Human body wearing and walking assistance auxiliary device

Abstract

The utility model discloses human body wearing and walking assistance auxiliary equipment, which belongs to the technical field of human body auxiliary equipment, and comprises a waist component and a leg component, the leg component is connected with the waist component, the leg component comprises a connecting rod, a leg binding piece and a universal structure, one end of the connecting rod is connected with the waist component, and the other end of the connecting rod is connected with the leg binding piece. The universal structure is arranged at the other end of the connecting rod, the universal structure is connected with the leg binding piece, the universal structure is arranged on the leg assembly, the universal structure can automatically adjust the assisting angle according to the movement condition of the legs of a user, and the robot is suitable for complex terrain conditions such as slope climbing, slope descending and turning. And moreover, the flexibility and adaptability of the equipment in various scenes are improved, and a user can obtain stable assistance in a complex terrain.

Description

Technical Field

[0001] This utility model belongs to the field of human assistive device technology, and particularly relates to wearable and walking assistance devices. Background Technology

[0002] With the development of modern technology, assistive devices are increasingly widely used in rehabilitation medicine, physical enhancement, and daily living assistance. These devices can help patients with walking difficulties regain their mobility or provide additional physical support for people engaged in heavy manual labor. Currently, most wearable assistive devices on the market have relatively mature lumbar structure designs, generally employing adjustable telescopic structures. This design allows the lumbar support of the device to be adjusted according to the user's body shape to meet the needs of users of different body types. This adjustable telescopic structure improves the wearing comfort and versatility of the device, effectively addressing the shortcomings of traditional fixed structures in terms of adaptability.

[0003] While adjustable waist support designs are widely used in the market, existing technologies still have some shortcomings in leg assist design. Specifically, current devices typically use relatively fixed or simple mechanical connections between the leg straps and the assist mechanism. While this design provides some assistance, it cannot offer dynamic adjustment when the user performs complex movements (such as climbing, descending, or turning). This is because these connection structures lack sufficient flexibility to adjust the direction and angle of the assist according to the actual needs of leg movement, resulting in unsatisfactory assistance in complex terrain, potentially increasing user fatigue or reducing the efficiency of the equipment. Utility Model Content

[0004] To address the problems of existing leg assist designs lacking sufficient flexibility, being unable to adjust the direction and angle of assistance according to the actual needs of leg movement, resulting in unsatisfactory assistance effects in complex terrain, and potentially increasing user fatigue or reducing device efficiency, this utility model provides a wearable and walking assistive device that can improve flexibility.

[0005] The technical solution of this utility model is as follows:

[0006] This utility model relates to a wearable and walking assistance device, which includes a waist component and a leg component. The leg component is connected to the waist component. The leg component includes a connecting rod, a leg strap, and a universal structure. One end of the connecting rod is connected to the waist component, and the universal structure is located at the other end of the connecting rod and is connected to the leg strap.

[0007] Furthermore, the universal structure includes a universal head and a limiting seat, with the universal head being engaged within the limiting seat.

[0008] Furthermore, the universal structure also includes a swing seat, a fixed cover, and a first pin. The limiting seat is provided with a swing groove, the swing seat is installed in the swing groove, the universal head and the swing seat are both provided with through holes, the first pin passes through the through holes, and the fixed cover covers the swing groove and surrounds the universal head and the swing seat.

[0009] Furthermore, the universal structure also includes a gasket and a bushing, with the swing seat disposed between the gasket and the bushing.

[0010] Furthermore, the swing seat includes a bottom and a protrusion, the through hole is provided on the protrusion, the universal head is provided inside the protrusion, and the bottom is located in the swing groove.

[0011] Furthermore, the waist assembly includes a control device and a waist belt, the waist belt being fixedly connected to the control device, and the control device having power output arms at both ends, the power output arms being connected to one end of the connecting rod.

[0012] Furthermore, the control device includes a battery box, an adjustable bracket, and a servo motor. One end of the adjustable bracket is movably connected to the battery box, and the adjustable bracket is located on both sides of the battery box. The servo motor is fixedly connected to the other end of the adjustable bracket.

[0013] Furthermore, the battery box is provided with through slots and limiting buckles at both ends, one end of the adjustable bracket moves telescopically along the through slots, and the limiting buckle is provided on one side of the through slots.

[0014] Furthermore, the limiting buckle includes a mounting base, a rotating shaft, a levering block, and a movable block. The rotating shaft passes through the levering block and the mounting base, and the rotating shaft positions the levering block inside the mounting base. The movable block is located on one side of the mounting base, and the levering block abuts against the movable block. The movable block can move to support the adjustable bracket.

[0015] Furthermore, the servo unit includes a permanent magnet synchronous motor, a planetary gear reducer, and several gears. Both the permanent magnet synchronous motor and the planetary gear reducer are provided with output shafts. The gears are mounted on the output shafts and are meshed with each other. The output shaft of the planetary gear reducer is also connected to the power output arm.

[0016] The beneficial effects of this utility model are as follows:

[0017] A universal joint is installed on the leg assembly. This universal joint can automatically adjust the angle of assistance according to the user's leg movement. It is suitable for complex terrain conditions such as climbing, descending, and turning, and improves the flexibility and adaptability of the device in various scenarios, ensuring that users can obtain stable assistance even in complex terrain. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the wearable and walking assistance device of this utility model;

[0019] Figure 2 This is an exploded structural diagram of the leg component of the wearable and walking assistance device of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of the limiting seat of the wearable and walking assistance device of this utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the swing base of the wearable and walking assistance device of this utility model;

[0022] Figure 5 This is a schematic diagram of the control device for the wearable and walking assistance device of this utility model. Figure 1 ;

[0023] Figure 6 This is a schematic diagram of the control device for the wearable and walking assistance device of this utility model. Figure 2 ;

[0024] Figure 7 This is an exploded structural diagram of the control device of the wearable and walking assistance device of this utility model.

[0025] Figure 8 This is an exploded structural diagram of the servo motor unit of the wearable and walking assistance device of this utility model;

[0026] Reference numerals: 1. Waist assembly; 11. Control device; 111. Power take-off arm; 112. Battery housing; 1121. Through slot; 1122. Limit buckle; 1123. Mounting base; 1124. Rotating shaft; 1125. Actuating block; 1126. Movable block; 113. Adjustable bracket; 114. Servo unit; 1141. Permanent magnet synchronous motor; 1142. Planetary gear reducer; 11 43. Gear; 1144. Output shaft; 12. Waist belt; 2. Leg assembly; 21. Connecting rod; 22. Leg strap; 23. Universal structure; 231. Universal head; 232. Limit seat; 2321. Swing groove; 233. Swing seat; 2331. Bottom; 2332. Protrusion; 234. Fixing cover; 235. First pin; 236. Washer; 237. Bushing; 3. Through hole. Detailed Implementation

[0027] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] It should be noted that when a component is referred to as "mounted on", "set on", "covered on", "sleeved on", or "locked on" another component, it can be directly on the other component or indirectly on the other component.

[0029] It should be understood that in the description of this utility model, "several" means two or more, unless otherwise explicitly specified.

[0030] Furthermore, the terms “inner,” “upper,” “between,” “both sides,” “one side,” “top,” “side,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] It should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," "third," etc., may explicitly or implicitly include one or more of that feature.

[0032] It should be noted that the "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Here, A and B can be singular or plural, respectively.

[0033] Example 1

[0034] Please refer to Figures 1-8 This utility model provides a wearable and walking assistance device, including a waist component 1 and a leg component 2. The leg component 2 is connected to the waist component 1. The user needs to wear the waist component 1 on the waist and the leg component 2 on the left and right legs. Both the waist component 1 and the leg component 2 are provided with adjustment ports, which can be loosely adjusted according to the user's own body shape to ensure that the device can be stably worn by users of different body shapes.

[0035] The leg assembly 2 includes a connecting rod 21, a leg strap 22, and a universal joint 23. One end of the connecting rod 21 is connected to the waist assembly 1, and the universal joint 23 is located at the other end of the connecting rod 21 and is connected to the leg strap 22. (Refer to...) Figure 2 The connecting rod 21 is a curved connecting rod. When the user wears this device, the connecting rod 21 forms a line from the side of the thigh to the front of the thigh. The universal structure 23 allows the leg strap 22 to swing around one end of the connecting rod 21. In particular, when the user is climbing, descending, or turning, the universal structure 23 provides assistance to the user's thigh, allowing the thigh to switch angles more quickly, thus improving the flexibility and adaptability of the device in various scenarios.

[0036] Specifically, the universal structure 23 is a limited-angle universal structure 23. The reason for designing it as a limited-angle universal structure 23 is that the device is used for rehabilitation training and daily assistance. The most common movement for users is walking, and the user's thighs do not move much. Allowing the leg strap 22 to swing at a certain angle with the user's movements provides assistance and improves the device's flexibility. The universal structure 23 includes a universal head 231, a limiting seat 232, a swing seat 233, a fixing cover 234, a first pin 235, a gasket 236, and a bushing 237. The universal head 231 is flat and round. The universal head 231 is secured within the limiting seat 232 by the swing seat 233 and the fixing cover 234. The limiting seat 232 has a swing groove 2321, the width of which limits the swing angle or range. The swing seat 233 is installed in the swing groove 2321. Both the universal head 231 and the swing seat 233 are provided with through holes 3. The first pin 235 passes through the through hole 3. The swing seat 233 is located between the gasket 236 and the bushing 237. The gasket 236 and the bushing 237 are used to reinforce the swing seat 233 in the limiting seat 232. Therefore, the gasket 236 and the bushing 237 can be omitted in this universal structure 23. The fixing cover 234 covers the swing groove 2321 and surrounds the universal head 231, the swing seat 233 and the bushing 237. The swing seat 233 includes a bottom 2331 and a protrusion 2332. The through hole 3 is provided on the protrusion 2332. The universal head 231 is provided in the protrusion 2332. The bottom 2331 is located in the swing groove 2321.

[0037] Reference Figure 2The fixed cover 234 has a round hole in the middle. The assembly process of the universal structure 23 will be described in detail below. First, the limiting seat 232 is placed on the leg connecting plate. The swing groove 2321 is shaped like a central circle with two side ears. The gasket 236 is first installed in the circular area of ​​the swing groove 2321. The bottom 2331 of the swing seat 233 is also shaped like a central circle with two side ears. The width of the side ears of the swing seat 233 is smaller than the width of the side ears of the swing groove 2321, meaning the smaller side ear moves along the larger side ear. Next, the swing seat 233 is placed on the surface of the gasket 236. Then, the fixed cover 234 and the bushing 2... 37 passes through one side of the universal head 231; further, align the through hole 3 of the universal head 231 and the through hole 3 of the limiting seat 232, and insert the first pin 235 into the through hole 3; then, move the bushing 237 so that the bushing 237 surrounds the protrusion 2332 of the universal head 231 and the swing seat 233; finally, move the fixing cover 234, the round hole of the fixing cover 234 surrounds the bushing 237, and the fixing cover 234 and the limiting seat 232 are provided with connecting holes. Screws are inserted into the connecting holes to fix the fixing cover 234 to the limiting seat 232 and limit the universal head 231 within the limiting seat 232.

[0038] In addition, the waist component 1 includes a control device 11 and a waist belt 12. The control device 11 is used to provide power and drive force to the leg component 2. The waist belt 12 is fixedly connected to the control device 11. The control device 11 has power output arms 111 at both ends. The power output arms 111 are connected to one end of the connecting rod 21. Specifically, a second pin is provided between the power output arms 111 and the connecting rod 21, and the connection and fixation are achieved by the second pin. The waist belt 12 is made of soft material, making it more comfortable for the user to wear.

[0039] Furthermore, the control device 11 includes a battery box 112, an adjustable bracket 113, and a servo motor 114. One end of the adjustable bracket 113 is movably connected to the battery box 112, and the adjustable bracket 113 is disposed on both sides of the battery box 112. The servo motor 114 is fixedly connected to the other end of the adjustable bracket 113.

[0040] Furthermore, the servo unit 114 includes a permanent magnet synchronous motor 1141, a planetary gear reducer 1142, and a plurality of gears 1143. The permanent magnet synchronous motor 1141 and the planetary gear reducer 1142 are both provided with an output shaft 1144. The gears 1143 are mounted on the output shaft 1144 and are meshed with each other. The output shaft 1144 of the planetary gear reducer 1142 is also connected to the power output arm 111.

[0041] The battery box 112 has a built-in PCB circuit board with an encoder and sensors. The PCB circuit board can acquire the operating status of the permanent magnet synchronous motor 1141 of the servo unit 114 in real time, and adjust the output of the permanent magnet synchronous motor 1141 through a closed-loop control algorithm to ensure that the servo unit 114 can dynamically adjust the assist level according to the user's walking mode and terrain changes. When the motor load changes, the system can respond quickly and adjust the output power to maintain assist stability and prevent overload or loss of control.

[0042] Since the control device 11 is located on one side of the belt component 12, and the control device 11 is semi-circular, the control device 11 also needs to be adapted to the user's body shape; specifically, the battery box 112 has through slots 1121 and limiting buckles 1122 at both ends, one end of the adjustable bracket 113 moves telescopically along the through slots 1121, and the limiting buckles 1122 are located on one side of the through slots 1121; see reference Figure 7 When the limit buckle 1122 is opened, the adjustable bracket 113 can move telescopically; when the limit buckle 1122 is pressed, the current position of the adjustable bracket 113 is fixed.

[0043] More specifically, the limiting buckle 1122 includes a mounting base 1123, a rotating shaft 1124, a lever block 1125, and a movable block 1126. The rotating shaft 1124 passes through the lever block 1125 and the mounting base 1123, and the rotating shaft 1124 houses the lever block 1125 within the mounting base 1123. The movable block 1126 is located on one side of the mounting base 1123, and the lever block 1125 abuts against the... The movable block 1126 is movable and abuts against the adjustable bracket 113. When the limit buckle 1122 is pried open, that is, the prying block 1125 is lifted up, the movable block 1126 does not abut against the adjustable bracket 113, and the adjustable bracket 113 can move telescopically. When the limit buckle 1122 is pressed down, that is, the prying block 1125 is pressed and fixed, the prying block 1125 abuts against the adjustable bracket, and the adjustable bracket 113 cannot move telescopically.

[0044] Example 2

[0045] The difference from Embodiment 1 is that the universal structure 23 has no angle limitation. The universal structure 23 only includes a universal head 231 and a limiting seat 232. The universal head 231 is spherical, and the limiting seat 232 has a concave hemispherical shape. The universal head 231 is locked in the limiting seat 232, which can realize the fixation of the universal head 231 and the rotation of the universal head 231 within the limiting seat 232, so as to realize the 360-degree rotation of the leg strap around the universal head 231.

[0046] Example 3

[0047] The difference from Embodiment 1 is that the limiting buckle 1122 can be an elastic buckle, which allows the movable block 1126 to abut against or move away from the adjustable bracket 113 by means of elastic pressing and contraction.

[0048] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A wearable and walking assistance device, comprising a waist component (1) and a leg component (2), wherein the leg component (2) is connected to the waist component (1), characterized in that, The leg assembly (2) includes a connecting rod (21), a leg strap (22), and a universal structure (23). One end of the connecting rod (21) is connected to the waist assembly (1), and the universal structure (23) is located at the other end of the connecting rod (21). The universal structure (23) is connected to the leg strap (22).

2. The wearable and walking assistance device according to claim 1, characterized in that, The universal structure (23) includes a universal head (231) and a limiting seat (232), wherein the universal head (231) is engaged within the limiting seat (232).

3. The wearable and walking assistance device according to claim 2, characterized in that, The universal structure (23) further includes a swing seat (233), a fixed cover (234), and a first pin (235). The limiting seat (232) is provided with a swing groove (2321). The swing seat (233) is installed in the swing groove (2321). Both the universal head (231) and the swing seat (233) are provided with through holes (3). The first pin (235) passes through the through hole (3). The fixed cover (234) covers the swing groove (2321) and surrounds the universal head (231) and the swing seat (233).

4. The wearable and walking assistance device according to claim 3, characterized in that, The universal structure (23) also includes a gasket (236) and a bushing (237), and the swing seat (233) is disposed between the gasket (236) and the bushing (237).

5. The wearable and walking assistance device according to claim 3, characterized in that, The swing seat (233) includes a bottom (2331) and a protrusion (2332), the through hole (3) is provided on the protrusion (2332), the universal head (231) is provided in the protrusion (2332), and the bottom (2331) is located in the swing groove (2321).

6. The wearable and walking assistance device according to claim 1, characterized in that, The waist assembly (1) includes a control device (11) and a waist belt (12). The waist belt (12) is fixedly connected to the control device (11). The control device (11) has power output arms (111) at both ends, and the power output arms (111) are connected to one end of the connecting rod (21).

7. The wearable and walking assistance device according to claim 6, characterized in that, The control device (11) includes a battery box (112), an adjustable bracket (113), and a servo motor (114). One end of the adjustable bracket (113) is movably connected to the battery box (112), and the adjustable bracket (113) is located on both sides of the battery box (112). The servo motor (114) is fixedly connected to the other end of the adjustable bracket (113).

8. The wearable and walking assistance device according to claim 7, characterized in that, The battery box (112) has through slots (1121) and limit buckles (1122) at both ends. One end of the adjustable bracket (113) moves telescopically along the through slot (1121), and the limit buckle (1122) is located on one side of the through slot (1121).

9. The wearable and walking assistance device according to claim 8, characterized in that, The limiting buckle (1122) includes a mounting base (1123), a rotating shaft (1124), a lever block (1125), and a movable block (1126). The rotating shaft (1124) passes through the lever block (1125) and the mounting base (1123), and the rotating shaft (1124) positions the lever block (1125) inside the mounting base (1123). The movable block (1126) is located on one side of the mounting base (1123), and the lever block (1125) abuts against the movable block (1126). The movable block (1126) can move to abut against the adjustable bracket (113).

10. The wearable and walking assistance device according to claim 7, characterized in that, The servo unit (114) includes a permanent magnet synchronous motor (1141), a planetary gear reducer (1142), and a plurality of gears (1143). The permanent magnet synchronous motor (1141) and the planetary gear reducer (1142) are both provided with output shafts. The gears (1143) are mounted on the output shaft (1144) and are meshed with each other. The output shaft (1144) of the planetary gear reducer (1142) is also connected to the power output arm (111).

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