Waist supporting device and bed frame

Abstract

The invention provides a waist jacking device and a bedstead, and relates to the technical field of furniture, the waist jacking device comprises a waist jacking support plate, a linkage rod, two connecting rod assemblies, a driving piece and a vertical guide assembly. The upper end of the linkage rod is supported on the waist supporting plate and can move in the length direction of the waist supporting plate. One end of each connecting rod assembly is hinged to one end of the linkage rod, the other end of each connecting rod assembly is hinged to the bed frame, and the connecting rods, the linkage rod and the connecting lines of the hinge points of the two connecting rod assemblies and the bed frame form a parallel four-rod mechanism. The driving piece is fixed on the bed frame and is used for driving the parallel four-bar mechanism; the vertical guide assembly is fixed to the bed frame and connected with the waist supporting plate so as to limit transverse displacement of the waist supporting plate. Therefore, the lifting mechanism has the advantages of vertical lifting and relatively simple and compact structure.

Description

Technical Field

[0001] The invention relates to the technical field of furniture, in particular to a waist-supporting device and a bed frame. Background Art

[0002] With the development of science and technology, smart homes have become more and more popular, and electric beds have gradually become a common household item in modern families due to their comfort.

[0003] In order to further improve the comfort of users, in addition to the traditional head, back and leg lifting functions, a waist lifting function has also been added to the electric bed. The waist lifting function can provide additional support for the waist, help users maintain the natural curve of the spine, reduce waist pressure, and effectively relieve waist fatigue to improve sleep quality. Existing waist lifting devices usually achieve lifting through circular motion, or lift and lower through a connecting rod folding structure, but these structures often cannot achieve vertical lifting, especially the circular motion lifting method. During use, the bottom of the mattress is prone to friction with the moving parts, and long-term use will cause wear on the bottom of the mattress. The folding and lifting waist lifting device has a complex structure, resulting in a large overall thickness, which increases the overall thickness of the device and increases the volume and weight of the bed. This not only makes the bed frame design more complicated, but also increases the packaging and transportation costs of the product, thereby affecting its market competitiveness.

[0004] Therefore, a vertical lifting, relatively simple and compact waist-supporting device and bed frame need to be designed. Summary of the invention

[0005] The purpose of the present invention is to provide a waist-supporting device and a bed frame to address the defects and shortcomings of the prior art, and to solve at least one of the above-mentioned technical problems. The bed frame has the advantages of vertical lifting and relatively simple and compact structure.

[0006] To achieve the above object, the present invention provides a waist support device, comprising:

[0007] Top waist support plate;

[0008] A linkage rod, the upper end of which is supported on the top waist support plate and can move along the length direction of the top waist support plate;

[0009] Two connecting rod assemblies, one end of each connecting rod assembly is hinged to one end of the linkage rod, and the other end is hinged to the bed frame, and forms a parallel four-bar mechanism with the linkage rod and the connecting line of the hinge points of the two connecting rod assemblies and the bed frame;

[0010] A driving member, fixed on the bed frame, used to drive the parallel four-bar mechanism;

[0011] A vertical guide assembly is fixed on the bed frame and connected to the top waist support plate to limit the lateral displacement of the top waist support plate.

[0012] Optionally, wheel frames are provided at both ends of the linkage rod; and a roller rotatably arranged in the wheel frame is also included; and a rolling groove extending along the length direction of the top waist support plate is provided on the lower surface of the top waist support plate for the roller to roll.

[0013] Optionally, the supporting waist device also includes a connecting rod fixing frame fixed on the bed frame; the connecting rod assembly includes two connecting rod sheet metal parts symmetrically arranged relative to the linkage rod; one end of each connecting rod sheet metal part is hinged to the wheel frame, and the other end is hinged to the ear plate of the connecting rod fixing frame.

[0014] Optionally, the waist-supporting device further comprises a first rotating shaft rotatably disposed on the wheel frame, a first T-shaped bushing disposed on the first rotating shaft, and a second T-shaped bushing disposed on the ear plate of the connecting rod fixing frame;

[0015] One end of the connecting rod sheet metal part is rotatably mounted on the first T-shaped bushing, and the other end is rotatably mounted on the second T-shaped bushing.

[0016] Optionally, the driving member is a push rod motor rotatably arranged on the bed frame, and an output end of the push rod is rotatably connected to the linkage rod.

[0017] Optionally, the supporting waist device also includes a motor fixing frame fixed on the bed frame; the push rod motor is hinged on the motor fixing frame and is located between the two connecting rod assemblies, and the extension direction of its push rod forms an obtuse angle with the extension direction of the connecting rod assembly.

[0018] Optionally, the projections of the push rod motor and the two rollers on a horizontal plane are collinear; and the linkage rod is provided with an avoidance section which is recessed to one side to avoid the push rod motor.

[0019] Optionally, two groups of the vertical guide components are symmetrically arranged between the top waist support plate and the bed frame along the width direction of the bed frame; the vertical guide components include a linear sleeve and a guide shaft; the linear sleeve is vertically fixed to the bed frame or one of the top waist support plates, and one end of the guide shaft is fixed to the other and slidingly cooperates with the linear sleeve.

[0020] Optionally, the vertical guide group includes: a first guide shaft, a second guide shaft, a first linear sleeve, a second linear sleeve, a bushing fixing plate, and a padding stud;

[0021] The first linear shaft sleeve is fixedly mounted on the bushing fixing plate;

[0022] The first guide shaft is slidably matched with the first linear sleeve, one end of which is vertically fixed to the connecting rod fixing frame, and the other end is provided with a limiting bolt to prevent separation from the first linear sleeve;

[0023] The second linear sleeve is vertically fixed to the bushing fixing plate by means of a pad stud;

[0024] The second guide shaft is slidably matched with the second linear sleeve, one end of which is vertically fixed on the top waist support plate, and the other end is provided with a limiting bolt to prevent separation from the second linear sleeve.

[0025] Another aspect of the present invention provides a bed frame, comprising: a top waist plate and the top waist device as described above; the top waist plate is fixed on the top waist support plate, and is driven by the top waist device to achieve vertical lifting.

[0026] Compared with the prior art, the advantages of this application are:

[0027] Since the waist-supporting device is composed of a driving member, a parallel four-bar mechanism, a waist-supporting plate and a vertical guide assembly, when the parallel four-bar mechanism moves, the linkage rod will provide vertical and lateral forces to the waist-supporting plate, and the vertical guide assembly is used to limit the lateral displacement of the waist-supporting plate so that it can only perform vertical lifting movement. In this way, it has the advantages of vertical lifting, relatively simple structure and compactness. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0029] Figure 1 It is a structural schematic diagram of the jacking waist device and the jacking waist plate in the jacking state according to the embodiment of the present invention;

[0030] Figure 2 It is a structural schematic diagram of the waist-lifting device and waist-lifting plate in the embodiment of the present invention in a non-lifting state;

[0031] Figure 3 It is a schematic diagram of the exploded structure of the top waist device and the top waist plate according to an embodiment of the present invention;

[0032] Figure 4 This is a structural schematic diagram of the jacking waist device in the jacking state according to an embodiment of the present invention;

[0033] Figure 5 This is a structural schematic diagram of the waist-lifting device in an embodiment of the present invention in a non-lifting state;

[0034] Figure 6 It is a partial structural exploded schematic diagram of the top waist device according to an embodiment of the present invention;

[0035] Figure 7 A top view of the top waist device according to an embodiment of the present invention;

[0036] Figure 8 It is a schematic diagram of the exploded view of a part of the structure of the top waist device according to an embodiment of the present invention from another perspective;

[0037] Fig. 9 It is a structural schematic diagram of a vertical guide assembly assembled to a connecting rod fixing frame according to an embodiment of the present invention;

[0038] Fig.10 It is a schematic diagram of the partial structural decomposition of the vertical guide assembly and the connecting rod fixing frame according to an embodiment of the present invention.

[0039] Description of Reference Numerals

[0040] 100-top waist device;

[0041] 1- top waist support plate; a- rolling groove;

[0042] 2-linkage rod; 21-wheel frame; 22-avoidance section; 23-first rotating shaft;

[0043] 3-connecting rod assembly; 31-connecting rod sheet metal; 32-first T-type bushing; 33-second T-type bushing; 34-split pin; 35-bolt shaft; 36-third T-type bushing;

[0044] 4-push rod motor; 41-push rod;

[0045] 5-vertical guide assembly; 51-first guide shaft; 52-second guide shaft; 53-first linear sleeve; 531-shaft sleeve; 54-second linear sleeve; 55-bushing fixing plate; o1-through hole; 56-heightening stud; 57-cylinder head screw; 58-limiting bolt; 59-bolt;

[0046] 6-Roller;

[0047] 7-connecting rod fixing frame; 71-transverse plate; 72-ear plate;

[0048] 8-Motor fixing bracket;

[0049] 200- top waist plate;

[0050] 300-lumbar bed board; o3-long hole. DETAILED DESCRIPTION

[0051] 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.

[0052] It should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", "back", "side", "circumferential" and the like in the present invention indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the words "first", "second" and the like are only used to distinguish multiple components or structures with the same or similar structures, and do not represent any special limitation on the arrangement order or connection relationship.

[0053] Please refer to Figures 1 to 10 The embodiment of the present invention provides a waist support device 100, comprising: a waist support plate 1, a linkage rod 2, two connecting rod assemblies 3, a driving member and a vertical guide assembly 5. The above structures need to be made of materials with a certain support strength.

[0054] The lumbar support plate 1 is fixed below the lumbar support plate 200 and is used to drive the lumbar support plate 200 to move up and down when the lumbar support plate 1 moves up and down, so as to realize the lumbar support function of the electric bed (not shown in the figure).

[0055] The upper end of the linkage rod 2 is supported on the top waist support plate 1 and can move along the length direction of the top waist support plate 1. That is, the linkage rod 2 is used to provide support force to the top waist support plate 1 and can move laterally relative to the top waist support plate 1.

[0056] One end of each connecting rod assembly 3 is hinged to one end of the linkage rod 2, and the other end is hinged to the bed frame (not shown in the figure); the two connecting rod assemblies 3 and the linkage rod 2, and the connecting lines of the hinge points of the two connecting rod assemblies 3 and the bed frame form a parallel four-bar mechanism.

[0057] The driving member is fixed on the bed frame and is used to drive the parallel four-bar mechanism. That is, the output end of the driving member can be connected to the linkage rod 2 or one of the two connecting rod assemblies 3 to provide power for the movement of the parallel four-bar mechanism.

[0058] The vertical guide assembly 5 is fixed on the bed frame and connected to the top waist support plate 1 to limit the lateral displacement of the top waist support plate 1. That is, when the parallel four-bar mechanism moves, the linkage rod 2 will provide vertical and lateral forces to the top waist support plate 1, and the vertical guide assembly 5 is used to limit the lateral displacement of the top waist support plate 1 so that it can only perform vertical lifting movement.

[0059] In this way, it has the advantages of vertical lifting, and the advantages of relatively simple and compact structure. In addition, by driving the top waist support plate 1 through the parallel four-bar mechanism, the top waist support plate 1 can be lifted and lowered smoothly, thereby improving the comfort of use.

[0060] In order to reduce the friction between the linkage rod 2 and the top waist support plate 1 when the linkage rod 2 moves laterally during the lifting process, the smoothness of the movement is improved. Figure 3 , Figure 6 , Figure 7 and Figure 8 In this embodiment, wheel frames 21 are provided at both ends of the linkage rod 2. The top waist device 100 also includes a roller 6 rotatably arranged in the wheel frame 21. The lower surface of the top waist support plate 1 is provided with a rolling groove a extending along its length direction for the roller 6 to roll. Optionally, the top waist support plate 1 is a U-shaped groove sheet metal part, which can avoid the derailment of the roller 6. Of course, in other embodiments, the lower surface of the top waist support plate 1 can also be designed as a guide rail structure of a slide groove, and a slider is correspondingly provided on the upper surface of the linkage rod 2, which can also reduce the friction when the linkage rod 2 and the top waist support plate 1 move relative to each other, and no specific limitation is made here.

[0061] In order to increase the supporting force of the two connecting rod assemblies 3 on the linkage rod 2. Optionally, please refer to Figure 7 and Figure 8 In this embodiment, the waist support device 100 further includes a connecting rod fixing frame 7 fixed to the bed frame. Optionally, the connecting rod fixing frame 7 includes a horizontal plate 71 and two ear plates 72 vertically arranged at both ends of the horizontal plate 71. The connecting rod assembly 3 includes two connecting rod sheet metal parts 31 symmetrically arranged relative to the linkage rod 2. One end of each connecting rod sheet metal part 31 is hinged to the wheel frame 21, and the other end is hinged to the ear plate 72 of the connecting rod fixing frame 7. In this way, stress concentration can be effectively dispersed, and the rigidity and durability of the entire device can be improved.

[0062] In order to improve the flexibility of the connecting rod sheet metal 31, the wheel frame 21 and the ear plate 72 of the fixing frame. Figures 6 to 8In this embodiment, the waisting device 100 further includes a first rotating shaft 23, a first T-shaped bushing 32 and a second T-shaped bushing 33. The first rotating shaft 23 is rotatably arranged on the wheel frame 21, the first T-shaped bushing 32 is arranged on the first rotating shaft 23, and the second T-shaped bushing 33 is on the ear plate 72 of the connecting rod fixing frame 7. One end of the connecting rod sheet metal 31 is rotatably sleeved on the first T-shaped bushing 32, and the other end is rotatably sleeved on the second T-shaped bushing 33. Optionally, the first rotating shaft 23 is a headed pin shaft, on which two first T-shaped bushings 32 are sleeved, one end of the connecting rod sheet metal 31 is sleeved on the first T-shaped bushing 32, and is limited between the flange part of the first T-shaped bushing 32 and the ear part of the wheel frame 21, and the free end of the pin shaft handle of the headed pin shaft is fixed by a cotter pin 34 to prevent the headed pin shaft from falling. Similarly, the second T-shaped bushing 33 is fixed to the ear plate 72 of the connecting rod fixing frame 7 through the bolt shaft 35, and the other end of the connecting rod sheet metal part 31 is sleeved on the second T-shaped bushing 33 and is limited between the flange portion of the second T-shaped bushing 33 and the ear plate 72 of the connecting rod fixing frame 7. It can be understood that the wheel frame 21 can also be rotatably connected to the first rotating shaft 23 through the third T-shaped bushing 36.

[0063] Optionally, see Figures 4 to 6 In this embodiment, the driving member is a push rod motor 4 rotatably arranged on the bed frame, and its output end is rotatably connected to the linkage rod 2. Specifically, the top waist device 100 also includes a motor fixing frame 8 fixed on the bed frame; the push rod motor 4 is hinged on the motor fixing frame 8 and is located between the two connecting rod assemblies 3, and the extension direction of its push rod 41 forms an obtuse angle with the extension direction of the connecting rod assembly 3. Since the extension direction of the push rod 41 of the push rod motor 4 forms an obtuse angle with the extension direction of the connecting rod assembly 3, the push rod 41 of the push rod motor 4 can provide the power for the lateral movement of the connecting rod assembly 3 while providing the vertical force. Of course, in other embodiments, the driving member can also be a servo motor, and its output shaft is connected to one of the two connecting rod assemblies 3 through a reducer, so as to drive the parallel four-bar mechanism to move, and there is no specific limitation.

[0064] In order to reduce the overall volume of the waist-supporting device 100 and avoid interference between the linkage rod 2 and the push rod motor 4. Figure 7 In this embodiment, the projections of the push rod motor 4 and the two rollers 6 on the horizontal plane are collinear. The linkage rod 2 is provided with an avoidance section 22 which is recessed to one side to avoid the push rod motor 4.

[0065] To improve the stability of the movement, optionally refer to Figure 3 and Figure 4In this embodiment, two sets of vertical guide components 5 are symmetrically arranged between the top waist support plate 1 and the bed frame along the width direction of the bed frame; the vertical guide components 5 include a linear sleeve and a guide shaft; the linear sleeve is vertically fixed to one of the bed frame or the top waist support plate 1, and one end of the guide shaft is fixed to the other and slidably cooperates with the linear sleeve.

[0066] In order to match the waist stroke of the waist-supporting device 100 and reduce the space occupied by the vertical guide group, optionally, please refer to Figure 6 , Fig. 9 and Fig.10 In this embodiment, the vertical guide group includes: a first guide shaft 51, a second guide shaft 52, a first linear sleeve 53, a second linear sleeve 54, a bushing fixing plate 55 and a heightening stud 56.

[0067] The first linear sleeve 53 is fixedly provided on the bushing fixing plate 55. Specifically, the bushing fixing plate 55 has a through hole o1, the first linear sleeve 53 is fixed on the bushing fixing plate 55 by a cylindrical head screw 57, and the shaft sleeve 531 of the first linear sleeve 53 is provided in the through hole o1 of the bushing fixing plate 55. The first guide shaft 51 is slidably matched with the first linear sleeve 53, one end of which is vertically fixed on the connecting rod fixing frame 7, and the other end is provided with a limiting bolt 58 to prevent separation from the first linear sleeve 53. Optionally, one end of the first guide shaft 51 is fixed on the connecting rod fixing frame 7 by a bolt 59. Specifically, in this embodiment, the vertical guide group includes two groups of first guide shafts 51 and first linear sleeves 53 arranged in parallel to increase stability. Optionally, the first linear sleeve 53 is a plastic linear sleeve, and the first guide shaft 51 is a cylindrical guide shaft. Specifically, the first guide shaft 51 can be a metal cylindrical guide shaft.

[0068] The second linear sleeve 54 is vertically fixed to the bushing fixing plate 55 by means of a spacer stud 56; the second guide shaft 52 is slidably matched with the second linear sleeve 54, one end of which is vertically fixed to the top waist support plate 1, and the other end is provided with a limit bolt 58 to prevent separation from the second linear sleeve 54. Optionally, one end of the second guide shaft 52 is fixed to the connecting rod fixing frame 7 by means of a bolt 59, and the other end passes through the second linear sleeve 54 and is slidably matched with the second linear sleeve 54, and a limit bolt 58 is provided at the end thereof to prevent separation from the second linear sleeve 54. Optionally, the second linear sleeve 54 is a plastic linear sleeve, and the second guide shaft 52 is a cylindrical guide shaft. Specifically, the second guide shaft 52 can be optionally a metal cylindrical guide shaft.

[0069] That is, in this embodiment, two groups of linear guide shafts are staggered and superimposed in the vertical direction to match the long stroke of the waist device 100 while avoiding the shortcoming of a large length occupying a large space when a single guide shaft is used in the vertical guide group.

[0070] Another aspect of the embodiment of the present invention provides a bed frame (not shown in the figure), including a top waist board 200 and the waist supporting device 100 as described above; the top waist board 200 is fixed on the top waist support board 1, and is driven by the waist supporting device 100 to achieve vertical lifting. Optionally, the bed frame also includes a waist bed board 300, and the waist bed board 300 has a long hole o3 that is arranged horizontally and matches the shape of the top waist board 200; during the lifting and lowering process of the top waist board 200, the top waist board 200 has a retracted state accommodated in the long hole o3, and an ejected state extending out of the long hole o3. Since the bed frame has all the structures and connection relationships of the waist supporting device 100, it has all the advantages of the waist supporting device 100, which will not be elaborated here.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A waist support device, characterized in that: include: Top waist support plate (1); A linkage rod (2), the upper end of which is supported on the top waist support plate (1) and can move along the length direction of the top waist support plate (1); Two connecting rod assemblies (3), one end of each connecting rod assembly (3) is hinged to one end of the linkage rod (2), and the other end is hinged to the bed frame, and forms a parallel four-bar mechanism with the linkage rod (2) and the connecting line of the hinge points of the two connecting rod assemblies (3) and the bed frame; A driving member, fixed on the bed frame, used to drive the parallel four-bar mechanism; A vertical guide assembly (5) is fixed on the bed frame and connected to the top waist support plate (1) to limit the lateral displacement of the top waist support plate (1).

2. The waist-supporting device according to claim 1, characterized in that: Wheel frames (21) are provided at both ends of the linkage rod (2); the linkage rod (2) also includes a roller (6) rotatably arranged in the wheel frame (21); and a rolling groove (a) extending along the length direction thereof is provided on the lower surface of the top waist support plate (1) for the roller (6) to roll.

3. The waist-supporting device according to claim 2, characterized in that: It also includes a connecting rod fixing frame (7) fixed on the bed frame; the connecting rod assembly (3) includes two connecting rod sheet metal parts (31) symmetrically arranged relative to the linkage rod (2); one end of each connecting rod sheet metal part (31) is hinged to the wheel frame (21), and the other end is hinged to the ear plate (72) of the connecting rod fixing frame (7).

4. The waist-supporting device according to claim 3, characterized in that: It also includes a first rotating shaft (23) rotatably arranged on the wheel frame (21), a first T-shaped bushing (32) arranged on the first rotating shaft (23), and a second T-shaped bushing (33) arranged on the ear plate (72) of the connecting rod fixing frame (7); One end of the connecting rod sheet metal part (31) is rotatably sleeved on the first T-shaped bushing (32), and the other end is rotatably sleeved on the second T-shaped bushing (33).

5. The waist-supporting device according to claim 2, characterized in that: The driving member is a push rod motor (4) rotatably arranged on the bed frame, and its output end is rotatably connected to the linkage rod (2).

6. The waist-supporting device according to claim 5, characterized in that: It also includes a motor fixing frame (8) fixed on the bed frame; the push rod motor (4) is hinged on the motor fixing frame (8) and is located between the two connecting rod assemblies (3), and the extension direction of its push rod (41) forms an obtuse angle with the extension direction of the connecting rod assembly (3).

7. The waist-supporting device according to claim 6, characterized in that: The projections of the push rod motor (4) and the two rollers (6) on a horizontal plane are collinear; the linkage rod (2) is provided with an avoidance section (22) which is recessed toward one side to avoid the push rod motor (4).

8. The waist-supporting device according to claim 1, characterized in that: Two groups of the vertical guide components (5) are symmetrically arranged between the top waist support plate (1) and the bed frame along the width direction of the bed frame; the vertical guide components (5) include a linear shaft sleeve and a guide shaft; the linear shaft sleeve is vertically fixed to the bed frame or the top waist support plate (1), and one end of the guide shaft is fixed to the other and slidably cooperates with the linear shaft sleeve.

9. The waist-supporting device according to claim 3, characterized in that: The vertical guide group comprises: a first guide shaft (51), a second guide shaft (52), a first linear sleeve (53), a second linear sleeve (54), a bushing fixing plate (55), and a padding stud (56); The first linear shaft sleeve (53) is fixedly mounted on the bushing fixing plate (55); The first guide shaft (51) is slidably matched with the first linear sleeve (53), one end of which is vertically fixed on the connecting rod fixing frame (7), and the other end is provided with a limiting bolt (58) to prevent separation from the first linear sleeve (53); The second linear sleeve (54) is vertically fixed on the sleeve fixing plate (55) via a padding stud (56); The second guide shaft (52) is slidably matched with the second linear sleeve (54), one end of which is vertically fixed on the top waist support plate (1), and the other end is provided with a limiting bolt (58) to prevent separation from the second linear sleeve (54).

10. A bed frame, characterized in that: include: A waist top plate (200) and a waist top device as described in any one of claims 1 to 9; the waist top plate (200) is fixed on the waist top support plate (1) and is driven by the waist top device to achieve vertical lifting.

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