A lumbar support module of an exoskeleton

Abstract

This utility model discloses a waist module for an assistive exoskeleton, including a crossbeam, a tray, a limiting component that allows the tray to be flipped to support heavy objects, and an adjustment component. The limiting component includes at least one connector spaced apart on the outer side of the crossbeam. The adjustment component includes guard plates that can be inserted into both ends of the crossbeam and multiple limiting holes on the upper surface of the crossbeam. Each guard plate has a limiting post at one end that can be inserted into the corresponding limiting hole after being pressed. By setting slots at the top of each waist guard plate, a soft connection structure with the backpack can be achieved. The tray is hinged in the middle of the crossbeam. By flipping the tray to support heavy objects, not only is there no hard contact between the backpack and the human body after connection, further improving the wearing experience, but it also generates a clockwise torque on the energy storage module, which can cancel out the torque in the opposite direction generated by the weight of the backpack, thereby improving the comfort of wearing the exoskeleton. This utility model belongs to the field of robot design.

Description

Technical Field

[0001] This utility model belongs to the field of robot design, and more specifically relates to a waist module of an assistive exoskeleton. Background Technology

[0002] Existing passive power exoskeletons mostly exhibit linearly changing assist curves, meaning they decrease linearly as the leg lifting angle increases. This leads to significant reaction forces on the lower back during standing and leg extension, making the assist effect less noticeable and resulting in poor performance. Furthermore, the lower back module requires a large structural support area to balance the reaction forces generated by the energy storage device, making the entire device complex, heavy, and bulky. It also makes effective connection to a backpack or, if connected, to the user's back, resulting in a poor user experience. Utility Model Content

[0003] The main purpose of this invention is to provide a lumbar support module of an exoskeleton that can effectively balance the reaction force generated by the energy storage device and further enhance the user experience.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows:

[0005] A lumbar support module for an assistive exoskeleton includes a crossbeam, a tray, a limiting component that allows the tray to be flipped over to support heavy objects, and an adjustment component. At least one lumbar support plate is vertically mounted at each end of the crossbeam. Each lumbar support plate has a slot at its top for strap installation. The lumbar support plate and the tray are respectively positioned on the inner and outer sides of the crossbeam. The limiting component includes at least one connector spaced apart on the outer side of the crossbeam. One end of each connector is fixedly connected to the crossbeam, and the other end is hinged to the tray. The adjustment component includes support plates that can be inserted from both ends of the crossbeam and multiple limiting holes on the upper surface of the crossbeam. One end of each support plate has a limiting post that can be inserted into the corresponding limiting hole after a pressing operation.

[0006] According to a first aspect of the present invention, the limiting component further includes grooves spaced apart on the edge of the tray for mounting the connector and a connector for fixing the connector to the crossbeam.

[0007] According to a first aspect of the present invention, the thickness of the tray gradually decreases from one side near the crossbeam to the other side.

[0008] According to a first aspect of the present invention, the adjusting assembly further includes an elastic member for connecting the limiting post and the guard plate, one end of the elastic member being fixedly connected to the guard plate, and the limiting post being disposed perpendicular to the other end of the elastic member.

[0009] According to a first aspect of the present invention, the crossbeam has a cavity through which the elastic member can pass, and the limiting post is disposed perpendicular to the upper end surface of the corresponding elastic member. The corresponding guard plate can be unlocked by pressing the limiting post.

[0010] According to a first aspect of the present invention, the height of the limiting post is less than the height of the cavity.

[0011] According to a first aspect of the present invention, the limiting holes include two sets, with a spacing between the two sets of limiting holes, and each set of limiting holes is arranged sequentially along the length direction of the crossbeam.

[0012] According to a first aspect of the present invention, the inner diameter of the limiting hole is larger than the diameter of the limiting post.

[0013] According to a first aspect of the present invention, the waist guard plate has an arc surface at one end away from the slot.

[0014] According to a first aspect of the present invention, each of the slots has an opening at its top for a strap to pass through.

[0015] One of the above-described technical solutions of this utility model has at least one of the following advantages or beneficial effects:

[0016] This invention achieves a flexible connection structure with the backpack by setting slots at the top of each waist support plate. A tray is hinged in the middle of the crossbeam. By flipping the tray, heavy objects can be supported. This not only ensures that there is no hard contact between the backpack and the human body after connection, further improving the wearing experience, but also generates a clockwise torque on the energy storage module, which can cancel out the torque generated in the opposite direction by the weight of the backpack, thereby improving the comfort of wearing the exoskeleton. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0018] Appendix Figure 1 This is an overall structural diagram of one embodiment of the present utility model;

[0019] Appendix Figure 2 This is a cross-sectional view of one side guard plate of one embodiment of the present invention;

[0020] Appendix Figure 3 This is another perspective of a cross-sectional view of one side guard plate of one embodiment of the present utility model;

[0021] Appendix Figure 4 This is a rear view of one embodiment of the present invention;

[0022] Appendix Figure 5 A side view of the tray according to one embodiment of the present invention;

[0023] Appendix Figure 6 This is a side view of a tray storage device according to an embodiment of the present invention. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0025] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional 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.

[0026] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first" or "second" is used in the description, it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0027] Furthermore, the terms "first" and "second" 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 as "first" and "second" may explicitly or implicitly include one or more features.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection or a movable connection, a detachable connection or a non-detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection or a connection that can communicate with each other; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two elements, an indirect connection, or an interaction between two elements.

[0029] The following disclosure provides many different implementation methods or examples for different solutions to implement this utility model.

[0030] See attached document Figure 1To be continued Figure 6 As shown, a lumbar support module of an assistive exoskeleton includes a crossbeam 1, a tray 3, a limiting component that allows the tray 3 to be flipped over to support heavy objects, and an adjustment component 5.

[0031] In one embodiment of this utility model, a waist guard plate 2 is vertically provided at both ends of the crossbeam 1. The waist guard plate 2 can be set at an ergonomic angle with the crossbeam 1. The waist guard plate 2 and the tray 3 are respectively set on the inner and outer sides of the crossbeam 1. The top of each waist guard plate 2 is provided with a slot 21 for strap installation. The top of each slot 21 is provided with an opening for the strap to pass through, which can realize a soft connection structure with the backpack. Moreover, the tray 3 is hinged in the middle of the crossbeam 1. By flipping the tray 3 to support heavy objects, there is no hard contact between the backpack and the human body after connection, which further improves the wearing experience.

[0032] In one embodiment of this utility model, the limiting component includes two connectors 41 spaced apart on the outer side of the crossbeam 1, grooves spaced apart on the edge of the tray 3 for mounting the corresponding connectors 41, and connectors that fix the connectors 41 to the crossbeam 1. One end of each connector 41 is fixedly connected to the crossbeam 1, and the other end of each connector 41 is hinged to the tray 3. Thus, by flipping the tray 3 to support heavy objects, a clockwise torque is generated on the energy storage module, which can cancel out the torque in the opposite direction generated by the weight of the backpack, thereby improving the comfort of wearing the exoskeleton.

[0033] In one embodiment of this utility model, the thickness of the tray 3 gradually decreases from one side near the crossbeam 1 to the other side. This not only effectively ensures the safety of supporting heavy objects after the tray 3 is flipped, but also enhances the aesthetics after the tray 3 is folded. Furthermore, the tray 3 can be flipped to support heavy objects and is easy to store when folded. Thus, when combined with a backpack, all structural components of the exoskeleton are located at the bottom of the backpack and outside the waist belt, without contacting the human body, and do not affect the wearing and use of the backpack.

[0034] In one embodiment of the present invention, the adjusting component 5 includes a guard plate 51 that can be inserted from both ends of the crossbeam 1, a plurality of limiting holes 52 disposed on the upper end surface of the crossbeam 1, and an elastic member 54 for connecting the limiting post 53 and the guard plate 51. One end of the elastic member 54 is fixedly connected to the guard plate 51, and the limiting post 53 is disposed perpendicular to the other end of the elastic member 54. One end of each guard plate 51 is provided with a limiting post 53 that can be inserted into the corresponding limiting hole 52 after the pressing operation.

[0035] In one embodiment of this utility model, the crossbeam 1 has a cavity through which the elastic member 54 can pass, and the limiting post 53 is set perpendicular to the upper end surface of the corresponding elastic member 54. The corresponding guard plate 51 can be unlocked by pressing the limiting post 53.

[0036] In one embodiment of this utility model, the limiting hole 52 includes two sets, and there is a gap between the two sets of limiting holes 52 to prevent the elastic element 54 at one end from not contacting when the guard plates 51 at both ends are inserted into the crossbeam 1 in opposite directions, thus affecting the adjustment operation.

[0037] In one embodiment of this utility model, each set of limiting holes 52 is arranged sequentially along the length direction of the crossbeam 1, and the inner diameter of the limiting hole 52 is larger than the diameter of the limiting post 53, and the height of the limiting post 53 is smaller than the height of the cavity, so as to ensure that the corresponding guard plate 51 can be unlocked by pressing the limiting post 53, and then the width between the left and right guard plates 51 can be adjusted by inserting the limiting post 53 into different limiting holes 52 on the crossbeam 1.

[0038] In one embodiment of this utility model, each of the protective plates 51 is provided with a limiting groove for installing the energy storage module at the end away from the elastic member 54. The limiting groove includes a straight section for sliding left and right on the limiting protrusion provided on the corresponding side of the energy storage box and a vertical section for locking the energy storage box and the corresponding side protective plate 51. Sliding the energy storage box to the designated position can make the energy storage module and the waist module have a locked first state. Pressing the quick release button protruding from the energy storage box can make the energy storage module and the waist module have an unlocked second state.

[0039] The specific quick-release connection principle is as follows: by aligning the dovetail groove on the inner cover of the energy storage box with the limiting groove on the corresponding side guard plate 51 and pushing it in, the limiting protrusion at the movable end of the quick-release button slides under the guidance of the straight section. When the inner cover is pushed all the way in, the limiting protrusion slides down and embeds into the vertical section under the action of the return spring, thus locking. When unlocking, by pressing the quick-release button, the limiting protrusion is driven to compress the return spring and slide down, disengaging from the vertical section of the limiting groove. Pulling down the corresponding inner cover, the limiting protrusion can slide out along the vertical section of the limiting groove, thus separating the corresponding inner cover from the corresponding side guard plate 51.

[0040] This assisted exoskeleton waist module achieves a soft connection structure with the backpack by setting slots 21 at the top of each waist guard plate 2. The tray 3 is hinged in the middle of the crossbeam 1. By flipping the tray 3 to support heavy objects, not only can there be no hard contact between the backpack and the human body after connection, further improving the wearing experience, but also the clockwise torque generated on the energy storage module can cancel out the torque generated in the opposite direction by the weight of the backpack, further improving the comfort of wearing the exoskeleton.

[0041] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A powered exoskeleton waist module, characterized by, include: A crossbeam (1) is provided with at least one waist guard plate (2) at each end of the crossbeam (1), and each waist guard plate (2) is provided with a slot (21) for strap installation at the top. The tray (3) and the waist guard plate (2) are respectively disposed on the inner and outer sides of the crossbeam (1); A limiting component that allows the tray (3) to be flipped over to support heavy objects includes at least one connector (41) spaced apart on the outside of the crossbeam (1), one end of each connector (41) being fixedly connected to the crossbeam (1), and the other end of each connector (41) being hinged to the tray (3). Adjustment component (5) includes a guard plate (51) that can be inserted from both ends of the crossbeam (1) and a plurality of limiting holes (52) provided on the upper end face of the crossbeam (1). Each guard plate (51) has a limiting post (53) at one end that can be inserted into the corresponding limiting hole (52) after pressing operation.

2. The assistive exoskeleton waist module of claim 1, wherein: The limiting component also includes grooves spaced at intervals on the edge of the tray (3) for mounting the corresponding connector (41) and a connector for fixing the connector (41) to the beam (1).

3. The assistive exoskeleton waist module of claim 2, wherein: The thickness of the tray (3) gradually decreases from one side near the crossbeam (1) to the other side.

4. The assistive exoskeleton waist module of claim 1, wherein: The adjustment assembly (5) further includes an elastic element (54) for connecting the limiting post (53) and the guard plate (51). One end of the elastic element (54) is fixedly connected to the guard plate (51), and the limiting post (53) is arranged perpendicular to the other end of the elastic element (54).

5. The assistive exoskeleton waist module of claim 4, wherein: The crossbeam (1) has a cavity through which the elastic member (54) can pass. The limiting post (53) is set perpendicular to the upper end face of the corresponding elastic member (54). The corresponding guard plate (51) can be unlocked by pressing the limiting post (53).

6. The assistive exoskeleton waist module of claim 5, wherein: The height of the limiting post (53) is less than the height of the cavity.

7. The lumbar support module of the assistive exoskeleton according to claim 1, characterized in that: The limiting holes (52) include two sets, with a spacing between the two sets of limiting holes (52), and each set of limiting holes (52) is arranged sequentially along the length direction of the crossbeam (1).

8. The lumbar support module of the assistive exoskeleton according to claim 7, characterized in that: The inner diameter of the limiting hole (52) is larger than the diameter of the limiting post (53).

9. The lumbar support module of the assistive exoskeleton according to claim 1, characterized in that: The waist guard plate (2) has an arc surface at one end away from the slot (21).

10. The lumbar support module of the assistive exoskeleton according to claim 9, characterized in that: Each of the slots (21) has an opening at the top for the strap to pass through.

Images