Powered exoskeleton waist fixation adjustment assembly

Abstract

The application discloses a power-assisted exoskeleton waist fixing adjusting assembly and relates to the technical field of exoskeletons. The assembly comprises a waist fixing adjusting assembly and a hip joint power-assisted assembly or a knee joint power-assisted assembly. The waist fixing adjusting assembly comprises a back support, adjusting plug-in plates, a chain waistband, an exoskeleton connecting piece, a control power supply assembly and a front waistband. The back support is internally provided with an adjusting sliding groove, both sides of the back support are provided with sliding groove openings, and two adjusting plug-in plates are respectively inserted into the adjusting sliding groove through the two sliding groove openings. The adjusting sliding groove is provided with plug-in plate fixing assemblies near both ends, respectively. The plug-in plate fixing assemblies are used for adjusting and fixing the positions of the corresponding adjusting plug-in plates in the adjusting sliding groove. The control power supply assembly is arranged on the back support. The waist size can be continuously adjusted, the control power supply assembly is kept in the middle, the wiring structure is simplified, the wearing comfort and the modular degree are improved, and the assembly is used for providing walking power assistance for lower limb joints.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and more specifically to a waist fixation and adjustment component for an assistive exoskeleton. Background Technology

[0002] Exoskeletons are mechatronic devices used to assist human walking, rehabilitation training, or weight-bearing support. Exoskeletons designed to assist lower limb joints typically include a lumbar fixation structure, a drive mechanism, and a leg support structure. The lumbar fixation structure is used to fix the entire device relative to the human pelvis to ensure effective transmission of driving force and wearing comfort.

[0003] Existing hip exoskeletons typically employ rigid support combined with conventional telescopic adjustment in their lumbar fixation structure. For example, patent CN114406993A discloses a chain-type telescopic hip exoskeleton. While this structure can achieve a certain range of size adjustment, the control and power components move along with the telescopic structure during adjustment, making it difficult to keep them in the center of the back of the human body. This causes the device's center of gravity to shift, affecting the balance and comfort of wearing the device. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes a waist fixation and adjustment component for an assistive exoskeleton.

[0005] The technical solution adopted in this invention is as follows: A lumbar support adjustment component for an assistive exoskeleton includes a back support, adjustment plates, a chain waist belt, an exoskeleton connector, a control power supply assembly, and a front waist belt. The back support has an adjustment groove with openings on both sides. Two adjustment plates are inserted into the adjustment groove through the two openings. Near each end of the adjustment groove, a plate fixing assembly is provided for adjusting and fixing the position of the corresponding adjustment plate within the groove. The ends of the two adjustment plates are connected to two segments of the chain waist belt. One end of the chain waist belt is connected to the adjustment plates via an adjustment connector, and the other end is hinged to the exoskeleton connector, which is also connected to the front waist belt. The control power supply assembly is located on the back support and provides power and control signals to the exoskeleton.

[0006] The invention features a symmetrical adjustable plate structure that enables continuous adjustment of the waist size, making it suitable for wearers with different waist sizes. The heavy control power component is fixed to the back support and can be adjusted to maintain its position after size adjustment, ensuring that the center of gravity does not shift and guaranteeing the comfort and stability of the exoskeleton.

[0007] In a preferred embodiment of the present invention, the insert plate fixing assembly includes an eccentric snap, a damping block, a damping block bracket, and an elastic element. The eccentric snap includes an eccentric wheel and a snap handle integrally fixed with the eccentric wheel. The eccentric snap is hinged to the back support via the eccentric wheel's rotating shaft and contacts the damping block bracket. The snap handle is exposed outside the back support. The damping block bracket is installed inside the back support, and the damping block is fixed in the damping block bracket and faces the adjusting insert plate. When no pressure is applied, the damping block bracket is in its initial position under the action of the elastic element. When the snap handle is operated to rotate the eccentric wheel, the eccentric wheel applies pressure to the damping block bracket towards the adjusting insert plate. The damping block bracket and the damping block contact the adjusting insert plate and generate friction, thereby fixing the position of the adjusting insert plate. The operation is convenient, and the locking is stable and reliable. The insert plate fixing assembly is symmetrically arranged on both sides, allowing independent adjustment of the positions of the two adjusting insert plates.

[0008] As a preferred embodiment of the present invention, each chain belt includes at least three links, each link having the same structure; each link includes a connecting part located in the middle and a tail end and a head end located at both ends of the connecting part. The tail end and the head end are each provided with a connecting hole that extends through the width direction of the chain belt. The tail end and the head end of adjacent links are hinged by a pin passing through the connecting hole, so that each link is connected end to end in sequence to form a chain structure, allowing the belt to flexibly conform to the curve of the human waist and improve wearing comfort.

[0009] As a preferred embodiment of the present invention, the tail end of the link includes two spaced lugs disposed at the same end of the connecting portion, and the connecting holes are respectively opened on the two lugs and are coaxially disposed; the head end protrudes at the other end of the connecting portion, and the width of the head end matches the gap space between the two lugs, so that a stable hinged fit is formed between adjacent links.

[0010] In a preferred embodiment of the present invention, the chain link is provided with a conductive line inside, the conductive line extends along the length of the chain link and penetrates to the inner wall of the connecting hole; the pin is a conductive pin, and the two ends of the pin are connected to the conductive line at the inner wall of the connecting hole, so that an electrical conduction path is formed between adjacent chain links while achieving mechanical hinge.

[0011] As a preferred embodiment of the present invention, the exoskeleton connector has a hinge portion on one side that is hinged to the end of the chain belt, and a mounting hole on the other side that is connected to the front belt; the structure of the hinge portion is the same as the tail end or head end structure of the chain link.

[0012] As a preferred embodiment of the present invention, the exoskeleton connector is provided with a conductive line inside. One end of the conductive line extends to the inner wall of the hinge part of the exoskeleton connector and is electrically connected to the conductive line in the chain belt. The other end extends to the side of the exoskeleton connector used to connect the assist component, so that the power and signal of the control power component are conducted from the chain belt to the connection point of the assist component, so that the exoskeleton connector can be directly matched and hinged with the end of the chain belt.

[0013] In a preferred embodiment of the present invention, the adjusting connector is hinged to the chain belt, and the hinge shaft is vertically arranged, so that the adjusting connector and the chain belt can swing relative to each other in the horizontal direction, thereby improving the fit.

[0014] This invention achieves continuous adjustment of waist size through the sliding cooperation of symmetrical adjustment plates and adjustment grooves on both sides. The control power component is fixed to the back support and always remains in the center position after size adjustment, ensuring the center of gravity does not shift and guaranteeing the comfort and stability of wearing the exoskeleton. The chain waist belt adopts a link structure that can conform to the curve of the human waist. At the same time, conductive lines are laid inside the links to achieve electrical conduction, simplifying the wiring structure and improving wearing comfort and modularity. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the waist fixing and adjusting assembly of the present invention; Figure 2 This is a connection structure diagram of the adjusting insert plate and the insert plate fixing assembly in this invention.

[0016] Figure label: 101-Back support, 101a-Adjustment slide, 102-Adjustment plate, 103-Chain waist belt, 104-Exoskeleton connector, 105-Control power assembly, 106-Front waist belt, 107-Plate fixing assembly, 107a-Eccentric snap, 107b-Damping block, 107c-Damping block bracket, 108-Adjustment connector. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below. Example 1

[0018] like Figure 1As shown, a waist fixation and adjustment assembly for an assistive exoskeleton is used to provide a wearable support base for a hip or knee exoskeleton. It includes a back support 101, an adjustment plate 102, a chain waist belt 103, an exoskeleton connector 104, a control power assembly 105, and a front waist belt 106. The adjustment plate 102, the chain waist belt 103, and the exoskeleton connector 104 are all symmetrically arranged in two sets on the left and right sides.

[0019] The back support 101 has an adjusting groove 101a with openings on both sides. Two adjusting plates 102 are inserted into the adjusting groove 101a through the two openings respectively. Two plate fixing assemblies 107 are provided near both ends of the adjusting groove 101a to fix the corresponding adjusting plates 102 in appropriate positions within the adjusting groove 101a. Figure 2 As shown, the insert plate fixing assembly 107 is provided with an eccentric snap 107a, a damping block 107b, a damping block bracket 107c, and an elastic element; the eccentric snap 107a includes an eccentric wheel and a snap handle integrally fixed with the eccentric wheel. The eccentric snap 107a is hinged to the back support 101 through the eccentric wheel shaft and contacts the damping block bracket 107c. The snap handle is exposed outside the back support 101 for easy operation; the damping block bracket 107c is installed inside the back support 101, and the damping block 107b is fixed in the damping block bracket 107c and faces the adjusting insert plate 102. When there is no pressure, the damping block bracket 107c is in the initial position under the action of the elastic element. When the snap handle is operated to rotate the eccentric wheel, the eccentric wheel applies pressure to the damping block bracket 107c toward the adjusting plate 102. At this time, the damping block bracket 107c and the damping block 107b move toward the adjusting plate 102 to abut, generating friction to prevent the adjusting plate 102 from sliding.

[0020] Two adjusting plates 102 are connected to two chain belts 103 at their ends via adjusting connectors 108. The adjusting connectors 108 are fixed to the ends of the adjusting plates 102 and hinged to the chain belts 103, with the hinge shaft vertically positioned. Each chain belt 103 includes at least three links, each with the same structure. Each link includes a connecting portion in the middle and tail and head ends integrally formed at both ends of the connecting portion. Both tail and head ends have connecting holes extending along the width of the chain belt 103. The tail and head ends of adjacent links are hinged by pins passing through the connecting holes, thus connecting the links sequentially to form a chain structure. The connecting portion has a rectangular hollow shell structure with a weight-reducing through hole inside. The tail end includes two spaced-apart ear plates at the same end of the connecting portion, with connecting holes respectively opened on the two ear plates and coaxially positioned. The head end protrudes at the other end of the connecting portion, and the width of the head end matches the gap between the two ear plates. The chain link has a conductive line inside, which extends along the length of the chain link and penetrates to the inner wall of the connecting hole. The pin is a conductive pin, and its two ends are connected to the conductive line at the inner wall of the connecting hole, thereby forming an electrical conduction path between adjacent chain links for transmitting electrical signals and supplying power.

[0021] One end of the chain waist belt 103 is connected to the adjustment plate 102 via the adjustment connector 108, and the other end is hinged to the exoskeleton connector 104. The exoskeleton connector 104 is also connected to the front waist belt 106 and the assist component. The control power component 105 is mounted on the back support 101 and is used to provide power and control signals to the exoskeleton. The control power component 105 is electrically connected to the chain waist belt 103 via conductive lines. Specifically, the output end of the control power component 105 is connected to the adjacent chain link via a wire, and the power and signals are transmitted to the exoskeleton connector 104 at the end of the chain waist belt 103 via the conductive lines and conductive pins inside the chain link.

[0022] The exoskeleton connector 104 has a hinge portion on one side that hinges to the end of the chain belt 103, and a mounting hole on the other side that connects to the front belt 106; the structure of the hinge portion is the same as the tail or head end structure of the chain link. The exoskeleton connector 104 also has a connection structure for connecting to the assist component, which is fixedly connected to the exoskeleton connector 104 by fasteners, connectors, etc., and electrically connected by wires.

[0023] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any brief modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A waist fixation and adjustment component for a assisted exoskeleton, characterized in that, The device includes a back support, adjustable plates, a chain waist belt, an exoskeleton connector, a control power assembly, and a front waist belt. The back support has an adjustable groove with openings on both sides. Two adjustable plates are inserted into the adjustable groove through these openings. Near each end of the adjustable groove is a plate fixing assembly for adjusting and fixing the corresponding plate's position within the groove. The ends of the two adjustable plates are connected to two segments of the chain waist belt. One end of the chain waist belt is connected to the adjustable plates via an adjusting connector, and the other end is hinged to the exoskeleton connector, which is also connected to the front waist belt. The control power assembly is located on the back support and provides power and control signals to the exoskeleton.

2. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 1, characterized in that, The insert plate fixing assembly is provided with an eccentric snap, a damping block, a damping block bracket and an elastic element; the eccentric snap includes an eccentric wheel and a snap handle that is integrally fixed with the eccentric wheel. The eccentric snap is hinged to the back support through the eccentric wheel shaft and contacts the damping block bracket. The snap handle is exposed outside the back support. The damping block bracket is installed inside the back support, and the damping block is fixed in the damping block bracket and faces the adjustment plate.

3. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 1, characterized in that, Each chain belt includes at least three links, each with the same structure. Each link includes a connecting part in the middle and a tail end and a head end at both ends of the connecting part. The tail end and the head end are each provided with a connecting hole that runs through the width of the chain belt. The tail ends and head ends of adjacent links are hinged by pins passing through the connecting holes, so that the links are connected end to end in sequence to form a chain structure.

4. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 3, characterized in that, The tail end of the link includes two spaced lugs located at the same end of the connecting portion, and the connecting holes are respectively opened on the two lugs and are coaxially arranged; the head end protrudes from the other end of the connecting portion, and the width of the head end matches the gap space between the two lugs.

5. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 3, characterized in that, The chain link has a conductive line inside, which extends along the length of the chain link and penetrates to the inner wall of the connecting hole; the pin is a conductive pin, and the two ends of the pin are connected to the conductive line at the inner wall of the connecting hole.

6. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 1, characterized in that, The exoskeleton connector has a hinge part on one side that is hinged to the end of the chain belt, and a mounting hole on the other side that is connected to the front belt; the structure of the hinge part is the same as the tail end or head end structure of the chain link.

7. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 6, characterized in that, The exoskeleton connector has a conductive circuit inside. One end of the conductive circuit extends to the inner wall of the hinge part of the exoskeleton connector and is electrically connected to the conductive circuit in the chain belt. The other end extends to the side of the exoskeleton connector used to connect the assist component.

8. The lumbar fixation and adjustment component of the assistive exoskeleton according to claim 1, characterized in that, The adjusting connector is hinged to the chain belt, and the hinge shaft is set vertically.

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