Passive exoskeleton waist hip joint high-load limiting structure

Abstract

The utility model discloses a passive exoskeleton waist hip joint high-load limiting structure, and particularly relates to the technical field of exoskeleton, the passive exoskeleton waist hip joint high-load limiting structure comprises waist connecting rods, two sides of the two waist connecting rods are fixedly provided with connecting seats, the outer sides of the two connecting seats are rotatably connected with connecting pieces, and the connecting pieces are connected with the waist connecting rods. Thigh fixing rods are rotationally connected to the two sides of the bottom of the waist connecting rod through two connecting pieces correspondingly, shank fixing rods are rotationally connected to the bottoms of the two thigh fixing rods correspondingly, and arc chamfers allowing the two connecting pieces to rotate correspondingly are arranged on the opposite side faces of the two connecting bases correspondingly. When in use, the structure is worn on the body of a user, when the crotch of the user does telescopic motion, the thighs can drive the thigh fixing rods to rotate outwards around the rotating axis of the connecting piece, and in the process, the connecting piece rotates along the arc surface on one side of the connecting seat, so that the user can use the structure more comfortably.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeletons, and more specifically, to a high-load limiting structure for the waist and hip joints of a passive exoskeleton. Background Art

[0002] A passive exoskeleton is a wearable robotic device that does not rely on external energy supply, but stores and releases energy through the wasted work or natural movements in human motion, thereby assisting or enhancing the human motion ability.

[0003] After retrieval, the existing patent (publication number: CN216328295U) discloses a passive exoskeleton waist link mechanism, which relates to the technical field of exoskeletons and aims to solve the technical problems of non-adjustability, cumbersome disassembly and assembly, long time consumption, and poor maintainability of the traditional waist connection mechanism. It includes: a waist bearing frame, a back connecting rod, a connecting core shaft, a fixing component, and an adjusting pin; mounting holes are provided on the waist bearing frame, a plurality of kidney-shaped holes are provided on the periphery of the mounting holes, limiting holes are provided at positions corresponding to the kidney-shaped holes on the back connecting rod, one end of the connecting core shaft is installed inside the waist bearing frame, the other end of the connecting core shaft passes through the mounting hole, the back connecting rod is installed at the passing end of the connecting core shaft through the fixing component, both ends of the adjusting pin are respectively inserted into the limiting hole and the corresponding kidney-shaped hole, and the back connecting rod rotates within the range of the kidney-shaped hole with the connecting core shaft as the rotation axis. The above passive exoskeleton waist link mechanism has good adjustability, convenient disassembly, assembly and maintenance, simple structure, obvious force transmission effect, easy processing, and high practicability.

[0004] Currently, the existing passive exoskeletons are often used to assist in carrying heavy objects. During the carrying process, as the user's physical strength is consumed, the amplitude of the telescopic movement of the abdomen and crotch driven by breathing will increase. During this process, the waist and hip joint connection structure will generate a large sense of impedance to the user, making the user feel very uncomfortable. Therefore, in order to solve the above problems, it is very necessary to have a high-load limiting structure for the waist and hip joints of a passive exoskeleton. Summary of the Utility Model

[0005] The main technical problem to be solved by the utility model is to provide a high-load limiting structure for the waist and hip joints of a passive exoskeleton, which can solve the problems raised in the above background art.

[0006] To solve the above technical problems, according to one aspect of the present utility model, more specifically, it is a passive exoskeleton waist and hip high-load limit structure, including a waist connecting rod. An abdominal baffle is fixedly arranged at the top of the waist connecting rod. Connecting seats are fixedly arranged on both sides of the two waist connecting rods. Connecting pieces are rotatably connected to the outer sides of the two connecting seats. Both sides of the bottom of the waist connecting rod are respectively rotatably connected to thigh fixing rods through two connecting pieces. Calf fixing rods are rotatably connected to the bottoms of the two thigh fixing rods. Arc chamfers for respectively rotating the two connecting pieces are arranged on the opposite side surfaces of the two connecting seats.

[0007] Furthermore, connecting plates are fixedly arranged at the bottoms of the two connecting pieces. The two thigh fixing rods are respectively rotatably connected to one side of the bottoms of the two connecting plates. Rotating blocks are fixedly arranged at the joints of the tops of the two thigh fixing rods and the connecting plates. Arc chamfers are fixedly arranged on one side of the two rotating blocks. Blocks are fixedly arranged on the inner sides of the two connecting plates at the tops of the blocks. The bottoms of the two blocks are respectively in close fit with the two blocks and are tangent to the arc chamfers of the rotating blocks.

[0008] Furthermore, connecting blocks are bolted to the tops of the two connecting pieces. The two connecting blocks are respectively rotatably connected to the tops of the two connecting seats.

[0009] Furthermore, first reinforcing plates are bolted to one side of the two connecting plates. The two thigh fixing rods are respectively rotatably connected to the bottoms of the two first reinforcing plates and the connecting plates.

[0010] Furthermore, a support plate is fixedly arranged directly below the abdominal baffle on one side of the waist connecting rod. A plurality of mounting holes are fixedly arranged at the top of the support plate.

[0011] Furthermore, a plurality of thigh binding rods are fixedly arranged on one side of the two thigh fixing rods. Sponge soft pads are fixedly arranged on the inner sides of the plurality of thigh binding rods.

[0012] The beneficial effects of the passive exoskeleton waist and hip high-load limit structure of the present utility model are as follows:

[0013] By setting the connecting seats and the connecting pieces, when in use, first wear the structure on the user. When the user's hip makes a telescopic movement, the thigh will drive the thigh fixing rod to rotate outward around the rotation axis of the connecting piece. During this process, the connecting piece rotates along the arc surface on one side of the connecting seat, making it more comfortable for the user to use;

[0014] By setting the rotating block, connecting plate and clamping block, when the user's breathing becomes heavier and the abdominal telescopic amplitude increases, the abdominal baffle is pushed up by the abdomen to drive the waist connecting rod to rotate downward. During this process, both the waist connecting rod and the connecting piece rotate around the rotation axis of the rotating block. Thus, on the premise of effectively relieving the user's discomfort, the structure fits the human body better. And by setting the clamping block and the stop block to limit the rotation of the structure, it is safer to use while improving the structural stability.

[0015] By setting the connecting block, the connecting piece and the connecting seat are linked through the connecting block during assembly, thereby realizing the engaged rotational connection between the connecting piece and the connecting seat. It improves the rotational stability while being easy to disassemble. By setting the support plate, items can be placed on the support plate during use, effectively improving the practicality. By setting the thigh binding rod, the user's thighs and calves are limited and protected during use, making it safer to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The following further describes the present utility model in detail with reference to the drawings and specific implementation methods.

[0017] Figure 1 It is a schematic diagram of the installation position structure of a passive exoskeleton waist and hip joint high-load limiting structure of the present utility model;

[0018] Figure 2 It is a schematic diagram of the main structure of a passive exoskeleton waist and hip joint high-load limiting structure of the present utility model;

[0019] Figure 3 It is a schematic diagram of the rotation structure of a passive exoskeleton waist and hip joint high-load limiting structure of the present utility model;

[0020] Figure 4 It is an exploded view of the structure of a passive exoskeleton waist and hip joint high-load limiting structure of the present utility model;

[0021] Figure 5 It is a schematic diagram of the cooperation structure of the clamping block and the stop block of a passive exoskeleton waist and hip joint high-load limiting structure of the present utility model.

[0022] In the figure: 1, waist connecting rod; 10, abdominal baffle; 11, support plate; 12, connecting seat; 2, thigh fixing rod; 20, thigh binding rod; 21, rotating block; 22, clamping block; 3, calf fixing rod; 30, calf binding rod; 4, connecting piece; 40, connecting block; 41, connecting plate; 42, first reinforcing plate; 43, stop block. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present utility model will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0024] As Figures 1-5 shown, according to one aspect of the present utility model, a passive exoskeleton waist and hip high-load limit structure is provided, which includes a waist connecting rod 1. An abdominal baffle 10 is fixedly arranged at the top of the waist connecting rod 1. Connecting seats 12 are fixedly arranged on both sides of the two waist connecting rods 1. Connecting members 4 are rotatably connected to the outer sides of the two connecting seats 12. Both sides of the bottom of the waist connecting rod 1 are respectively rotatably connected to thigh fixing rods 2 through the two connecting members 4. The bottoms of the two thigh fixing rods 2 are rotatably connected to calf fixing rods 3. Arc chamfers for the two connecting members 4 to rotate are respectively arranged on the opposite side surfaces of the two connecting seats 12. By arranging the connecting seats 12 and the connecting members 4, when in use, first put on the structure on the user. When the user's hip makes a telescopic movement, the thigh will drive the thigh fixing rod 2 to rotate outwards around the rotation axis of the connecting member 4. During this process, the connecting member 4 rotates along the arc surface on one side of the connecting seat 12, making it more comfortable for the user to use.

[0025] In this embodiment, connecting plates 41 are fixedly arranged at the bottoms of the two connecting members 4. The two thigh fixing rods 2 are respectively rotatably connected to one side of the bottoms of the two connecting plates 41. Rotating blocks 21 are fixedly arranged at the joints of the tops of the two thigh fixing rods 2 and the connecting plates 41. Arc chamfers are fixedly arranged on one side of the two rotating blocks 21. Blocks 22 are arranged tangentially on one side of the arc chamfers of the two rotating blocks 21. Stopping blocks 43 are fixedly arranged at the tops of the blocks 22 on the inner sides of the two connecting plates 41. The bottoms of the two stopping blocks 43 are respectively in close contact with the two blocks 22 and are tangent to the arc chamfers of the rotating blocks 21. By arranging the rotating blocks 21, the connecting plates 41 and the blocks 22, when the user's breathing becomes heavier and the abdominal telescopic amplitude increases, the abdominal baffle 10 is pushed up by the abdomen to drive the waist connecting rod 1 to rotate downwards. During this process, both the waist connecting rod 1 and the connecting member 4 rotate around the rotation axis of the rotating block 21. Thus, on the premise of effectively relieving the discomfort of the user, the structure fits the human body better, and by arranging the blocks 22 and the stopping blocks 43 to limit the rotation of the structure, it is safer to use while improving the stability of the structure.

[0026] In this embodiment, connecting blocks 40 are bolted to the tops of the two connecting members 4. The two connecting blocks 40 are respectively rotatably connected to the tops of the two connecting seats 12. By arranging the connecting blocks 40, during assembly, the connecting member 4 is linked to the connecting seat 12 through the connecting block 40, thereby realizing the engaging and rotational connection between the connecting member 4 and the connecting seat 12, improving the rotational stability while being convenient for disassembly.

[0027] In this embodiment, a first reinforcing plate 42 is bolted to one side of each of the two connecting plates 41. The two thigh fixing rods 2 are respectively rotatably connected to the bottoms of the two first reinforcing plates 42 and the connecting plates 41. By providing the first reinforcing plate 42, the structure is reinforced by the first reinforcing plate 42 during use, making the structure more firm during use.

[0028] In this embodiment, a support plate 11 is fixedly arranged directly below the abdominal baffle 10 on one side of the waist connecting rod 1. A plurality of mounting holes are fixedly arranged on the top of the support plate 11. By providing the support plate 11, items can be placed on the support plate 11 during use, effectively improving the practicality.

[0029] In this embodiment, a plurality of thigh binding rods 20 are fixedly arranged on one side of each of the two thigh fixing rods 2. Sponge cushions are fixedly arranged on the inner sides of the plurality of thigh binding rods 20. By providing the thigh binding rods 20 and the calf binding rods 30, the thighs and calves of the user are limited and protected during use, making it safer to use.

[0030] The working principle of this device is as follows: During use, first put on the structure on the user. When the user's hip makes a telescopic movement, the thigh will drive the thigh fixing rod 2 to rotate outward around the rotation axis of the connecting member 4. During this process, the connecting member 4 rotates along the arc surface on one side of the connecting seat 12, making it more comfortable for the user to use. And when the user's breathing becomes heavier and the abdominal telescopic amplitude increases, the abdominal baffle 10 is pushed up by the abdomen to drive the waist connecting rod 1 to rotate downward. During this process, both the waist connecting rod 1 and the connecting member 4 rotate around the rotation axis of the rotating block 21. Thus, on the premise of effectively relieving the discomfort of the user, the structure fits the human body better. And by providing the clamping block 22 and the blocking block 43 to limit the rotation of the structure, it is safer to use while improving the stability of the structure.

[0031] All the electrical components mentioned herein are electrical components that exist in reality.

[0032] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions, or substitutions made by those of ordinary skill in the art within the essence of the present invention also belong to the protection scope of the present invention.

Claims

1. A passive exoskeleton waist and hip joint high load limiting structure, comprising a waist connecting rod (1), characterized in that: An abdominal baffle (10) is fixedly provided on the top of the waist connecting rod (1), connecting seats (12) are fixedly provided on both sides of the two waist connecting rods (1), and the outer sides of the two connecting seats (12) are rotatably connected to connecting pieces (4), and the two sides of the bottom of the waist connecting rod (1) are rotatably connected to thigh fixing rods (2) through two connecting pieces (4), and the bottoms of the two thigh fixing rods (2) are rotatably connected to calf fixing rods (3), and the opposite side surfaces of the two connecting seats (12) are provided with arc chamfers for the two connecting pieces (4) to rotate.

2. A passive exoskeleton waist and hip joint high load limiting structure according to claim 1, characterized in that: A connecting plate (41) is fixedly provided at the bottom of the two connecting members (4), the two thigh fixing rods (2) are rotatably connected to one side of the bottom of the two connecting plates (41), a rotating block (21) is fixedly provided at the top of the two thigh fixing rods (2) at the connection with the connecting plate (41), a circular arc chamfer is fixedly provided on one side of the two rotating blocks (21), a clamping block (22) is tangently provided on one side of the circular arc chamfer of the two rotating blocks (21), and a stopper (43) is fixedly provided on the inner side of the two connecting plates (41) at the top of the clamping block (22), and the bottoms of the two stoppers (43) are tightly fitted with the two clamping blocks (22) and are tangent to the circular arc chamfer of the rotating block (21).

3. The passive exoskeleton waist and hip joint high load limiting structure according to claim 1, characterized in that: The tops of the two connecting members (4) are both bolted with connecting blocks (40), and the two connecting blocks (40) are rotatably connected to the tops of the two connecting seats (12) respectively.

4. A passive exoskeleton waist and hip joint high load limiting structure according to claim 2, characterized in that: One side of the two connecting plates (41) is bolted to a first reinforcing plate (42), and the two thigh fixing rods (2) are rotatably connected to the two first reinforcing plates (42) and the bottom of the connecting plate (41), respectively.

5. The passive exoskeleton waist and hip joint high load limiting structure according to claim 1, characterized in that: A support plate (11) is fixedly provided on one side of the waist connecting rod (1) just below the abdomen baffle (10), and a plurality of mounting holes are fixedly provided on the top of the support plate (11).

6. The passive exoskeleton waist and hip joint high load limiting structure according to claim 1, characterized in that: A plurality of thigh binding rods (20) are fixedly arranged on one side of the two thigh fixing rods (2), and a sponge cushion is fixedly arranged on the inner side of the plurality of thigh binding rods (20).

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