A back assembly and exoskeleton robot

Abstract

The application relates to the technical field of exoskeleton devices, in particular to a back assembly and an exoskeleton robot. The back assembly is used for detachable connection with a waist assembly, the waist assembly at least comprising a left waist rod and a right waist rod, the left waist rod and the right waist rod being connected through an extension assembly to realize waist size adjustment of the waist assembly, the back assembly comprising a back support plate, a locking assembly and at least two support rods; the back support plate is used for being hung on the back of a user; the first end of each support rod is rotationally connected with the back support plate, and the second end of each support rod is used for detachable connection with the left waist rod or the right waist rod; the locking assembly is used for locking the rotation of the support rod relative to the back support plate. When the size of the waist assembly is adjusted, the connection angle of each support rod with the back support plate is adjusted respectively, so that the back assembly can be adapted to waist assemblies of different sizes, and the weight of the exoskeleton robot is partially transferred to the back of the user, thereby reducing the burden on the waist of the user.

Description

Technical Field

[0001] This application relates to the field of exoskeleton device technology, and in particular to a back assembly and an exoskeleton robot. Background Technology

[0002] An exoskeleton is a wearable mechanical structure that enhances or assists the human body's mobility through mechanical, electronic, or hydraulic systems. It mimics the working principles of human bones and muscles, providing the wearer with additional strength, endurance, or mobility support.

[0003] In related technologies, exoskeleton devices are typically worn around the user's waist via a waist component. Furthermore, to accommodate different user waist sizes, the waist component is designed to be adjustable. The weight of the exoskeleton device is primarily concentrated on the user's waist, placing a significant burden on that area. Summary of the Invention

[0004] This application discloses a back assembly and an exoskeleton robot that can transfer part of the weight and force of the exoskeleton robot to the user's shoulders to reduce the burden on the user's waist. It can be adapted to waist assemblies of different sizes.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] In a first aspect, this application provides a back support assembly for connection to a lumbar support assembly. The lumbar support assembly includes at least a left lumbar support and a right lumbar support, which are connected by a telescopic assembly to allow for lumbar size adjustment. The back support assembly includes a back support plate, a locking assembly, and at least two support rods. The back support plate is mounted on the user's back. A first end of each support rod is rotatably connected to the back support plate, and a second end of each support rod is detachably connected to either the left or right lumbar support. The locking assembly is used to lock the support rod in place so that at least a portion of it rotates relative to the back support plate.

[0007] The back assembly of this application allows the back support plate to be attached to the user's back during use. The waist assembly and the back support plate are connected by support rods, which can transfer part of the weight and force of the exoskeleton robot to the user's back, thereby reducing the burden on the user's waist and improving the comfort of wearing the exoskeleton robot. When it is necessary to adjust the size of the waist assembly, the connection angle between each support rod and the back support plate can be adjusted individually until the back assembly fits the size of the waist assembly. Then, the support rods are locked using a locking assembly to prevent the support rods from rotating relative to the back support plate. The ingenious structural design of the aforementioned back assembly allows the exoskeleton robot's back assembly to adapt to waist assemblies of different waist sizes by adjusting the connection angle between each support rod and the back support plate individually, improving the overall flexibility and comfort of wearing the exoskeleton robot.

[0008] In one possible implementation, the back assembly further includes at least two swivel connectors. Each swivel connector is rotatably connected to the back support plate, and the first end of the support rod is fixed to one of the swivel connectors.

[0009] It is understood that at least two rotating connectors correspond one-to-one with at least two support rods, and each support rod is connected to the back support plate through a rotating connector. Therefore, the number of support rods in the back assembly and their positions on the back support plate are more flexible in this application.

[0010] In one possible implementation, at least two rotary connectors are coaxially arranged. The locking assembly includes a locking head and a locking shaft connected to the locking head. The locking shaft is movably connected to a back support plate in a predetermined direction. At least two rotary connectors are rotatably connected to the locking shaft and are located between the locking head and the back support plate.

[0011] It is understood that at least two rotating connectors are coaxially arranged, and the locking shaft is rotatably connected to at least two rotating connectors. Therefore, the locking shaft can be a common rotation axis for at least two rotating connectors, allowing the rotating connectors to rotate around the locking shaft. Furthermore, the locking shaft is movably connected to the back support plate in a set direction. The at least two rotating connectors are located between the locking head and the back support plate. Therefore, by rotating the locking head, the locking shaft can be moved relative to the back support plate and the at least two rotating connectors in a set direction, allowing adjustment of the rotation angle between the at least two rotating connectors and the locking shaft. This adjusts the connection angle between the at least two support rods and the back support plate. Once the connection angle is adjusted to a suitable angle, the at least two rotating connectors are locked to the back support plate to prevent the support rods from rotating relative to the back support plate.

[0012] In one possible implementation, the back support plate includes a body and a connecting part, one end of which is connected to a first end of a support rod, and the other end of which is connected to the body, which is used to hang on the user's back.

[0013] In one possible implementation, a universal joint is provided at the end of the connecting part facing the body, and the connecting part is connected to the body through the universal joint.

[0014] Understandably, the connecting part is connected to the main body via a universal joint, allowing the main body to move freely with the user's back during movement. If the main body and the connecting part are tightly connected, the main body's movement space is relatively limited, which may restrict the movement of the user's back.

[0015] In one possible implementation, the back assembly also includes at least two connecting components, each rotatably connected to the second end of a support rod, and each connecting component is also used for detachable connection to the left or right waist bar.

[0016] It is understood that at least two connecting components and at least two support rods correspond one-to-one, and each support rod can be connected to the waist component through a connecting component. Therefore, the number and position of the support rods in the back component in this application are more flexible. Moreover, the connecting components and the waist component are detachably connected, which facilitates the disassembly and assembly of the back component and the waist component, and makes replacement convenient.

[0017] In one possible implementation, the connecting assembly includes a fixing member and two clamping members, one end of which is rotatably connected, and the other end of which is fixed by the fixing member. The space between the two clamping members is used to clamp the waist assembly. The second end of the support rod is connected to one of the two clamping members.

[0018] Understandably, one end of the two clamping members is rotatably connected, and the space between the two clamping members is used to clamp the waist assembly. This allows the size of the space between the two clamping members to be flexibly adjusted according to the shape, size, and clamping position of the waist assembly. After adjustment, the other end of the two clamping members is fixed by a fastener. The connection assembly with the above structure can be adapted to waist assemblies of different shapes and sizes, and is simple to install and easy to operate.

[0019] In one possible implementation, the clamping member for connecting the support rod includes a connecting hole, to which a second end of the support rod is rotatably connected. The connecting assembly also includes an axial limiting member connected between the support rod and the clamping member to restrict axial movement of the support rod relative to the connecting hole.

[0020] Understandably, the second end of the support rod is rotatably connected to the waist assembly via a clamp. When the connection angle between the support rod and the back support plate is adjusted, the connection angle between the second end of the support rod and the clamp will be automatically adjusted. This not only eliminates the need for manual adjustment, simplifying the adjustment process, but also ensures that the support rod maintains a suitable positional relationship with the user's body, improving user comfort.

[0021] In one possible implementation, the connecting hole penetrates both end faces of the clamping member, and the axial limiting member includes a first annular limiting member and a second annular limiting member. The outer circumferential surface of the support rod is provided with a first annular groove and a second annular groove at intervals. The first annular limiting member is embedded in the first annular groove, and the second annular limiting member is embedded in the second annular groove. The first annular limiting member and the second annular limiting member abut against the two end faces respectively.

[0022] Understandably, the first annular limiting member abuts against one of the two end faces, and the second annular limiting member abuts against the other of the two end faces, thus achieving axial limiting of the support rod while allowing the support rod to rotate relative to the connecting hole. The axial limiting member structure described above is simple and easy to install.

[0023] In one possible implementation, the support rod is connected to the surface of the connecting assembly facing away from the user, thereby avoiding interference between the support rod and the user's body and facilitating the adjustment of the position of the support rod.

[0024] In one possible implementation, the support rod is a one-piece molded structure, which is simple in design, lighter in weight, and improves user comfort. Furthermore, the one-piece molded structure of the support rod is stronger because there are no seams or connection points, resulting in a more even stress distribution, which helps transfer the burden on the user's lower back to the back, reducing the strain on the user's lower back.

[0025] In one possible implementation, the yield strength of the support rod is less than the yield strength of the back support plate.

[0026] Yield strength is the critical stress value at which a material transitions from elastic deformation to plastic deformation under external force. Specifically, yield strength refers to the lowest stress level at which a material can undergo plastic deformation without fracturing during sustained loading. Therefore, compared to the back support plate, the support rod is more prone to elastic deformation. This allows the support rod to automatically adjust when the connection angle between its first end and the back support plate changes. This not only provides more comfortable support for the user but also disperses stress, reducing stress concentration at specific points due to angle changes and lowering the risk of structural damage.

[0027] Secondly, this application provides an exoskeleton robot, which includes a waist assembly and a back assembly as described in the first aspect. The waist assembly includes at least a left waist rod and a right waist rod, which are connected by a telescopic assembly to achieve waist size adjustment of the waist assembly. The second end of each support rod is detachably connected to either the left or right waist rod.

[0028] When adjusting the size of the waist component, the locking component can be unlocked, and then the connection angle between the first end of each support rod and the back support plate can be adjusted. This allows the back component to adapt to waist components of different waist sizes, thereby improving the overall flexibility and comfort of wearing the exoskeleton robot. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an exoskeleton robot according to an embodiment of this application;

[0030] Figure 2This is a schematic diagram of the structure of the back assembly according to one embodiment of this application;

[0031] Figure 3 This is an exploded view of an exoskeleton robot according to an embodiment of this application;

[0032] Figure 4 This is an exploded view of the back assembly according to one embodiment of this application;

[0033] Figure 5 This is a cross-sectional view of a back assembly according to an embodiment of this application;

[0034] Figure 6 This is a schematic diagram of the structure of an exoskeleton robot according to another embodiment of this application;

[0035] Figure 7 This is a cross-sectional view of the back assembly according to another embodiment of this application;

[0036] Figure 8 This is a schematic diagram of the structure of a decorative component according to an embodiment of this application;

[0037] Figure 9 This is a schematic diagram of the structure of the first connector according to an embodiment of this application;

[0038] Figure 10 for Figure 1 A magnified view of a portion at point A shown in the image;

[0039] Figure 11 for Figure 3 A magnified view of a portion at point B shown in the diagram.

[0040] Icon labels:

[0041] 100-Back support plate; 110-Body; 111-Mounting hole; 120-Connecting part; 121-Connecting body; 122-Metal sleeve; 130-Universal joint; 200-Locking assembly; 210-Locking head; 220-Locking shaft; 230-Locking nut; 300-Support rod; 310-First end; 320-Second end; 400-Rotating connector; 410-First connector; 411-Annular groove; 412- Connecting rod; 420-Second connector; 421-Mounting groove; 500-Connecting assembly; 510-Fixing member; 520-Clamping member; 521-End face; 530-Axial limiting member; 531-First annular limiting member; 532-Second annular limiting member; 600-Decorative part; 700-Snap-fit ​​assembly; 710-First slot; 720-First protrusion; 730-Second slot; 740-Second protrusion; 741-Step structure;

[0042] 10-Waist component; 11-Left waist bar; 12-Right waist bar;

[0043] 01-Connecting hole; 02-First annular groove; 03-Second annular groove. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] The application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. Those skilled in the art will understand that with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0046] Figure 1 This is a schematic diagram of the structure of an exoskeleton robot according to an embodiment of this application. Please refer to... Figure 1 The exoskeleton robot includes a back assembly and a waist assembly 10. The back assembly includes a back support plate 100 and at least two support rods 300. The back support plate 100 is used to attach to the user's back. Each support rod 300 is connected at one end to the back support plate 100 and at the other end to the waist assembly 10.

[0047] It is understandable that different users have different waist sizes, requiring them to wear different sizes of waist components 10 or adjust the size of the waist components 10 to match the user's waist size and improve the comfort of wearing the waist components 10. Figure 1 As shown, the waist support assembly 10 includes a left waist bar 11 and a right waist bar 12. The left waist bar 11 and the right waist bar 12 can be connected by a telescopic assembly to adjust the waist size of the waist support assembly 10, thereby providing a more comfortable user experience. The telescopic assembly can be a sliding sleeve structure, a threaded adjustment structure, etc., and the specific choice can be made according to design requirements, usage environment, and cost.

[0048] The back component in this application needs to be used in conjunction with the waist component 10. The waist component 10 and the back support plate 100 are connected by at least two support rods 300, which can transfer part of the weight and force of the exoskeleton robot to the user's back, thereby reducing the burden on the user's waist and improving the comfort of wearing the exoskeleton robot.

[0049] However, when adjusting the waist size of the waist component 10, the back component may fail to adapt to different sizes of the waist component 10.

[0050] In view of this, continue to refer to Figure 1 The back support assembly provided in this embodiment further includes a locking assembly 200. Each support rod 300 has a first end 310 rotatably connected to the back support plate 100, and a second end 320 connected to the waist assembly 10. The locking assembly 200 is used to lock the support rod 300 from rotating relative to the back support plate 100.

[0051] When the size of the lumbar component 10 changes, the connection angle between the support rod 300 and the back support plate 100 in the back component can be adjusted until the back component fits the size of the lumbar component 10. Then, the support rod 300 is locked by the locking component 200 to prevent the support rod 300 from rotating relative to the back support plate 100. Therefore, the back component of this application can be adapted to lumbar components 10 of different sizes, the adjustment method is simple, and it can improve user comfort.

[0052] This application does not limit the number of support rods 300. For example, the number of support rods 300 can be two, three or more, depending on the actual needs.

[0053] Understandably, the connection position between each support rod 300 and the back support plate 100 is flexibly set while ensuring the balance of the back support plate 100. For example, when there are two support rods 300, the two support rods 300 can be symmetrically set on both sides of the central axis L along the vertical direction of the back support plate 100. The direction of the human body is used as a reference direction; that is, in this scheme, front, back, left, right, up, and down correspond to the front, back, left, right, up, and down of the human body, respectively. Simultaneously, the vertical direction is perpendicular to the ground, and the horizontal direction is either front-back or left-right.

[0054] In some embodiments of this application, the back assembly includes at least two rotating connectors 400. Each rotating connector 400 is rotatably connected to the back support plate 100, and the first end 310 of the support rod 300 is fixed to one of the rotating connectors 400. That is, at least two rotating connectors 400 correspond one-to-one with at least two support rods 300, and each support rod 300 is connected to the back support plate 100 through a rotating connector 400. Therefore, the number of support rods 300 and their positions on the back support plate 100 in the back assembly of this application can be set more flexibly.

[0055] The rotating connector 400 can be a flange, coupling, ball joint, or other component, as long as it enables the first end 310 of the support rod 300 to be rotatably connected to the back support plate 100.

[0056] In some embodiments of this application, such as Figure 1 As shown, at least two rotating connectors 400 are coaxially arranged, meaning that at least two support rods 300 are connected to the same position on the back support plate 100 via the aforementioned rotating connectors 400. It is understood that, in order to maintain the balance of the back support plate 100, the rotation axes of the at least two rotating connectors 400 are located on the central axis L of the back support plate 100 in the vertical direction.

[0057] In this design, at least two rotating connectors 400 are coaxially arranged, allowing for locking of both connectors 400 with only one locking assembly 200 to prevent relative rotation with the back support plate 100. This structure reduces the number of locking assemblies 200, and when adjusting the connection angle between the support rod 300 and the back support plate 100, only one locking assembly 200 needs to be adjusted, simplifying the operation.

[0058] It is understood that the structure of the locking assembly 200 is not limited in this application, as long as it can achieve locking of at least two rotating connectors 400. For example, the locking assembly 200 may be a bolt, nut, or snap-fit ​​assembly, etc.

[0059] Figure 2 This is a schematic diagram of the structure of the back assembly according to one embodiment of this application. Please refer to... Figure 2 The locking assembly 200 may include a locking head 210 and a locking shaft 220. The locking shaft 220 is movably connected to the back support plate 100 along a predetermined direction. At least two rotating connectors 400 are rotatably connected to the locking shaft 220 and are located between the locking head 210 and the back support plate 100. The predetermined direction is the axial direction of the locking shaft 220. Optionally, the axial direction of the locking shaft 220 may be perpendicular to the back support plate 100.

[0060] Each rotating connector 400 has a shaft hole through which the locking shaft 220 passes. The diameter of the shaft hole is not less than the outer diameter of the locking shaft 220 to ensure that the rotating connector 400 can rotate around the locking shaft 220, thereby enabling each rotating connector 400 to rotate relative to the back support plate 100. The end of the locking shaft 220 of the locking assembly 200 away from the locking head 210 is used to connect to the back support plate 100, and the two rotating connectors 400 are located between the locking head 210 and the back support plate 100. Adjusting the distance between the locking shaft 220 of the locking assembly 200 and the back support plate 100 can change the space between the locking head 210 and the back support plate 100. When the locking head 210 and the back support plate 100 clamp the two rotating connectors 400, a sufficiently large frictional force can fix the two rotating connectors 400 relative to each other, thereby locking the rotating connectors 400 and preventing the rotating connectors 400 from rotating relative to the back support plate 100.

[0061] In one embodiment, the locking shaft 220 of the locking assembly 200 is threadedly connected to the back support plate 100. By rotating the locking assembly 200, the distance between the locking head 210 and the back support plate 100 can be adjusted.

[0062] The locking head 210 is rotated to move the locking shaft 220 relative to at least two rotating connectors 400 and the back support plate 100 in a predetermined direction. Locking is achieved when the locking head 210 presses the two rotating connectors 400 against the back support plate 100, and the force applied by the locking head 210 to the two rotating connectors 400 is sufficient to increase the friction between the rotating connectors 400 and the back support plate 100, and between the two rotating connectors 400 themselves, preventing further rotation of the rotating connectors 400 around the locking shaft 220. During user operation, the rotation of the at least two rotating connectors 400 relative to the locking shaft 220 is adjusted to change the connection angle between the at least two support rods 300 and the back support plate 100. Once the connection angle is adjusted to a suitable angle, the at least two rotating connectors 400 are locked to the back support plate 100 to prevent rotation of the support rods 300 relative to the back support plate 100.

[0063] For example, the locking assembly 200 may be a threaded connector that is threadedly connected to at least two rotary connectors 400.

[0064] Figure 3 This is an exploded view of an exoskeleton robot according to an embodiment of this application. Figure 4 This is an exploded view of the back assembly according to one embodiment of this application. Figure 5 This is a cross-sectional view of the back assembly according to one embodiment of this application, with reference to... Figures 3 to 5The locking assembly 200 also includes a locking nut 230. The locking shaft 220 passes through at least two rotating connectors 400 in sequence and is threadedly connected to the locking nut 230 to achieve locking of at least two rotating connectors 400 with the back support plate 100.

[0065] The position of the locking nut 230 can be flexibly set according to actual needs. For example, the locking shaft 220 can be threaded through at least two rotating connectors 400 and the back support plate 100 in sequence and then connected to the locking nut 230, thereby realizing the locking of at least two rotating connectors 400 and the back support plate 100.

[0066] The at least two rotating connectors 400 may include a first connector 410 and a second connector 420. The rotating connector 400 closer to the locking head 210 is the first connector 410, and the one closer to the back support plate 100 is the second connector 420.

[0067] In some embodiments of this application, the back support plate 100 may include a body 110 and a connecting part 120. One end of the connecting part 120 is connected to the first end 310 of the support rod 300, and the other end of the connecting part 120 is connected to the body 110. The body 110 is used to hang on the user's back.

[0068] The body 110 can be a support plate that fits against the user's back. It is understood that the shape and size of the body 110 are not limited in this application. For example, the body 110 can be a rectangular plate, a circular plate, or a support plate of other shapes, and the size of the support plate can be set according to the size of the user's back.

[0069] Reference Figure 2 and Figure 3 The main body 110 may be provided with mounting holes 111 for threading a shoulder strap, which can be worn on the user's back. The number and position of the mounting holes 111 can be set according to actual needs.

[0070] The structure of the main body 110 has been described above. The structure of the connecting part 120 and the connection relationship between the main body 110 and the connecting part 120 will be described below.

[0071] Continue to refer to Figure 2 and Figure 3 In some possible embodiments, the connecting portion 120 may be a cylindrical protrusion on the surface of the body 110 facing the rotating connector 400, and the surface of the second connector 420 facing the back support plate 100 is provided with a mounting groove 421 that mates with the protrusion. The protrusion can extend into the mounting groove 421 and the two can rotate relative to each other. The connecting portion 120 can improve the reliability of the connection between the second connector 420 and the body 110.

[0072] In the above structure, the connecting part 120 and the body 110 can be integrally formed, and the two can also be fixed by a connector. The type of connector is not limited in this application.

[0073] Figure 6 This is a schematic diagram of the structure of an exoskeleton robot according to another embodiment of this application. Figure 7 This is a cross-sectional view of the back assembly according to another embodiment of this application, with reference to... Figure 6 and Figure 7 In other possible embodiments, a universal joint 130 is provided at one end of the connecting part 120 facing the body 110. The connecting part 120 is connected to the body 110 through the universal joint 130. The connecting part 120 is detachably connected to the locking shaft 220 and / or the second connecting member 420, so that the body 110 can move freely with the user's back during exercise, avoiding restriction on the user's back movement, thereby improving the comfort and flexibility of the user wearing the back component of this application.

[0074] For example, the connecting part 120 is detachably connected to the second connecting member 420. Specifically, the connecting part 120 and the second connecting member 420 can be connected by screws, bolts, or clips.

[0075] In the above structure, the locking nut 230 can be positioned between the second connecting member 420 and the connecting part 120. The locking shaft 220 passes through the first connecting member 410 and the second connecting member 420 in sequence and is then screwed onto the locking nut 230. Figure 6 As shown, the surface of the second connector 420 facing the connector 120 may be provided with a groove, and the locking nut 230 is provided in the groove.

[0076] Optionally, the connecting part 120 may also be provided with a threaded hole, and the locking shaft 220 is threaded into the threaded hole after passing through the locking nut 230, so as to further improve the overall connection firmness of the back assembly.

[0077] With the above arrangement, when the locking shaft 220 and the locking nut 230 are unlocked, the connection angle of the first connecting member 410 can be adjusted. At this time, the second connecting member 420 and the connecting part 120 are still relatively fixed. The operator only needs to fix the second connecting member 420 or the connecting part 120 by hand, which is convenient for the operator to operate.

[0078] In some embodiments of this application, the connecting part 120 may include a connecting body 121 and a metal sleeve 122. The metal sleeve 122 and the connecting body 121 can be connected by injection molding. The metal sleeve 122 is used to be threadedly connected to the universal joint 130, which facilitates the disassembly and assembly between the connecting part 120 and the universal joint 130, and can also improve the reliability of the connection between the connecting part 120 and the universal joint 130.

[0079] Among them, the connecting body 121 can be a plastic part, which has the advantages of strong plasticity, low cost and lightweight.

[0080] In some embodiments of this application, the back assembly further includes a decorative element 600, which is disposed on the side of the first connector 410 opposite to the back support plate 100. The decorative element 600 can cover the first connector 410, which not only reduces wear on the first connector 410, but also helps to improve the overall aesthetics of the back assembly.

[0081] Optionally, the decorative part 600 can also abut against the locking head 210 to increase the pressing area of ​​the locking head 210, reduce the pressure, and thus extend the service life of the locking head 210.

[0082] The function of the decorative element 600 has been explained above. The structure and connection relationship between the decorative element 600 and the first connecting element 410 will be explained below with reference to the accompanying drawings.

[0083] Figure 8 This is a schematic diagram of the structure of a decorative component according to one embodiment of this application. Figure 9 This is a schematic diagram of the structure of the first connector according to an embodiment of this application, with reference to... Figure 8 and Figure 9 The decorative element 600 and the first connector 410 are detachably connected via a snap-fit ​​assembly 700.

[0084] The snap-fit ​​assembly 700 may include a first slot 710 and a first protrusion 720 that engages with the first slot 710 to fix the decorative piece 600 and the first connector 410.

[0085] Specifically, the surface of the first connector 410 facing the decorative member 600 is provided with an annular groove 411. The protruding structure at the center of the annular groove 411 is connected to the inner wall of the annular groove 411 by a plurality of connecting rods 412. The decorative member 600 can cover the opening of the annular groove 411 to form a closed cavity.

[0086] Optionally, the surface of the connecting rod 412 facing the decorative part 600 is provided with a first slot 710, and the surface of the decorative part 600 is provided with a first protrusion 720, which extends into the first slot 710.

[0087] To prevent the decorative element 600 and the first connector 410 from rotating relative to each other, the snap-fit ​​assembly 700 further includes a second slot 730 and a second protrusion 740 that engages with the second slot 730. The second protrusion 740 extends into the second slot 730 to restrict the rotation of the decorative element 600 and the first connector 410. Specifically, the second slot 730 is provided on the surface of the connecting rod 412 perpendicular to the bottom wall of the annular groove 411, and the second protrusion 740 is provided on the surface of the decorative element 600 facing the first connector 410. The side of the second protrusion 740 has a stepped structure 741 that can extend into the second slot 730 to restrict the relative rotation of the decorative element 600 and the first connector 410.

[0088] It is understood that this application does not limit the number of the first protrusion 720, the first card slot 710, the second protrusion 740, and the second card slot 730, but can be set according to actual needs.

[0089] In some embodiments of this application, the back assembly further includes at least two connecting components 500, each connecting component 500 being rotatably connected to the second end 320 of a support rod 300, and each connecting component 500 being detachably connected to the waist assembly 10, facilitating the installation and removal of the back assembly and the waist assembly 10, and enabling flexible adjustment of the connection position of the connecting component 500 on the waist assembly 10 to improve the wearing comfort of the exoskeleton robot.

[0090] Furthermore, the connecting assembly 500 is rotatably connected to the second end 320 of a support rod 300. When the connection angle between the support rod 300 and the back support plate 100 is adjusted, the connection angle between the second end 320 of the support rod 300 and the clamping member 520 will automatically adjust accordingly. This not only eliminates the need for manual adjustment, simplifying the adjustment process, but also ensures that the support rod 300 maintains a suitable position relative to the user's body, improving user comfort. The connecting assembly 500 is detachably connected to the lumbar assembly 10.

[0091] Figure 10 for Figure 1 A magnified view of point A shown in the image, refer to... Figure 10 In some embodiments, the connecting assembly 500 may include a fixing member 510 and two clamping members 520, one end of which is rotatably connected, and the other end of which is used for fixing by the fixing member 510. The space between the two clamping members 520 is used for clamping the waist assembly 10. The second end 320 of the support rod 300 is connected to one of the two clamping members 520.

[0092] With the above settings, the space between the two clamping members 520 can be flexibly adjusted according to the shape, size, and clamping position of the waist component 10. After adjustment, the other ends of the two clamping members 520 can be fixed by the fixing member 510. The connecting component 500 with the above structure can be adapted to waist components 10 of different shapes and sizes, and is simple to install and easy to operate.

[0093] The fastener 510 may include screws and nuts, which can stably connect the two clamping parts 520.

[0094] In some embodiments of this application, the clamping member 520 for connecting the support rod 300 includes a connecting hole 01, and the second end 320 of the support rod 300 is rotatably connected to the connecting hole 01. The connecting assembly 500 also includes an axial limiting member 530, one end of which is connected to the support rod 300, and the other end of which abuts against the end face of the connecting hole 01 to limit the axial movement of the support rod 300 and prevent the connection between the support rod 300 and the connecting assembly 500 from becoming loose or even detached.

[0095] In this application, the type of axial limiting member 530 is not limited, as long as it can be adapted to the connecting component 500 and the support rod 300 in this application.

[0096] Figure 11 for Figure 3 A magnified view of point B shown in the image, refer to... Figure 11 In some embodiments, the axial limiting member 530 may include a first annular limiting member 531 and a second annular limiting member 532. The outer peripheral surface of the support rod 300 is provided with a first annular groove 02411 and a second annular groove 03411 spaced apart. The first annular limiting member 531 is installed in the first annular groove 02 and abuts against the inlet end face 521 of the connecting hole 01. The second annular limiting member 532 is installed in the second annular groove 03 and abuts against the outlet end face 522 of the connecting hole 01, thereby limiting the axial movement of the support rod 300 from two directions and preventing the support rod 300 from moving around.

[0097] Optionally, both the first annular limiting member 531 and the second annular limiting member 532 can be snap rings.

[0098] In some embodiments of this application, the support rod 300 is connected to the surface of the connecting assembly 500 that is away from the user, which is not only more aesthetically pleasing, but also avoids mutual interference between the support rod 300 and the user's body, thereby improving the user's comfort when wearing the back assembly.

[0099] In some embodiments of this application, the support rod 300 is a one-piece molded structure, which is simpler in overall structure, lighter in weight, and improves the user's wearing comfort. In addition, the one-piece molded support rod 300 has higher strength because there are no seams or connection points, and the stress distribution is more uniform, which helps to transfer the burden on the user's waist to the back, reducing the burden on the user's waist.

[0100] In some embodiments of this application, the yield strength of the support rod 300 is less than the yield strength of the back support plate 100. Yield strength is the critical stress value at which a material transitions from the elastic deformation stage to the plastic deformation stage when subjected to external force. Specifically, yield strength refers to the lowest stress level at which a material can undergo plastic deformation without fracturing during sustained loading.

[0101] Therefore, compared to the back support plate 100, the support rod 300 is more prone to elastic deformation, so that when the connection angle between the first end 310 of the support rod 300 and the back support plate 100 changes, the support rod 300 can automatically adjust. This not only provides users with more comfortable support, but also disperses stress, reduces stress concentration at specific points due to angle changes, and lowers the risk of structural damage.

[0102] Based on the same technical concept, this application also provides an exoskeleton robot, which includes a waist assembly 10 and a back assembly as described in various possible embodiments of this application. The second end 320 of each support rod 300 is connected to the waist assembly 10.

[0103] In some embodiments of this application, the waist component 10 includes a left waist bar 11 and a right waist bar 12. The left waist bar 11 and the right waist bar 12 can be connected by a telescopic component to adjust the waist size of the waist component 10 to match the waist circumference of different users, thereby improving the comfort of the user wearing the waist component 10.

[0104] Because of the back assembly included in this application, when the size of the lumbar assembly 10 changes, the connection angle between the support rod 300 and the back support plate 100 in the back assembly can be adjusted until the back assembly fits the size of the lumbar assembly 10. Then, the support rod 300 is locked by the locking assembly 200 to prevent rotation of the support rod 300 relative to the back support plate 100. The back assembly in this application can accommodate lumbar assemblies 10 of different sizes, improving user comfort.

[0105] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A back assembly for detachable connection to a waist assembly (10), the waist assembly (10) comprising at least a left waist bar (11) and a right waist bar (12), the left waist bar (11) and the right waist bar (12) being connected by a telescopic assembly to achieve waist size adjustment of the waist assembly (10), characterized in that, The back assembly includes a back support plate (100), a locking assembly (200), and at least two support rods (300); The back support plate (100) is used to be mounted on the user's back; The first end of each of the support rods (300) is rotatably connected to the back support plate (100), and the second end of each of the support rods (300) is detachably connected to the left waist rod (11) or the right waist rod (12); The locking assembly (200) is used to lock the support rod (300) from rotating at least a portion relative to the back support plate (100).

2. The back assembly according to claim 1, characterized in that, The back assembly also includes at least two swivel connectors (400); Each of the said rotary connectors (400) is rotatably connected to the back support plate (100), and the first end of the support rod (300) is fixed to one of the rotary connectors (400).

3. The back assembly according to claim 2, characterized in that, The at least two rotary connectors (400) are coaxially arranged; The locking assembly (200) includes a locking head (210) and a locking shaft (220) connected to the locking head (210). The locking shaft (220) is movably connected to the back support plate (100) in a set direction. At least two rotating connectors (400) are rotatably connected to the locking shaft (220) and are located between the locking head (210) and the back support plate (100).

4. The back assembly according to any one of claims 1-3, characterized in that, The back support plate (100) includes a body (110) and a connecting part (120). One end of the connecting part (120) is connected to the first end of the support rod (300), and the other end of the connecting part (120) is connected to the body (110). The body (110) is used to hang on the user's back.

5. The back assembly according to claim 4, characterized in that, A universal joint (130) is provided at one end of the connecting part (120) facing the body, and the connecting part (120) is connected to the body (110) through the universal joint (130).

6. The back assembly according to any one of claims 1-5, characterized in that, The back assembly also includes at least two connecting components (500), each of which is rotatably connected to the second end of one of the support rods (300), and each of which is also used for detachable connection to the left waist rod (11) or the right waist rod (12).

7. The back assembly according to claim 6, characterized in that, The connecting assembly (500) includes a fixing member (510) and two clamping members (520). One end of the two clamping members (520) is rotatably connected, and the other end of the two clamping members (520) is used for fixing by the fixing member (510). The space between the two clamping members (520) is used for clamping the waist assembly (10). The second end of the support rod (300) is connected to one of the two clamping members (520).

8. The back assembly according to claim 7, characterized in that, The clamping member (520) for connecting the support rod (300) includes a connecting hole (01), and the second end of the support rod (300) is rotatably connected to the connecting hole (01); The connecting assembly (500) further includes an axial limiting member (530) connected between the support rod (300) and the clamping member (520) to limit the axial movement of the support rod (300) relative to the connecting hole (01).

9. The back assembly according to claim 8, characterized in that, The connecting hole (01) penetrates both end faces (521) of the clamping member (520); The axial limiting member (530) includes a first annular limiting member (531) and a second annular limiting member (532). The outer circumferential surface of the support rod (300) is provided with a first annular groove (02) and a second annular groove (03) at intervals. The first annular limiting member (531) is embedded in the first annular groove (02), and the second annular limiting member (532) is embedded in the second annular groove (03). The first annular limiting member (531) and the second annular limiting member (532) respectively abut against the two end faces (521).

10. The back assembly according to claim 7, characterized in that, The connection hole (01) is located in one of the two clamps (520) that is furthest from the user.

11. The back assembly according to any one of claims 1-10, characterized in that, The support rod (300) is a one-piece molded structure.

12. The back assembly according to any one of claims 1-11, characterized in that, The yield strength of the support rod (300) is less than the yield strength of the back support plate (100).

13. An exoskeleton robot, characterized in that, Includes a waist assembly (10) and a back assembly as claimed in any one of claims 1-12; the waist assembly (10) includes at least a left waist bar (11) and a right waist bar (12), the left waist bar (11) and the right waist bar (12) being connected by a telescopic assembly; The second end of each of the support rods (300) is detachably connected to either the left waist rod (11) or the right waist rod (12).

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