the inside. When the rotation speed of the turntable 202 increases, under the influence of inertia, the tops of the arc-shaped rods 2023 will swing outwards and get stuck in the arc-shaped groove 2025 on the surface of the brake disc 2024. At this time, the turntable 202 will stop moving under the restriction of the arc-shaped rods 2023.

[0055] In summary, when in use, when the user wears it, pull the shoulder strap 1011 outwards. The shoulder strap 1011 is fixed on the rotating rod 201, driving the rotating rod 201 to rotate together. The internal torsion rod 2012 rotates together with the rotating rod 201. At this time, the spring winding 2013 at both ends of the torsion rod 2012 and the turntable 202 all rotate together outside the torsion rod 2012. After wearing, the spring winding 2013 rotates back, tightening the shoulder strap 1011 to make it close to the upper body of the user. When the user wants to take off the back plate 101, pulling the shoulder strap 1011 outwards can make the upper body be pulled out of the shoulder strap 1011. At the same time, after the shoulder strap 1011 loses the pulling force, the spring winding 2013 will rotate back the torsion rod 2012 to retract the shoulder strap 1011 into the back plate 101. Through the spring winding 2013, the shoulder strap 1011 can fit the upper bodies of users with different body shapes.

[0056] Embodiment 3

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

[0058] Specifically, referring to Figure 8 , a fixed block 203 is further provided on the outer wall of the brake disc 2024. A cam 2031 is provided at the end of the fixed block 203. The axis of the cam 2031 is connected to the torsion rod 2012. A horn-shaped block 2032 is further hinged at the end of the fixed block 203. A limit block 2033 is provided on the outer wall of the horn-shaped block 2032, and a push tooth 2034 is further hinged at the end of the horn-shaped block 2032.

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

[0060] Preferably, referring to Figure 9 , a winding shaft 204 is further provided on the inner wall of the backboard 101. A connector 2041 is provided at the end of the winding shaft 204. Moving rods 2042 are arranged in an array on the inner wall of the connector 2041, and a first elastic member 2043 is provided at the end of the moving 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 moving rod 2042.

[0061] Among them, like the rotating rod 201, the winding shaft 204 is fixed inside the backboard 101 by a support frame. A connector 2041 is provided at one end of the winding shaft 204, and the moving rod 2042 inside the connector 2041 is engaged in the limiting port 2046 on the inner wall of the limiting ring 2045.

[0062] The limiting ring 2045 is fixed outside the gear 2044. The gear 2044 is driven by the angled block 2032. When the torsion bar 2012 rotates one circle, the cam 2031 is driven to rotate one circle. The roller at the bottom of the angled block 2032 is pushed once by the concave part of the cam 2031, driving the push tooth 2034 at the top of the angled block 2032 to slide from the current tooth groove into the next tooth groove, thereby driving the gear 2044 to rotate one grid. The limiting block 2033 on the outer wall of the angled 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] By driving the cam 2031 to rotate through the torsion bar 2012, thereby pushing the gear 2044 to rotate. The connector 2041 is engaged inside the limiting port 2046 through the moving rod 2042, forming an integral body with the gear 2044. By the rotation of the gear 2044, the winding shaft 204 is driven to rotate. The top 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 backboard 101 and the waistband 102 does not shorten, the second elastic band 1041 is stretched and has greater elasticity, so as to assist the user and increase the weight that the upper body can lift.

[0064] The inner wall of the limiting ring 2045 is provided with a series of limiting openings 2046 in an array, and the outer wall of the limiting ring 2045 is provided with a series of sliding grooves 2047 in an array. An irregular-shaped ring 2048 is movably arranged on the inner wall of the limiting ring 2045. The inner wall of the irregular-shaped ring 2048 is provided with a series of grooves 2049 in an array, and a connecting rod 20410 is arranged on the end face of the irregular-shaped ring 2048.

[0065] Among them, the inner wall of the limiting ring 2045 is installed with an irregular-shaped ring 2048, and the inner wall of the irregular-shaped ring 2048 is provided with grooves 2049. When the movable rod 2042 inside the connector 2041 is engaged in the limiting opening 2046 on the inner wall of the limiting ring 2045, at this time, the groove 2049 of the irregular-shaped ring 2048 is opposite to the position of the limiting opening 2046. At this time, the connector 2041 and the limiting ring 2045 are engaged together to form a whole. By rotating the gear 2044, the winding shaft 204 can be driven to wind the second elastic band 1041, so that it is stretched.

[0066] Preferably, referring to Figure 11 , a pushing ring 205 is also sleeved on the outer wall of the torsion bar 2012. A push rod 2051 is arranged on the outer wall of the pushing ring 205. A semi-gear 2052 is arranged at the end of the push rod 2051, and a moving block 2053 is arranged on the outer wall of the semi-gear 2052. A rack 2054 is arranged on the inner wall of the moving block 2053, and the rack 2054 is engaged with the semi-gear 2052. A ball rod 2055 is arranged on the inner wall of the moving block 2053. 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 turn more, and the external convex block 2011 pushes the moving ring 2021 to move backward. The moving ring 2021 drives the pushing ring 205 to move towards the turntable 202. The pushing ring 205 is not affected by the rotation of the torsion bar 2012 and only moves horizontally outside.

[0068] When the pushing ring 205 moves towards the turntable 202, it compresses the inner reset spring and drives the push rod 2051 to move at the same time. The push rod 2051 is hinged on the outer wall of the pushing ring 205. The semi-gear 2052 arranged at the other end of the push rod 2051 is inside the column of the back plate 101 and rotates under the drive of the push rod 2051. The semi-gear 2052 is engaged with the rack 2054 inside the moving block 2053 and pushes the moving block 2053 outwards. As Figure 10 shown, the push rod 2051 rotates around the semi-gear 2052 under the influence of the pushing 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 outwards from the column.

[0069] The moving block 2053 is connected to the cover plate 2056 by a rod 2055. The cover plate 2056 and the special-shaped ring 2048 are connected to the connecting rod 20410 on the surface. When the gear 2044 rotates, the cover plate 2056 rotates on the surface of the limit ring 2045, and the 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. According to the different body shapes of the user, the shoulder strap 1011 is stretched outwards by different lengths, and the torsion bar 2012 inside the back plate 101 rotates by different numbers of turns. At the same time, through the rotation of the torsion bar 2012, the cam 2031 is driven to rotate. Through the push of the push teeth 2034, the gear 2044 is driven to rotate by a corresponding number of turns. Through the rotation of the gear 2044, the winding shaft 204 at the axis is driven to rotate, and the second elastic band 1041 fixed on the winding shaft 204 is stretched, so that the second elastic band 1041 has greater elasticity to assist the user. A user with a larger body shape pulls out more of the shoulder strap 1011, and the second elastic band 1041 is wound more, which is more conducive to assisting the user. Especially when the user bends down to lift a heavy object, the upper body bends and further drives the shoulder strap 1011 outwards, so that the second elastic band 1041 is further wound and straightened. At this time, the second elastic band 1041 between the waistband 102 and the back plate 101 has greater elastic potential energy, which is more conducive to the user to lift the heavy object and straighten the body.

[0071] When the user finishes using the device, the shoulder strap 1011 can be wound and restored by the clockwork spring 2013. However, the second elastic band 1041 wound on the winding shaft 204 also needs to be released back to its original state. At this time, the user only needs to quickly pull the shoulder strap 1011. Through the rapid rotation of the rotating rod 201, the torsion bar 2012 is driven to rotate rapidly, so that the turntable 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. Continuing to pull the shoulder strap 1011 outwards, at this time, since the torsion bar 2012 stops while the rotating rod 201 continues to rotate, the torsion bar 2012 is distorted. However, when the convex block 2011 outside the rotating rod 201 rotates, it pushes the moving ring 2021 to move. When the moving ring 2021 rotates towards the turntable 202, it drives the push ring 205 to move. Through the backward movement of the push ring 205, the push rod 2051 is driven to drive the half gear 2052 to rotate, 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 rod 2055 to move forward, and since the cover plate 2056 cannot move horizontally, it can only rotate on the surface of the limit ring 2045.

[0072] When the cover plate 2056 rotates, it drives the special-shaped ring 2048 to rotate inside the limit ring 2045. When the special-shaped ring 2048 rotates, the movable rod 2042 inside the connector 2041 is squeezed by the groove 2049 on the inner wall of the special-shaped ring 2048, causing it to shrink inward. Eventually, the groove 2049 is not aligned with the limit port 2046. At this time, the top end of the movable rod 2042 is extruded from the limit port 2046, and the connector 2041 loses its clamping function with the limit 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 and are not restrictive. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by 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); The outer wall of the waist and back fixing ear (104) is provided with a second elastic band (1041), and the second elastic band (1041) extends into the back plate (101) at one end away from the waist and back fixing ear (104); An adjustment component (200) is arranged on the inner wall of the back plate (101), 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); 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 (212); the outer wall of the moving ring (2021) is provided with a notch (2022), and the notch (2022) is engaged with the protrusion (211); the outer wall of the rotating disk (202) is also provided with an arc-shaped 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-shaped groove (2025); The outer wall of the brake disc (2024) is also provided with a fixing block (203), the end of the fixing block (203) is provided with a cam (2031), the axis of the cam (2031) is connected to the torsion bar (212), the end of the fixing block (203) is also hinged with an angle block (2032), the outer wall of the angle block (2032) is provided with a limiting block (2033), and the end of the angle block (2032) is also hinged with a push tooth (2034); The inner wall of the back plate (101) is further provided with a reel (204), the end of the reel (204) is provided with a connector (2041), the inner wall of the connector (2041) is provided with movable rods (2042) in an array, and the ends of the movable rods (2042) are provided with first elastic members (2043), the outer wall of the reel (204) is sleeved with a gear (2044), the outer wall of the gear (2044) is provided with a limiting ring (2045), and the limiting ring (2045) is sleeved on the outer wall of the movable rod (2042); 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 surface of the special-shaped ring (2048) is provided with a connecting rod (20410); 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); The inner wall of the movement 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); One end of the shoulder strap (1011) is fixed below the back plate (101), and the other end is rolled up and contracted inside the back plate (101); The top end of the second elastic band (1041) is rolled up on the rolling shaft (204), and when the rolling shaft (204) rotates, the second elastic band (1041) is rolled up; The roller at the bottom of the angular block (2032) is pushed by the concave part of the cam (2031), driving the push tooth (2034) at the top of the angular block (2032) to slide from the current tooth groove into the next tooth groove, thereby pushing the gear (2044) to rotate one gear; When the push ring (205) moves toward the rotating disk (202), the return spring on the inner side is squeezed, and the push rod (2051) is driven to move at the same time. The push rod (2051) is hinged to the outer wall of the push ring (205); When the user wears the device, the shoulder strap (1011) is pulled outwards, and the shoulder strap (1011) is fixed on the rotating rod (201), driving the rotating rod (201) to rotate together.

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), 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) being provided with a Velcro (1051) and the outer wall of the Velcro (1051) being fixed with a thigh rod (1052), the end of the thigh rod (1052) extending to the inner wall of the hip component (103) and being engaged with the torsion spring (1032), the outer wall of the knee fixing sleeve (105) being provided with a leg strap (1053) and one end of the leg strap (1053) being connected to the waist and back fixing ear (104).

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