Power-assisted exoskeleton

Abstract

The utility model relates to the technical field of mechanical exoskeletons, and discloses a power-assisted exoskeleton which comprises a back plate, a waist support, an elastic element and shoulder straps, a first fixing part is arranged on the back plate, a second fixing part and a connecting part are arranged on the waist support, and the second fixing part is arranged far away from the back plate compared with the connecting part. The elastic element is arranged between the back plate and the waist support, the two ends of the elastic element are connected with the back plate and the waist support respectively, one end of the shoulder strap is connected to the first fixing part, and the other end of the shoulder strap is connected to the second fixing part. In the embodiment, the second fixing part is located below the connecting part and corresponds to the pelvic bone area below the waist of the human body, so that most weight originally borne by the shoulders and the ribs is transferred to the pelvic area of the human body, the compression of the shoulder straps on the shoulders and the rib areas in the process that a wearer bends down is relieved, and the comfort of the wearer is improved. And the wearing comfort is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical exoskeletons, in particular to an assistive exoskeleton. Background Art

[0002] A mechanical exoskeleton is a machine device that can be worn by a wearer. The mechanical exoskeleton is mainly used to assist the wearer's limbs in movement and has been widely applied in fields such as medicine, industry, and military. For example, the mechanical exoskeleton can be applied to the handling scenarios in various fields to achieve the purpose of providing assistance.

[0003] The mechanical exoskeleton includes a back plate, a waist plate, and an elastic element connected between the back plate and the waist plate. The back plate is fixed to the wearer's spine through a shoulder strap, and the waist plate is fixed to the wearer's waist through a waist strap. When the wearer wears the mechanical exoskeleton for handling, the elastic element will deform during the wearer's bending process and store the gravitational potential energy during the wearer's bending process to provide assistance for the wearer during the standing-up process, thereby saving the wearer's physical strength.

[0004] However, since one end of the shoulder strap is connected to the back plate and the other end is generally connected above the waist strap provided on the waist plate, it is easy to cause a sense of compression on the wearer's shoulders, affecting the wearing comfort of the wearer. Summary of the Utility Model

[0005] The embodiment of the utility model aims to provide an assistive exoskeleton to solve the technical problem that in the prior art, the shoulder strap is easy to cause a sense of compression on the wearer's shoulders during the use of the mechanical exoskeleton.

[0006] The embodiment of the utility model adopts the following technical solutions to solve the above technical problems: providing an assistive exoskeleton, including:

[0007] A back plate, on which a first fixing part is provided;

[0008] A waist bracket, on which a second fixing part and a connecting part are provided. The connecting part is used for connecting a waist belt, and the second fixing part is arranged farther away from the back plate than the connecting part;

[0009] An elastic element, which is arranged between the back plate and the waist bracket, and both ends of the elastic element are respectively connected to the back plate and the waist bracket;

[0010] A shoulder strap, one end of which is connected to the first fixing part, and the other end of which is connected to the second fixing part. The back plate can be fixed to the wearer's spine through the shoulder strap.

[0011] In this embodiment, the second fixing part for fixedly connecting with the lower end of the shoulder strap is located below the connecting part, that is, the fixing point of the lower end of the shoulder strap is designed at a lower position, which corresponds to the pelvic region below the human waist, so that most of the weight originally borne by the shoulders and ribs is transferred to the human pelvic region, thereby reducing the pressure on the shoulders and rib regions of the wearer, especially avoiding the compression of the shoulder strap on the shoulders and rib regions during the process of the wearer bending over, and improving the wearing comfort.

[0012] In some embodiments, a waistband is further included, and the waist bracket can be fixed to the waist of the wearer through the waistband;

[0013] The waistband includes a first waist strap and a second waist strap, and there are two connecting parts, and the two connecting parts are respectively located on the left and right sides of the waist bracket;

[0014] The first waist strap and the second waist strap are respectively detachably and fixedly connected to the corresponding connecting parts, and the free ends of the first waist strap and the free ends of the second waist strap can be combined to wear the waist bracket on the waist of the wearer.

[0015] In this embodiment, by providing two relatively independent first waist straps and second waist straps, it is convenient to disassemble, replace and clean the first waist strap and the second waist strap, and avoid the peculiar smell of the waistband caused by the wearer sweating.

[0016] In some embodiments, the connecting part includes a connecting hole, and the first waist strap and the second waist strap are respectively fixedly matched with the corresponding connecting holes.

[0017] In this embodiment, the first waist strap and the second waist strap are fixed through the corresponding connecting holes, with relatively low fixing cost and good fixing reliability.

[0018] In some embodiments, the first fixing part includes a first through hole, the second fixing part includes a second through hole, one end of the shoulder strap is fixedly matched with the first through hole, and the other end of the shoulder strap is fixedly matched with the second through hole.

[0019] In this embodiment, by providing the first through hole and the second through hole, the fixing of both ends of the shoulder strap can be achieved at a relatively low cost, and the fixing reliability is good and it is not easy to loosen.

[0020] In some embodiments, a first leg wearing member, a second leg wearing member and a leg strap are further included. The first leg wearing member and the second leg wearing member can be respectively worn on the legs of the wearer, and both the first leg wearing member and the second leg wearing member are connected to the waist bracket through the leg strap.

[0021] In this embodiment, a single leg strap is used to connect the first leg wearable and the second leg wearable to the waist bracket respectively. The overall structure is relatively simple, ensuring the synchronization of the left and right legs during movement, which helps to maintain the balance and stability of the wearer during use and reduces the instability factors caused by inconsistent lengths of the leg straps on both sides.

[0022] In some embodiments, the waist bracket includes a waist plate and a guide wheel provided on the waist plate. Both the connecting portion and the second fixing portion are provided on the waist plate. The first leg wearable has a first perforation, and the second leg wearable has a second perforation.

[0023] The leg strap is wound around the guide wheel, and the leg strap passes through the first perforation and the second perforation respectively. One end of the leg strap is a fixed end, and the fixed end is fixedly connected to the waist plate. The other end of the leg strap is an adjustment end, and the adjustment end is adjustably connected to the waist plate. By pulling the adjustment end, the leg strap slides along the first perforation, the guide wheel, and the second perforation to adjust the loop length of the leg strap.

[0024] In this embodiment, when it is necessary to adjust the loop length of the leg strap, only the adjustment end of the leg strap needs to be pulled to change the relative position between the adjustment end of the leg strap and the waist plate, so that the leg strap slides along the first perforation, the guide wheel, and the second perforation in sequence to adjust the loop length of the leg strap. Through the single leg strap design and the integrated adjustment mechanism, the adjustment process of the leg strap is convenient and fast, which can significantly improve the adjustment efficiency of the leg strap. Moreover, the length of the leg strap sliding through the first perforation and the length of the leg strap sliding through the second perforation are always kept consistent during the adjustment process, ensuring the consistency of the length changes on both sides of the leg strap.

[0025] In some embodiments, the waist plate is further provided with a fixing hole and an adjustment hole. The fixed end of the leg strap is fixedly matched with the fixing hole, and the adjustment end of the leg strap can be slidably matched with the adjustment hole to adjust the loop length of the leg strap.

[0026] In this embodiment, the fixing hole provides the connection position for the fixed end of the leg strap, and the adjustment hole provides the connection position for the adjustment end of the leg strap. The fixed end of the leg strap can be turned over and sewn after passing through the fixing hole to achieve a firm connection between the fixed end of the leg strap and the fixing hole. The adjustment end of the leg strap can pass through the adjustment hole and be slidably matched with the adjustment hole. By pulling the adjustment end of the leg strap, the leg strap can slide relative to the adjustment hole, thereby adjusting the loop length of the leg strap to meet the usage requirements of different wearers. In this embodiment, by providing a fixing hole and an adjustment hole on the waist plate, it is convenient to provide stable fixation for the fixed end of the leg strap and achieve the adjustability of the adjustment end.

[0027] In some embodiments, the guide wheel, the fixing hole, and the adjusting hole are all located between the two connecting portions, and the guide wheel is symmetrically arranged with respect to the longitudinal central axis of the waist plate.

[0028] In this embodiment, the two connecting holes and the two second through holes are respectively located on the left and right sides of the waist plate, and the guide wheel, the fixing hole, and the adjusting hole are located in the middle of the waist plate. The layout of the holes on the waist plate is relatively reasonable, and the waist belt, shoulder strap, and leg strap do not interfere with each other, and the space utilization rate of the waist plate is relatively high. The guide wheel is symmetrically arranged with respect to the longitudinal central axis of the waist plate, so that the distances between the guide wheel and the first leg wearing member and between the guide wheel and the second leg wearing member are equal, which helps to maintain the consistency of the leg strap lengths on both sides of the wearer, increase the force balance and stability during use, and improve the wearing comfort.

[0029] In some embodiments, the fixing hole and the adjusting hole are both located directly below or directly above the guide wheel, and the fixing hole has an interference fit with the leg strap, and the adjusting hole has a clearance fit with the leg strap.

[0030] In this embodiment, the fixing hole and the adjusting hole are located directly below the guide wheel, and the fixing hole and the adjusting hole are arranged in sequence along the longitudinal direction of the waist plate, which can further ensure the consistency of the leg strap lengths on both sides of the wearer, increase the force balance and stability, and improve the wearing comfort of the wearer. There is an interference fit between the fixing hole and the leg strap, so that the fixed end of the leg strap is not easily separated from the fixing hole after flanging and fixing. There is a clearance fit between the adjusting hole and the leg strap, and the size of the adjusting hole is relatively large, which can reduce the friction between the adjusting hole and the leg strap and improve the smoothness of the leg strap sliding relative to the adjusting hole.

[0031] In some embodiments, an installation groove is formed in the middle of the waist plate, and the guide wheel is fixedly or rotatably installed in the installation groove, and the guide wheel is symmetrically arranged with respect to the longitudinal central axis of the waist plate;

[0032] There is a gap between the side surface of the guide wheel and the hole wall of the installation groove, and the leg strap passes through the gap to be wound around the guide wheel.

[0033] In this embodiment, the guide wheel is fixedly installed in the installation groove, which can avoid the guide wheel occupying additional space in the thickness direction of the waist plate and improve the compactness of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the figures do not constitute a scale limitation.

[0035] Figure 1 It is a schematic structural diagram of the power-assisted exoskeleton in one embodiment of the present utility model;

[0036] Figure 2 It is an exploded structural diagram of the back plate, waist bracket and elastic element in the embodiment of the present utility model;

[0037] Figure 3 It is a schematic structural diagram of the side of the waist bracket facing away from the wearer in the embodiment of the present utility model;

[0038] Figure 4 It is a schematic structural diagram of the side of the waist bracket facing the wearer in the embodiment of the present utility model;

[0039] Figure 5 It is a schematic structural diagram of the assembled waist bracket, first leg wearing member, second leg wearing member and leg strap in the embodiment of the present utility model;

[0040] Figure 6 is Figure 5 a partial enlarged view of part A in

[0041] Explanation of reference numerals:

[0042] 100, power-assisted exoskeleton; 10, back plate; 11, first fixing part; 20, waist bracket; 21, connecting part; 22, second fixing part; 23, waist plate; 230, fixing hole; 231, adjusting hole; 232, installation groove; 24, guide wheel; 30, elastic element; 40, waist belt; 41, first waist strap; 42, second waist strap; 50, shoulder strap; 60, first leg wearing member; 61, first through hole; 70, second leg wearing member; 71, second through hole; 80, leg strap. Detailed implementation manners

[0043] For the convenience of understanding the present utility model, the present utility model will be described in more detail below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is expressed as "connected" to another element, it can be directly on the other element or there can be one or more intermediate elements therebetween. The terms "upper", "lower", "left", "right", "upper end", "lower end", "top" and "bottom" etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model. In addition, the terms "first", "second" etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which this utility model belongs. The terms used in the specification of this utility model are only for the purpose of describing specific embodiments and are not intended to limit this utility model.

[0045] In the prior art, an exoskeleton generally includes a back plate, a waist plate, and an elastic element connected between the back plate and the waist plate. The back plate is fixed to the human spine through shoulder straps, and the waist plate is fixed to the human waist through waist straps. The fixing points at both ends of the shoulder straps are fixed to the back plate. When the wearer wears the mechanical exoskeleton to carry objects, the wearer will frequently bend down and lean forward. During this process, the shoulder straps will tighten the shoulders and ribs of the wearer, easily causing compression on the shoulders and ribs of the wearer and affecting the wearing comfort of the wearer.

[0046] In order to solve the technical problem that the shoulder straps of the exoskeleton in the prior art are prone to cause compression on the shoulders and ribs of the wearer during use, the embodiment of this utility model provides an assisted exoskeleton. One end of the shoulder strap is fixed to the first fixing part on the back plate, and the other end of the shoulder strap is fixed to the second fixing part on the waist support. Moreover, the second fixing part is located below the connecting part. That is to say, the second fixing part on the waist support corresponds to the vicinity of the pelvic region of the human body, so that most of the weight originally borne by the shoulders and ribs is transferred to the human pelvic region, thereby reducing the pressure on the shoulders and rib regions of the wearer, especially avoiding the compression of the first shoulder strap on the shoulders and rib regions during the process of the wearer bending down and leaning forward. In addition, the waist belt includes two relatively independent first waist straps and second waist straps, which is convenient for disassembling, replacing, and cleaning the first waist strap and the second waist strap, and avoiding the peculiar smell of the waist belt caused by the wearer sweating.

[0047] The following will Figures 1 to 6 elaborate in detail on the assisted exoskeleton 100 provided by the embodiment of this utility model.

[0048] Please refer to Figure 1 and Figure 2 , Figure 1 which is a schematic structural diagram of the assisted exoskeleton 100, Figure 2 and

[0049] An embodiment of the present utility model provides an assistive exoskeleton 100, which includes a back plate 10, a waist bracket 20, an elastic element 30 and a shoulder strap 50. A first fixing portion 11 is provided on the back plate 10, and a second fixing portion 22 and a connecting portion 21 are provided on the waist bracket 20. The connecting portion 21 is used to connect a waistband 40. The second fixing portion 22 is arranged farther away from the back plate 10 than the connecting portion 21, that is, the second fixing portion 22 is located below the connecting portion 21. The elastic element 30 is arranged between the back plate 10 and the waist bracket 20. Two ends of the elastic element 30 are respectively connected to the back plate 10 and the waist bracket 20. One end of the shoulder strap 50 is connected to the first fixing portion 11, and the other end of the shoulder strap 50 is connected to the second fixing portion 22. The back plate 10 can be fixed to the back of the wearer through the shoulder strap 50.

[0050] The waist bracket 20 can be worn on the waist of the wearer through the waistband 40 to provide support for the waist of the human body. The back plate 10 can be worn on the back of the wearer through the shoulder strap 50 to provide support for the back of the human body. The waist bracket 20 and the back plate 10 are usually made of materials such as plastics, light metals, carbon fibers, etc. These materials have good rigidity, which is convenient for providing good support force for the wearer. At the same time, they can maintain a low weight to reduce the burden on the human body. Optionally, the waist bracket 20 can be in a substantially arc-shaped plate structure. The surface of the waist bracket 20 facing the wearer is configured as an arc-shaped curved surface that fits the curve of the human waist to improve the wearing comfort of the wearer.

[0051] Two ends of the elastic element 30 are respectively connected to the back plate 10 and the waist bracket 20. Optionally, two ends of the elastic element 30 can be respectively fixedly connected to the back plate 10 and the back plate 10 through fasteners such as screws and bolts.

[0052] The elastic element 30 can extend along the spine of the wearer, so as to extend to the back and shoulders after passing through the waist of the wearer. The elastic element 30 is made of an elastic material and has a certain bending deformation ability. During the process of the wearer bending forward, the elastic element 30 generates corresponding bending deformation as the trunk of the wearer bends, and stores energy during the deformation process, so as to provide assistance for the wearer's trunk to return to the upright position and save the wearer's physical strength. Optionally, the elastic element 30 is configured as an arc-shaped member that fits the curve of the human back, so that during the process of the wearer bending forward, the elastic element 30 can uniformly deform along with the human trunk.

[0053] The waistband 40 and the shoulder strap 50 are usually made of soft and breathable materials, such as fabrics, leathers, etc., to improve the comfort during wearing.

[0054] The waist support 20 is provided with a connecting portion 21. The connecting portion 21 generally corresponds to the waist position of the wearer. The connecting portion 21 provides a position for the fixed connection of the waistband 40. The waistband 40 can be connected to the connecting portion 21, and the waist support 20 can be fixed to the waist position of the wearer through the waistband 40.

[0055] A first fixing portion 11 and a second fixing portion 22 are respectively provided on the back plate 10 and the waist support 20. The first fixing portion 11 provides a position for the upper end of the shoulder strap 50 to be fixedly connected, and the second fixing portion 22 provides a position for the lower end of the shoulder strap 50 to be fixedly connected. It can be understood that there are two shoulder straps 50, namely the left shoulder strap 50 and the right shoulder strap 50. The first fixing portion 11 and the second fixing portion 22 each have two. The two first fixing portions 11 can be arranged on the left and right sides of the shoulder strap 50, and the two second fixing portions 22 can be arranged on the left and right sides of the waist support 20. The two ends of the shoulder strap 50 are respectively connected to the corresponding first fixing portion 11 and second fixing portion 22. When the user wears it, the left and right arms respectively pass through the corresponding shoulder straps 50, and the shoulder straps 50 are placed on the shoulders, and the wearing can be completed.

[0056] In this embodiment, the second fixing portion 22 for fixedly connecting to the lower end of the shoulder strap 50 is located below the connecting portion 21, that is, the fixing point of the lower end of the shoulder strap 50 is designed at a lower position, which corresponds to the pelvic region below the human waist, so that most of the weight originally borne by the shoulders and ribs is transferred to the human pelvic region, thereby reducing the pressure on the shoulders and rib regions of the wearer, especially avoiding the compression of the shoulder strap 50 on the shoulders and rib regions during the process of the wearer bending forward, and improving the wearing comfort.

[0057] In some embodiments, the waistband 40 can be equipped with structures such as D-rings, buckles or Velcro, etc., and allows the wearer to adjust the length of the waistband 40 according to their body shape, so that the waistband 40 can closely fit the waist and meet the wearing needs of different wearers.

[0058] As Figure 1 shown, in some embodiments, the power-assisted exoskeleton 100 further includes a waistband 40, and the waist support 20 can be fixed to the waist of the wearer through the waistband 40;

[0059] The waistband 40 includes a first waist strap 41 and a second waist strap 42. There are two connecting portions 21, and the two connecting portions 21 are respectively located on the left and right sides of the waist support 20. The first waist strap 41 and the second waist strap 42 are respectively detachably and fixedly connected to the corresponding connecting portions 21, and the free ends of the first waist strap 41 and the second waist strap 42 can be combined to wear the waist support 20 on the waist of the wearer.

[0060] Specifically, two connecting parts 21 are provided on the waist support 20, and the two connecting parts 21 respectively provide connection positions for the first waist strap 41 and the second waist strap 42 on the waist support 20. Optionally, the two connecting parts 21 are symmetrically arranged on the left and right sides of the waist support 20, so that the first waist strap 41 and the second waist strap 42 are respectively fixedly connected to the left and right sides of the waist plate 23. In this embodiment, by providing two relatively independent first waist straps 41 and second waist straps 42, it is convenient to disassemble, replace and clean the first waist strap 41 and the second waist strap 42, and avoid the peculiar smell of the waistband 40 caused by the wearer sweating.

[0061] Optionally, the free ends of the first waist strap 41 and the second waist strap 42 can be combined with each other in a detachable manner such as a buckle, a magic tape, a magnetic buckle, etc., so that the first waist strap 41 and the second waist strap 42 fit the waist of the wearer.

[0062] Optionally, the first waist strap 41 and the second waist strap 42 can independently adjust the tightness, and the wearer can make targeted fine-tuning according to his own situation to improve the overall comfort and fitting degree.

[0063] Please refer to Figure 3 and Figure 4 , Figure 3 which is a schematic structural view of the side of the waist support 20 facing away from the wearer, Figure 4 and

[0064] is a schematic structural view of the side of the waist support 20 facing the wearer.

[0065] In some embodiments, the connecting part 21 includes a connecting hole, and the first waist strap 41 and the second waist strap 42 are respectively fixedly matched with the corresponding connecting holes. Figure 3 As

[0066] Optionally, one end of the first waist strap 41 or the second waist strap 42 can pass through the connection hole and then be turned over and sewn to achieve a firm connection between the first waist strap 41 or the second waist strap 42 and the connection hole. The fixed cost of the turned-over sewing is relatively low, and the fixed stability and reliability are relatively good. In addition, to further enhance the firmness of the connection, glue or other adhesives can also be used for fixation. In some other embodiments, pins can also be provided on the first waist strap 41 and the second waist strap 42, and through the plug-in fit between the pins and the connection holes, the firm cooperation between the first waist strap 41 and the second waist strap 42 and the waist bracket 20 can be achieved.

[0067] In some embodiments, the first fixing portion 11 includes a first through hole, the second fixing portion 22 includes a second through hole, one end of the shoulder strap 50 is fixedly fitted with the first through hole, and the other end of the shoulder strap 50 is fixedly fitted with the second through hole.

[0068] As Figure 3 and Figure 4 shown, the first fixing portion 11 is the first through hole, the second fixing portion 22 is the second through hole. There are two first through holes, which are respectively opened on the left and right sides of the shoulder strap 50. The two first through holes provide the fixing positions for the upper ends of the two shoulder straps 50. There are also two second through holes, which are respectively opened on the left and right sides of the waist bracket 20 and are respectively located below the corresponding connection holes. The two second through holes respectively provide the fixing positions for the lower ends of the two shoulder straps 50. Optionally, both ends of the shoulder strap 50 can be fixedly connected to the first through hole and the second through hole respectively by means of turned-over sewing.

[0069] In this embodiment, by providing the first through hole and the second through hole, the fixation of both ends of the shoulder strap 20 can be achieved at a relatively low cost, and the fixation reliability is relatively good and it is not easy to loosen.

[0070] Please refer to Figure 5 and Figure 6 , Figure 5 which is a schematic structural diagram of the assembled waist bracket 20, the first leg wearing member 60, the second leg wearing member 70 and the leg strap 80, Figure 6 is Figure 1 a partial enlarged view of part A in

[0071] In some embodiments, the powered exoskeleton 100 further includes a first leg wearing member 60, a second leg wearing member 70 and a leg strap 80. The first leg wearing member 60 and the second leg wearing member 70 can be respectively worn on the legs of the wearer. Both the first leg wearing member 60 and the second leg wearing member 70 are connected to the waist bracket 20 through the leg strap 80.

[0072] The first leg wearable 60 and the second leg wearable 70 can be worn on the two legs of the wearer respectively. For example, the first leg wearable 60 can be worn on the left leg of the wearer, and the second leg wearable 70 can be worn on the right leg of the wearer. Optionally, the first leg wearable 60 can be worn on at least one of the thigh, knee, calf, and ankle of the wearer's left leg, and the second leg wearable 70 can be worn on at least one of the thigh, knee, calf, and ankle of the wearer's right leg. For example, the first leg wearable 60 and the second leg wearable 70 can be worn on the two calves of the wearer respectively. Among them, the first leg wearable 60 and the second leg wearable 70 are respectively provided with a first perforation 61 and a second perforation 71 for the leg strap 80 to pass through.

[0073] The leg strap 80 is used to connect the first leg wearable 60 and the second leg wearable 70 to the waist bracket 20. The leg strap 80 can be in the shape of a flat strip. Optionally, the leg strap 80 can be made of a material with a certain elasticity. For example, the leg strap 80 can be made of nylon material, that is, the leg strap 80 is a nylon webbing. During the use by the wearer, the leg strap 80 can be deformed and store energy to provide assistance for the wearer to reset, thereby saving the wearer's physical strength.

[0074] In this embodiment, a single leg strap 80 is used to connect the first leg wearable 60 and the second leg wearable 70 to the waist bracket 20 respectively. The overall structure is relatively simple, ensuring the synchronization of the left and right legs during movement, helping to maintain the balance and stability of the wearer during use, and reducing the unstable factors caused by inconsistent lengths of the two leg straps 80.

[0075] In some embodiments, the waist bracket 20 includes a waist plate 23 and a guide wheel 24 provided on the waist plate 23. The connecting portion 21 and the second fixing portion 22 are both provided on the waist plate 23; the first leg wearable 60 has a first perforation 61, and the second leg wearable 70 has a second perforation 71; the leg strap 80 is wound around the guide wheel 24, and the leg strap 80 passes through the first perforation 61 and the second perforation 71 respectively. One end of the leg strap 80 is a fixed end, and the fixed end is fixedly connected to the waist plate 23. The other end of the leg strap 80 is an adjustment end, and the adjustment end is adjustably connected to the waist plate 23. By pulling the adjustment end, the leg strap 80 slides along the first perforation 61, the guide wheel 24, and the second perforation 71 to adjust the loop length of the leg strap 80.

[0076] Specifically, one end of the leg strap 80 is a fixed end, and the other end is an adjustable end. When the waist bracket 20, the first leg wearing member 60, and the second leg wearing member 70 are connected by the leg strap 80, the fixed end of the leg strap 80 can be fixedly connected to the waist plate 23 first, and then the adjustable end of the leg strap 80 is sequentially passed through the first through hole 61, bypassed the guide wheel 24, and then passed through the second through hole 71. Then, the adjustable end of the leg strap 80 is adjustably connected to the waist plate 23 to complete the assembly among the waist bracket 20, the first leg wearing member 60, the second leg wearing member 70, and the leg strap 80. After being assembled, the wearer can adjust the loop length of the leg strap 80 through the adjustable end of the leg strap 80 to meet the usage requirements of different wearers. Wherein, the loop length of the leg strap 80 refers to the total path length of the leg strap 80 starting from the waist plate 23, passing through the first through hole 61, the guide wheel 24, and the second through hole 71, and then returning to the waist plate 23.

[0077] When it is necessary to adjust the loop length of the leg strap 80, only the adjustable end of the leg strap 80 needs to be pulled to change the relative position between the adjustable end of the leg strap 80 and the waist plate 23, so that the leg strap 80 slides along the first through hole 61, the guide wheel 24, and the second through hole 71 in sequence to adjust the loop length of the leg strap 80. In the embodiment of the present utility model, through the design of a single leg strap 80 and an integrated adjustment mechanism, the adjustment process of the leg strap 80 is convenient and fast, the adjustment efficiency of the leg strap 80 can be significantly improved, and the lengths of the leg strap 80 sliding through the first through hole 61 and the second through hole 71 are always consistent during the adjustment process, ensuring the consistency of the length changes on both sides of the leg strap 80.

[0078] In some embodiments, the adjustable end of the leg strap 80 is configured with adjustment buckles (not shown), and these adjustment buckles can be structures such as D-rings, buckles, adjustment buttons, adjustment knobs, etc.

[0079] For example, in one implementation, the adjustment buckle can be a D-ring. When it is necessary to adjust the loop length of the leg strap 80, press or move the tongue or slide of the D-ring to move it to the unlocking position, so that the leg strap 80 can slide freely relative to the D-ring. At this time, pull the adjustable end of the leg strap 80, and the leg strap 80 can be adjusted to the ideal length. After the length of the leg strap 80 is adjusted, release the previously pressed or moved tongue or slide to make it return to the locking position, thereby restricting the relative sliding between the leg strap 80 and the D-ring, locking the leg strap 80, and ensuring the stability and safety of the leg strap 80 during use.

[0080] For another example, in another implementation, the adjustment buckle can be an adjustment button. When it is necessary to adjust the loop length of the leg strap 80, press the adjustment button so that the leg strap 80 can slide relative to the adjustment button. At this time, pull the adjustment end of the leg strap 80 to increase or decrease the loop length of the leg strap 80, and adjust the leg strap 80 to an ideal length. After the length of the leg strap 80 is adjusted, release the adjustment button to restrict the relative sliding between the adjustment button and the leg strap 80, so that the leg strap 80 is locked to ensure the stability and safety of the leg strap 80 during use.

[0081] As Figure 3 and Figure 4 shown, in some embodiments, the lumbar plate 23 is further provided with a fixing hole 230 and an adjustment hole 231. The fixed end of the leg strap 80 is fixedly matched with the fixing hole 230, and the adjustment end of the leg strap 80 can be slidably matched with the adjustment hole 231 to adjust the loop length of the leg strap 80.

[0082] Specifically, the fixing hole 230 provides a connection position for the fixed end of the leg strap 80, and the adjustment hole 231 provides a connection position for the adjustment end of the leg strap 80. The shapes of the fixing hole 230 and the adjustment hole 231 are generally adapted to the shape of the leg strap 80. Optionally, the fixed end of the leg strap 80 can be turned over and sewn after passing through the fixing hole 230 to achieve a firm connection between the fixed end of the leg strap 80 and the fixing hole 230. In addition, to further enhance the firmness of the connection, glue or other adhesives can be additionally used for fixation. The adjustment end of the leg strap 80 can pass through the adjustment hole 231 and be slidably matched with the adjustment hole 231. Pull the adjustment end of the leg strap 80, and the leg strap 80 can slide relative to the adjustment hole 231, thereby adjusting the loop length of the leg strap 80 to meet the usage requirements of different wearers.

[0083] In this embodiment, by providing the fixing hole 230 and the adjustment hole 231 on the lumbar plate 23, it is convenient to provide stable fixation for the fixed end of the leg strap 80 and achieve the adjustability of the adjustment end of the leg strap 80.

[0084] In some embodiments, the guide wheel 24, the fixing hole 230 and the adjustment hole 231 are all located between the two connecting portions 21, and the guide wheel 24 is symmetrically arranged with respect to the longitudinal central axis S of the lumbar plate 23.

[0085] As Figure 3 shown, the lumbar plate 23 is a left-right symmetric structure, that is, the left and right sides of the lumbar plate 23 are symmetrically arranged with respect to its longitudinal central axis S, ensuring that the lumbar support 20 can provide balanced and stable support during wearing, which helps to improve the balance and stability during wearing and reduce the sense of skew or tilt that the wearer may experience during movement.

[0086] The two connecting holes and the two second through holes are respectively located on the left and right sides of the waist plate 23. The guide wheel 24, the fixing hole 230 and the adjusting hole 231 are located in the middle of the waist plate 23. The layout of the holes on the waist plate 23 is relatively reasonable, and the waist belt 40, the shoulder belt 50 and the leg belt 80 do not interfere with each other, and the space utilization rate of the waist plate 23 is relatively high.

[0087] The guide wheel 24 is located in the middle of the waist plate 23. The guide wheel 24 is symmetrically arranged with respect to the longitudinal central axis S of the waist plate 23, so that the distances between the guide wheel 24 and the first leg wearing member 60 and between the guide wheel 24 and the second leg wearing member 70 are equal, which helps to keep the lengths of the leg belts 80 on the left and right sides of the wearer consistent, increases the force balance and stability during use, and improves the wearing comfort. In other words, if the guide wheel 24 is set to the left or right, it is likely to cause a difference in the lengths of the leg belts 80 on the left and right sides of the wearer, and then lead to abnormal gait or additional physical consumption of the wearer.

[0088] In some embodiments, both the fixing hole 230 and the adjusting hole 231 are located directly below or above the guide wheel 24, and the fixing hole 230 has an interference fit with the leg belt 80, and the adjusting hole 231 has a clearance fit with the leg belt 80.

[0089] The fixing hole 230 and the adjusting hole 231 are arranged in sequence along the longitudinal direction of the waist plate 23. The guide wheel 24, the fixing hole 230 and the adjusting hole 231 are all located on the longitudinal central axis S of the waist plate 23, which can further ensure that the lengths of the leg belts 80 on the left and right sides of the wearer are consistent, increase the force balance and stability, and improve the wearing comfort of the wearer.

[0090] Optionally, the fixing hole 230 is located directly above the adjusting hole 231. In addition, it can also be that the adjusting hole 231 is located directly above the fixing hole 230. It can be understood that in other embodiments, the fixing hole 230 and the adjusting hole 231 can also be arranged at other positions on the waist plate 23. For example, the fixing hole 230 and the adjusting hole 231 can be arranged side by side below the guide wheel 24.

[0091] There is an interference fit between the fixing hole 230 and the leg belt 80, so that the fixed end of the leg belt 80 is not easily separated from the fixing hole 230 after being flanged and fixed. There is a clearance fit between the adjusting hole 231 and the leg belt 80. The size of the adjusting hole 231 is relatively large, which can reduce the friction between the adjusting hole 231 and the leg belt 80 and improve the smoothness of the leg belt 80 sliding relative to the adjusting hole 231.

[0092] In some embodiments, an installation groove 232 is formed in the middle of the waist plate 23. The guide wheel 24 is fixedly or rotatably installed in the installation groove 232. There is a gap between the side surface of the guide wheel 24 and the hole wall of the installation groove 232. The leg belt 80 passes through the gap and is wound around the guide wheel 24.

[0093] As shown Figure 3 in Figure

[0093] , an installation groove 232 is formed on the lumbar plate 23. Optionally, the installation groove 232 penetrates from one side surface of the lumbar plate 23 to the other side. In addition, the installation groove 232 can also be formed on the side surface of the lumbar plate 23 facing away from the wearer. It can be understood that the guide wheel 24 does not protrude from the side surface of the lumbar plate 23 facing the wearer, so as to avoid the contact between the guide wheel 24 and the body of the wearer, greatly improving the wearing comfort of the wearer.

[0094] The installation groove 232 can be a square groove but is not limited thereto. The guide wheel 24 is fixedly installed in the installation groove 232, which can avoid the guide wheel 24 occupying additional space in the thickness direction of the lumbar plate 23 and improve the compactness of the structure. The guide wheel 12 can be fixedly installed on the lumbar plate 11, or the guide wheel 12 can be rotatably installed on the lumbar plate 11. Optionally, the guide wheel 24 and the lumbar plate 23 are integrally formed to enhance the structural stability.

[0095] The guide wheel 24 is a cylindrical structure, and the guide wheel 24 is arranged in a substantially horizontal direction, that is, the axial direction of the guide wheel 24 is parallel to the horizontal direction, ensuring the smooth sliding of the leg band 80 relative to the guide wheel 24. In addition, the cylindrical structure of the guide wheel 24 makes the side surface of the guide wheel 24 relatively smooth, which can reduce the friction force when the leg band 80 slides relative to the guide wheel 24 and improve the flexibility and smoothness during the sliding process of the leg band 80.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; under the idea of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above. For the sake of brevity, they are not provided in detail; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A power-assisted exoskeleton, characterized in that: include: A back plate, wherein a first fixing portion is provided on the back plate; A waist support, wherein the waist support is provided with a second fixing portion and a connecting portion, the connecting portion is used to connect the waist belt, and the second fixing portion is arranged farther from the back plate than the connecting portion; An elastic element, wherein the elastic element is disposed between the back plate and the waist support, and two ends of the elastic element are respectively connected to the back plate and the waist support; A shoulder strap, one end of which is connected to the first fixing portion, and the other end of which is connected to the second fixing portion, and the back plate can be fixed to the wearer's back through the shoulder strap.

2. The power-assisted exoskeleton according to claim 1, characterized in that: Also included is a waist belt, through which the waist support can be secured to the waist of the wearer; The waist belt comprises a first waist strap and a second waist strap, and the connecting parts are provided with two, and the two connecting parts are respectively located on the left and right sides of the waist support; The first waist strap and the second waist strap are respectively detachably fixedly connected to the corresponding connecting parts, and the free end of the first waist strap and the free end of the second waist strap can be combined to allow the waist support to be worn on the waist of the wearer.

3. The power-assisted exoskeleton according to claim 2, characterized in that: The connecting portion includes a connecting hole, and the first waist strap and the second waist strap are respectively fixedly matched with the corresponding connecting holes.

4. The power-assisted exoskeleton according to claim 1, characterized in that: The first fixing portion includes a first through hole, the second fixing portion includes a second through hole, one end of the shoulder strap is fixedly matched with the first through hole, and the other end of the shoulder strap is fixedly matched with the second through hole.

5. The power-assisted exoskeleton according to any one of claims 1 to 4, characterized in that: It also includes a first leg wearing piece, a second leg wearing piece and a leg band. The first leg wearing piece and the second leg wearing piece can be worn on the legs of the wearer respectively. The first leg wearing piece and the second leg wearing piece are both connected to the waist support through the leg band.

6. The power-assisted exoskeleton according to claim 5, characterized in that: The waist support comprises a waist plate and a guide wheel arranged on the waist plate, and the connecting part and the second fixing part are both arranged on the waist plate; the first leg wearable piece has a first through hole, and the second leg wearable piece has a second through hole; The leg strap is wrapped around the guide wheel, and the leg strap is respectively passed through the first through hole and the second through hole, one end of the leg strap is a fixed end, and the fixed end is fixedly connected to the waist plate, and the other end of the leg strap is an adjustment end, and the adjustment end is adjustably connected to the waist plate. By pulling the adjustment end, the leg strap slides along the first through hole, the guide wheel and the second through hole to adjust the loop length of the leg strap.

7. The power-assisted exoskeleton according to claim 6, characterized in that: The waist plate is also provided with a fixing hole and an adjusting hole. The fixing end of the leg strap is fixedly matched with the fixing hole, and the adjusting end of the leg strap can be slidably matched with the adjusting hole to adjust the loop length of the leg strap.

8. The power-assisted exoskeleton according to claim 7, characterized in that: The guide wheel, the fixing hole and the adjusting hole are all located between the two connecting parts, and the guide wheel is symmetrically arranged relative to the longitudinal center axis of the waist plate.

9. The power-assisted exoskeleton according to claim 8, characterized in that: The fixing hole and the adjusting hole are both located directly below or directly above the guide wheel, and the fixing hole and the leg strap are in an interference fit, while the adjusting hole and the leg strap are in a clearance fit.

10. The power-assisted exoskeleton according to claim 6, characterized in that: A mounting groove is provided in the middle of the waist plate, and the guide wheel is fixedly or rollingly installed in the mounting groove, and the guide wheel is symmetrically arranged relative to the longitudinal center axis of the waist plate; There is a gap between the side surface of the guide wheel and the hole wall of the installation slot, and the leg belt passes through the gap to be wound around the guide wheel.

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