Waist exoskeleton assembly and wearable exoskeleton

Abstract

The application discloses a waist exoskeleton assembly and wearable exoskeleton, and relates to the technical field of exoskeletons, wherein the waist exoskeleton assembly is used for connecting a back exoskeleton assembly and a hip exoskeleton assembly, the waist exoskeleton assembly comprises a first connecting part connected with the hip exoskeleton assembly, a second connecting part connected with the back exoskeleton assembly, the second connecting part is rotationally connected with the first connecting part, and a torsion unit elastically connects the first connecting part and the second connecting part, so that the second connecting part has a tendency of returning when the second connecting part rotates relative to the first connecting part. The technical scheme provided by the application can assist in rotating and returning and reduce the force burden of the waist when the wearer returns.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, and in particular to a lumbar exoskeleton component and a wearable exoskeleton. Background Technology

[0002] Exoskeleton robots, worn on the outside of the human body, provide assistance or rehabilitation therapy functions for the wearer, effectively enhancing the body's limb capabilities and reducing physical exertion and the risk of lumbar muscle strain during work.

[0003] The lumbar exoskeleton component is a key hub connecting the back exoskeleton component and the hip exoskeleton component. In actual working scenarios, the wearer needs to turn to the side or turn around, which means that the upper body will undergo a certain angle of axial twisting relative to the pelvis. After the wearer completes the bending and twisting action, the wearer relies entirely on the active force of the waist to complete the reset. After working for a long time, this will increase the burden on the waist and affect the assist effect of the exoskeleton. Summary of the Invention

[0004] The main objective of this invention is to provide a lumbar exoskeleton assembly and a wearable exoskeleton, which aims to solve at least one of the aforementioned technical problems.

[0005] To achieve the above objectives, the present invention proposes a lumbar exoskeleton assembly for connecting a back exoskeleton assembly and a hip exoskeleton assembly, wherein the lumbar exoskeleton assembly includes: The first connecting part is connected to the hip exoskeleton assembly; The second connecting part is connected to the back exoskeleton assembly, and the second connecting part is rotatably connected to the first connecting part; A torque unit elastically connects the first connecting part and the second connecting part so that the second connecting part tends to return to its original position when it rotates relative to the first connecting part.

[0006] In one embodiment, the torque unit includes: The mounting base is installed on the end of the second connecting part facing the first connecting part and rotates synchronously with the second connecting part; Two elastic arms are respectively located on opposite sides of the mounting base. One end of each elastic arm is connected to the outer periphery of the mounting base, and the other end extends along the width of the waist and is connected to the first connecting part. The two elastic arms are symmetrical to each other.

[0007] In one embodiment, the elastic arm is S-shaped; and / or, the elastic arm includes a central main body segment and thickened segments disposed at both ends of the central main body segment, the wall thickness of the thickened segments being greater than the wall thickness of the central main body segment.

[0008] In one embodiment, a support seat protrudes from one end of the first connecting portion toward the second connecting portion, the second connecting portion is configured as a waist shaft support, and a mounting sleeve is provided at one end of the waist shaft support toward the first connecting portion. The mounting sleeve is rotatably connected to the support seat, the torque unit is disposed between the support seat and the waist shaft support, and the mounting seat is sleeved on the outer periphery of the mounting sleeve and rotates synchronously with the mounting sleeve.

[0009] In one embodiment, two connecting posts are spaced apart along the width direction of the waist on the first connecting portion. The connecting posts extend in the same direction as the support base, and the ends of the two elastic arms away from the mounting base are respectively connected to one of the connecting posts.

[0010] In one embodiment, the support base is provided with a connecting hole facing the mounting bushing, and the lumbar exoskeleton assembly further includes a rotating shaft and a bearing. The bearing is disposed in the connecting hole, one end of the rotating shaft is connected to the mounting bushing and rotates synchronously with the mounting bushing, and the other end is connected to the bearing.

[0011] In one embodiment, the lumbar exoskeleton assembly further includes a pressure ring disposed at one end of the support seat facing the second connecting portion and installed on the support seat by fasteners to fix the bearing in the connecting hole.

[0012] In one embodiment, the mounting base forms a mounting hole, and either the outer periphery of the mounting bushing or the inner wall of the mounting hole is provided with a protruding ridge, and the other outer periphery of the mounting bushing or the inner wall of the mounting hole is provided with a limiting groove. The protruding ridge and the limiting groove extend along the axial direction of the mounting hole, and the protruding ridge is disposed in the limiting groove to restrict the rotation of the mounting bushing relative to the mounting base.

[0013] In one embodiment, the lumbar exoskeleton assembly further includes a pad, which is mounted on one side of the first connecting portion.

[0014] The present invention also proposes a wearable exoskeleton, including the waist exoskeleton component as described above.

[0015] In the technical solution of the present invention, the lumbar exoskeleton assembly includes a first connecting part for connecting the hip exoskeleton assembly and a second connecting part for connecting the back exoskeleton assembly. The second connecting part rotates with the first connecting part, and a torque unit elastically connects the first connecting part and the second connecting part. When the back exoskeleton assembly rotates and drives the second connecting part to rotate relative to the first connecting part, the torque unit undergoes elastic deformation and stores elastic potential energy. When the wearer returns to its original position, the torque unit releases the elastic potential energy, thereby assisting the back exoskeleton assembly to rotate relative to the hip exoskeleton assembly, realizing the return of the second connecting part to its original position. This can reduce the lumbar force burden on the wearer when resetting, alleviate lumbar fatigue after long-term work, and improve the assistive effect of the lumbar exoskeleton. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 A schematic diagram of a structure of an embodiment of the lumbar exoskeleton component provided by the present invention; Figure 2 An exploded structural diagram of the lumbar exoskeleton assembly provided by the present invention; Figure 3 This is a schematic diagram of the torsion unit in the lumbar exoskeleton assembly provided by the present invention; Figure 4 This is a cross-sectional schematic diagram of the lumbar exoskeleton assembly provided by the present invention.

[0018] Explanation of icon numbers: 100. First connecting part; 110. Support base; 111. Connecting hole; 120. Connecting post; 200, Second connecting part; 210, Waist bearing; 220, Mounting bushing; 221, Protruding ridge; 230, Seat body; 300. Torque unit; 310. Mounting base; 311. Mounting hole; 312. Limiting groove; 320. Elastic arm; 321. Middle main body section; 322. Thickened section; 323. Mounting part; 400. Shaft; 410. Bearing; 420. Pressure ring; 500, pad.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0023] This invention proposes a lumbar exoskeleton component and a wearable exoskeleton.

[0024] Please see Figure 1 and Figure 2 In one embodiment of the present invention, the lumbar exoskeleton assembly is used to connect the back exoskeleton assembly and the hip exoskeleton assembly. The lumbar exoskeleton assembly includes: The first connecting part 100 is connected to the hip exoskeleton assembly; The second connecting part 200 is connected to the back exoskeleton assembly, and the second connecting part 200 is rotatably connected to the first connecting part 100; Torque unit 300 elastically connects first connecting part 100 and second connecting part 200 so that when second connecting part 200 rotates relative to first connecting part 100, second connecting part 200 tends to return to its original position.

[0025] In the technical solution of the present invention, the lumbar exoskeleton assembly includes a first connecting part 100 for connecting the hip exoskeleton assembly and a second connecting part 200 for connecting the back exoskeleton assembly. The second connecting part 200 rotates with the first connecting part 100, and a torque unit 300 elastically connects the first connecting part 100 and the second connecting part 200. When the back exoskeleton assembly rotates and drives the second connecting part 200 to rotate relative to the first connecting part 100, the torque unit 300 undergoes elastic deformation and stores elastic potential energy. When the wearer returns to its original position, the torque unit 300 releases the elastic potential energy, thereby assisting the back exoskeleton assembly to rotate relative to the hip exoskeleton assembly, realizing the return of the second connecting part 200 to its original position. This can reduce the burden of lumbar exertion when the wearer returns to its original position, alleviate lumbar fatigue after long-term work, and improve the assistive effect of the lumbar exoskeleton.

[0026] Specifically, the lumbar exoskeleton component, as part of the wearable exoskeleton, is worn on the waist of the human body. The wearable exoskeleton also includes a back exoskeleton component, a hip exoskeleton component, an upper limb exoskeleton component, and a lower limb exoskeleton component. The lumbar exoskeleton component connects to the back exoskeleton component and the hip exoskeleton component to assist, enhance, or reconstruct the human body's motor capabilities through a full-body exoskeleton.

[0027] The first connecting portion 100 extends along the width of the wearer's waist. Both ends of the first connecting portion 100 in the length direction are used to connect to the hip exoskeleton assembly, receiving the force transmitted from the waist exoskeleton assembly and distributing it to the lower limb exoskeleton. The second connecting portion 200 extends along the height of the exoskeleton. Its upper end is used to connect to the back exoskeleton assembly, and its lower end is rotatably connected to the first connecting portion 100. The second connecting portion 200 rotates around itself as an axis. A torque unit 300 elastically connects the first connecting portion 100 and the second connecting portion 200. When the first connecting portion 100 rotates relative to the second connecting portion 200, the torque unit 300 undergoes elastic deformation, thereby storing elastic potential energy. When the first connecting portion 100 rotates, the elastic potential energy is released, thereby assisting the first connecting portion 100 in rotation and reducing the force required by the wearer during rotation. Understandably, when the wearer rotates (i.e., the first connecting part 100 rotates), they need to overcome the elastic force to complete the twist, which also stretches the torque unit 300 on the side away from the direction of rotation. However, this resistance only applies during the active turning phase. When returning to the center position, the stretched part naturally contracts, releasing the stored elastic potential energy and applying an auxiliary pulling force along the direction of return, helping the upper body easily return to the neutral position. Compared to not having the torque unit 300, the wearer has to rely entirely on the strength of their waist and abdomen for both turning and returning, especially when returning to the center position, where the waist bears a heavy load. With the addition of the torque unit 300, only a small amount of resistance is added during the active turning phase, but the elastic force can be used to achieve effortless repositioning during the return phase. In addition, without the torque unit 300, after twisting, the wearer has to rely entirely on their own strength to maintain the posture. With the torque unit 300, in addition to the wearer's own strength, the elastic force can also be superimposed to maintain the twisting posture, making it easier for the wearer. Please refer to Figure 2 and Figure 3 In one embodiment of the present invention, the torque unit 300 includes: Mounting base 310 is mounted on the end of the second connecting part 200 facing the first connecting part 100 and rotates synchronously with the second connecting part 200; Two elastic arms 320 are respectively disposed on opposite sides of the mounting base 310. One end of the elastic arm 320 is connected to the outer periphery of the mounting base 310, and the other end extends along the width direction of the waist and is connected to the first connecting part 100. The two elastic arms 320 are symmetrical to each other.

[0028] Specifically, the torque unit 300 includes a mounting base 310 and two elastic arms 320 disposed on the mounting base 310. The mounting base 310 is mounted on the end of the second connecting portion 200 facing the first connecting portion 100 and rotates synchronously with the second connecting portion 200. The two elastic arms 320 are disposed on the outer periphery of the mounting base 310 and extend in directions away from each other. The line connecting the two ends of the two elastic arms 320 is in the width direction of the waist, and the ends are fixedly connected to the first connecting portion 100. The mounting directions of the two elastic arms 320 correspond to the two rotation directions respectively and are symmetrical to each other. When the second connecting portion 200 rotates relative to the first connecting portion 100, it will drive the mounting base 310 to rotate synchronously, thereby stretching the elastic arm 320 on the side away from the rotation direction. The elastic arm 320 on the side of the rotation direction can be compressed or remain elastic, depending on the connection position between the elastic arm 320 and the mounting base 310 and the length of the elastic arm 320. During the rotation of the second connecting part 200, the stretched elastic arm 320 generates an elastic restoring force in the return direction, thereby causing the mounting base 310 and the second connecting part 200 to tend to return to their original position. This assists the wearer in completing the return action without requiring the wearer to provide all the return force, effectively reducing the strain on the lower back. Simultaneously, the symmetrical arrangement of the two elastic arms 320 ensures that the lower back receives corresponding return assist force when twisting in either direction, adapting to different twisting movements in daily work. Furthermore, the design of the mounting base 310 and elastic arms 320 is simple and does not add extra load to the lower back.

[0029] It is important to note that the material of the elastic arm 320 needs to consider both its elasticity coefficient and strength. Excessive torque would require the wearer to overcome a large elastic force to complete rotation, while insufficient torque would prevent adequate return force during rotation. In short, the elastic arm 320 can be made from a suitable material based on actual needs; no restrictions are imposed here.

[0030] Please refer to Figure 2 and Figure 3In one embodiment of the present invention, the elastic arm 320 is S-shaped. In the width direction of the waist, the distance between the connection point of the first connecting portion 100 and the elastic arm 320 and the outer periphery of the mounting base 310 remains constant. The S-shaped elastic arm 320 increases its length, thus accommodating a wider range of waist twisting. It also avoids stress concentration leading to damage to the elastic arm 320, extending its service life. In this embodiment, the S-shaped elastic arm 320 lengthens the elastic arm 320 over the same distance. This means that during small-amplitude twisting, the elastic arm 320 hardly deforms, thus avoiding additional rotational resistance and ensuring flexible limb movement. Furthermore, after a small-amplitude twist, the body does not need to overcome a large force to return to its original position. During large-angle twisting of the waist, the elastic arm 320 deforms and stores elastic potential energy. Upon rotation and return to its original position, this elastic potential energy is released to generate the driving force for return, thereby sharing the force exerted by the waist. By setting an S-shaped elastic arm 320, normal small-amplitude freedom can be guaranteed, while assisting in return to position during large-amplitude twisting movements.

[0031] In one embodiment, such as Figure 1 and Figure 3 As shown, the elastic arm 320 includes a central main body section 321 and thickened sections 322 disposed at both ends of the central main body section 321. The wall thickness of the thickened sections 322 is greater than the wall thickness of the central main body section 321.

[0032] Specifically, the two ends of the central main body section 321 are thickened sections 322. At one end of the elastic arm 320, the thickened section 322 connects the central main body section 321 and the mounting base 310. At the other end of the elastic arm 320, the thickened section 322 connects the central main body section 321 and the first connecting part 100. The wall thickness of the thickened section 322 is greater than that of the central main body section 321, which improves the structural strength of the connection position at both ends of the elastic arm 320 and avoids stress concentration at the connection position during deformation, which could cause breakage. The wall thickness of the central main body section 321 is small, which can ensure that the elastic arm 320 has elastic deformation capability. This ensures both the strength and elastic deformation capability of the elastic arm 320, thereby providing driving force for return and also helping to extend the service life of the torque unit 300.

[0033] Please refer to Figure 2 and Figure 4 In one embodiment of the present invention, a support seat 110 protrudes from one end of the first connecting portion 100 toward the second connecting portion 200. The second connecting portion 200 is configured as a waist shaft support 210. A mounting sleeve 220 is provided at one end of the waist shaft support 210 toward the first connecting portion 100. The mounting sleeve 220 is rotatably connected to the support seat 110. A torque unit 300 is disposed between the support seat 110 and the waist shaft support 210. The mounting seat 310 is sleeved on the outer periphery of the mounting sleeve 220 and rotates synchronously with the mounting sleeve 220.

[0034] Specifically, the second connecting part 200 is configured as a waist support 210, which extends along the height of the wearer. The waist support 210 can be used to connect the back exoskeleton assembly, which is worn on the wearer's back and shoulders. A seat 230 is provided at the lower end of the waist support 210, extending towards the back of the wearer. A mounting sleeve 220 is provided at the lower end of the seat 230. A support seat 110 protrudes upward from the upper part of the first connecting part 100. The mounting sleeve 220 is rotatably connected to the support seat 110, and the axis of rotation is the axis of the mounting sleeve 220. The mounting seat 310 is fitted onto the outer periphery of the mounting sleeve 220, so that the torque unit 300 is located between the seat 230 and the support seat 110. Figure 1 As shown, there are gaps between the upper and lower ends of the torque unit 300 and the waist support 210 and the first connecting part 100. When the waist support 210 drives the mounting base 310 to rotate, the friction interference of the deformation of the torque unit 300 on other structures can be reduced, ensuring that the deformation process of the torque unit 300 is smoother, and that elastic potential energy can be stably stored and released to ensure the effect of auxiliary return.

[0035] In one embodiment, the mounting base 310 is sleeved on the outer periphery of the mounting bushing 220 and rotates synchronously with the mounting bushing 220 in the circumferential direction. It can move along the mounting bushing 220 in the axial direction. When assembling the torque unit 300 and the waist support 210, the mounting base 310 can be directly sleeved on the mounting bushing 220 from bottom to top, which is convenient for assembly.

[0036] Please refer to Figure 1 and Figure 2 In one embodiment of the present invention, two connecting posts 120 are provided at intervals along the width direction of the waist on the first connecting part 100. The connecting posts 120 extend in the same direction as the support base 110. The ends of the two elastic arms 320 away from the mounting base 310 are respectively connected to one connecting post 120.

[0037] Specifically, the two connecting posts 120 correspond to the two ends of the elastic arms 320 that are far apart from each other. The connecting posts 120 are mounted on the first connecting part 100 and extend upward. When the end of the elastic arm 320 is mounted on the connecting post 120, the elastic arm 320 maintains the same height as the mounting base 310 and maintains a gap with the first connecting part 100 to avoid rubbing or interference with the first connecting part 100 during deformation, ensuring a smooth deformation process. The end of the elastic arm 320 near the thickened section 322 is provided with a mounting part 323. The mounting part 323 has an annular fastening hole, and fasteners such as bolts pass through the fastening hole and the connecting post 120 sequentially from top to bottom, thereby fixing the elastic arm 320 and the connecting post 120 together. Connecting the elastic arm 320 and the connecting post 120 with fasteners also facilitates the disassembly and replacement of the torque unit 300.

[0038] Please refer to Figure 2 and Figure 4 In one embodiment of the present invention, the support base 110 is provided with a connecting hole 111 facing the mounting sleeve 220. The waist exoskeleton assembly also includes a rotating shaft 400 and a bearing 410. The bearing 410 is disposed in the connecting hole 111. One end of the rotating shaft 410 is connected to the mounting sleeve 220 and rotates synchronously with the mounting sleeve 220, and the other end is connected to the bearing 410.

[0039] Specifically, the support base 110 has a connecting hole 111 extending in the vertical direction, with the opening of the connecting hole 111 facing upward. The bearing 410 is installed in the connecting hole 111, and the rotating shaft 400 passes through the inner hole of the mounting sleeve 220. The lower end of the rotating shaft 400 passes through the bearing 410, and the upper end is fixed to the mounting sleeve 220, realizing the rotational connection between the mounting sleeve 220 and the support base 110. The bearing 410 reduces friction during rotation, ensuring that the second connecting part 200 can rotate smoothly relative to the first connecting part 100, improving the smoothness of wearing rotation, and avoiding additional force.

[0040] Please refer to Figure 2 and Figure 4 In one embodiment of the present invention, the lumbar exoskeleton assembly further includes a pressure ring 420, which is disposed at one end of the support base 110 facing the second connecting portion 200 and is installed on the support base 110 by fasteners to fix the bearing 410 in the connecting hole 111.

[0041] Specifically, a pressure ring 420 is located at the end of the support base 110 facing the second connecting part 200. The pressure ring 420 covers the opening of the connecting hole 111. Multiple connecting lugs are provided on the outer periphery of the pressure ring 420, and correspondingly, multiple supporting lugs are provided on the outer periphery of the support base 110. Bolts and other fasteners pass through the connecting lugs and supporting lugs sequentially from top to bottom, thereby connecting the pressure ring 420 and the support base 110 together. The pressure ring 420 has a through hole, through which the rotating shaft 400 passes downwards and through the bearing 410. The inner diameter of the pressure ring 420 is smaller than the outer diameter of the bearing 410, thus confining the bearing 410 inside the connecting hole 111 and preventing the bearing 410 from dislodging from the connecting hole 111 during rotation, improving the stability of the rotating connection structure. Furthermore, the inner diameter of the through hole is larger than the outer diameter of the rotating shaft 400. When the bushing 220 is installed to drive the rotating shaft 400 to rotate, the pressure ring 420 will not cause frictional interference with the rotating shaft 400, ensuring smooth rotation.

[0042] Please refer to Figure 2 and Figure 3 In one embodiment of the present invention, the mounting base 310 forms a mounting hole 311. The outer periphery of the mounting bushing 220 and the inner wall of the mounting hole 311 are provided with a protruding ridge 221, and the other outer periphery of the mounting bushing 220 and the inner wall of the mounting hole 311 are provided with a limiting groove 312. The protruding ridge 221 and the limiting groove 312 extend along the axial direction of the mounting hole 311. The protruding ridge 221 is provided in the limiting groove 312 to restrict the rotation of the mounting bushing 220 relative to the mounting base 310.

[0043] Specifically, the mounting base 310 is fitted onto the outer periphery of the mounting sleeve 220 through the mounting hole 311, and the protrusion 221 is engaged in the limiting groove 312. The two limit each other in the circumferential direction, thereby restricting the circumferential rotation of the mounting sleeve 220 relative to the mounting base 310. This ensures that when the second connecting part 200 rotates, it can drive the mounting base 310 to rotate synchronously, so that the mounting base 310 can rotate synchronously with the second connecting part 200. This ensures that the torque unit 300 can deform and store elastic potential energy, and prevents relative rotation between the mounting sleeve 220 and the mounting base 310, which would cause the torque unit 300 to fail to generate sufficient elastic deformation and thus lose its auxiliary return function.

[0044] In one embodiment, such as Figure 2As shown, the protruding rib 221 is installed on the outer periphery of the mounting sleeve 220 and extends axially. The limiting groove 312 is provided on the inner wall of the mounting hole 311. At least two protruding ribs 221 and two limiting grooves 312 are provided, and the number is not limited. In another embodiment, the protruding rib 221 can also be provided on the inner wall of the mounting hole 311, and correspondingly, the limiting groove 312 is placed on the outer periphery of the mounting sleeve 220. The protruding rib 221 and the limiting groove 312 engage with each other axially, allowing the transmission of circumferential torque without the need for additional circumferential fixing structures. This enables the waist to twist, corresponding to the deformation and energy storage of the elastic arm 320, ensuring the reliability of releasing elastic potential energy to generate driving force during return.

[0045] Please refer to Figure 1 In one embodiment of the present invention, the lumbar exoskeleton assembly further includes a pad 500, which is mounted on one side of the first connecting portion 100.

[0046] Specifically, the pad 500 is located on the side of the first connecting part 100 facing the waist. After the wearer puts on the exoskeleton, the pad 500 rests against the waist to improve the comfort of wearing it.

[0047] The pad 500 can be made of a flexible material to distribute the pressure of the first connecting part 100 on the waist, avoiding discomfort caused by prolonged pressure from a rigid structure. It can also adapt to the waist contours of different wearers, improving the fit between the pad 500 and the waist. In one embodiment, the pad 500 can be made of PU sponge, silicone pad, or TPE elastic sheet, without limitation.

[0048] This invention also proposes a wearable exoskeleton, which includes a back exoskeleton component, a hip exoskeleton component, and a lumbar exoskeleton component. The specific structure of the lumbar exoskeleton component is as described in the above embodiments. Since this wearable exoskeleton adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here. The lumbar exoskeleton component is located between the hip exoskeleton component and the back exoskeleton component, and is used to connect the back exoskeleton component and the hip exoskeleton component.

[0049] The above description is merely an exemplary embodiment of the present invention and does not limit the scope of protection of the present invention. Any equivalent structural transformations made based on the technical concept of the present invention and the contents of the specification and drawings of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. A lumbar exoskeleton assembly for connecting a back exoskeleton assembly and a hip exoskeleton assembly, characterized in that, The lumbar exoskeleton assembly includes: The first connecting part is connected to the hip exoskeleton assembly; The second connecting part is connected to the back exoskeleton assembly, and the second connecting part is rotatably connected to the first connecting part; A torque unit elastically connects the first connecting part and the second connecting part so that the second connecting part tends to return to its original position when it rotates relative to the first connecting part.

2. The lumbar exoskeleton assembly as described in claim 1, characterized in that, The torque unit includes: The mounting base is installed on the end of the second connecting part facing the first connecting part and rotates synchronously with the second connecting part; Two elastic arms are respectively located on opposite sides of the mounting base. One end of each elastic arm is connected to the outer periphery of the mounting base, and the other end extends along the width of the waist and is connected to the first connecting part. The two elastic arms are symmetrical to each other.

3. The lumbar exoskeleton assembly as described in claim 2, characterized in that, The elastic arm is S-shaped; and / or the elastic arm includes a central main body section and thickened sections disposed at both ends of the central main body section, wherein the wall thickness of the thickened sections is greater than the wall thickness of the central main body section.

4. The lumbar exoskeleton assembly as described in claim 2, characterized in that, The first connecting part has a support seat protruding from one end toward the second connecting part. The second connecting part is configured as a waist shaft support. The waist shaft support has a mounting sleeve at one end toward the first connecting part. The mounting sleeve is rotatably connected to the support seat. The torque unit is located between the support seat and the waist shaft support. The mounting seat is sleeved on the outer periphery of the mounting sleeve and rotates synchronously with the mounting sleeve.

5. The lumbar exoskeleton assembly as described in claim 4, characterized in that, Two connecting posts are spaced apart along the width direction of the waist on the first connecting part. The connecting posts extend in the same direction as the support base. The ends of the two elastic arms away from the mounting base are respectively connected to one of the connecting posts.

6. The lumbar exoskeleton assembly as described in claim 4, characterized in that, The support base is provided with a connecting hole facing the mounting bushing. The waist exoskeleton assembly also includes a rotating shaft and a bearing. The bearing is located in the connecting hole. One end of the rotating shaft is connected to the mounting bushing and rotates synchronously with the mounting bushing, while the other end is connected to the bearing.

7. The lumbar exoskeleton assembly as described in claim 6, characterized in that, The lumbar exoskeleton assembly also includes a pressure ring, which is located at one end of the support seat facing the second connection portion and is installed on the support seat by fasteners to fix the bearing in the connection hole.

8. The lumbar exoskeleton assembly as described in claim 4, characterized in that, The mounting base forms a mounting hole. One of the outer periphery of the mounting bushing and the inner wall of the mounting hole is provided with a protruding ridge. The other of the outer periphery of the mounting bushing and the inner wall of the mounting hole is provided with a limiting groove. The protruding ridge and the limiting groove extend along the axial direction of the mounting hole. The protruding ridge is located in the limiting groove to restrict the rotation of the mounting bushing relative to the mounting base.

9. The lumbar exoskeleton assembly as described in any one of claims 1-8, characterized in that, The lumbar exoskeleton assembly also includes a pad, which is mounted on one side of the first connecting portion.

10. A wearable exoskeleton, characterized in that, Includes the lumbar exoskeleton assembly as described in any one of claims 1-9.

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