A waist rod telescopic adjusting structure and an exoskeleton robot

Abstract

The application discloses a waist rod telescopic adjusting structure, which comprises a main body, an elastic bush, a buckle seat, a buckle and a waist rod, wherein the main body is internally provided with a containing cavity and a mounting hole communicated with the containing cavity; the elastic bush is provided with an opening along the length direction and is sleeved in the mounting hole of the main body; the waist rod is inserted into the mounting hole and passes through the inside of the elastic bush; the buckle seat is rotationally installed on the main body and is provided with a pressing part matched with the outside wall of the elastic bush, and the buckle seat has a locking state and a release state; the buckle is movably installed on the main body and is matched with the buckle seat to keep the buckle seat in the locking state or the release state. The buckle can switch the state of the buckle seat, so that the waist rod can be unlocked and locked, and the size can be adjusted according to the waist circumference and body shape; the elastic bush is provided with the opening and can be shrunk under the cooperation of the buckle and the buckle seat, the elastic bush is in surface contact with the waist rod, and the reliability of the structure is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton robots, specifically to a waist pole telescopic adjustment structure and an exoskeleton robot. Background Technology

[0002] There are two main types of lumbar supports for existing exoskeleton hip-assisting robots. One type is a one-piece structure, which cannot adapt well to the user's waist size and body shape. The other type is an adjustable structure, using a lever-like mechanism similar to adjusting the height of a bicycle seat. However, the existing adjustable structure has the following problems: it requires one component to fit inside another, and the interlocking components are all shaped, requiring high manufacturing precision. In addition, when locking with levers, the force points are linear or point-like on both sides. This can lead to fatigue tearing points at the linear or point-like force points under long-term high torque, which can easily cause the lumbar support to tear and lead to functional failure. Utility Model Content

[0003] To address the aforementioned problems and overcome at least one deficiency, this invention proposes a waist pole telescopic adjustment structure and an exoskeleton robot.

[0004] The technical solution adopted by this utility model is as follows:

[0005] A waist bar telescopic adjustment structure includes a main body, an elastic bushing, a latch seat, a latch, and a waist bar.

[0006] The main body has a receiving cavity, and the main body also has a mounting hole communicating with the receiving cavity, the mounting hole being used for inserting the waist bar;

[0007] The elastic bushing has an opening along its length, the elastic bushing is fitted inside and defined on the mounting hole of the main body, and the inner sidewall of the elastic bushing is adapted to the outer sidewall of the waist bar.

[0008] The waist bar is inserted into the mounting hole and passes through the inside of the elastic bushing;

[0009] The buckle seat is rotatably mounted on the main body. The buckle seat has a pressing part that is adapted to the outer wall of the elastic bushing. The buckle seat has a locked state and a relaxed state. When the buckle seat is locked, the pressing part presses the elastic bushing, so that the elastic bushing presses the locking waist bar, and the waist bar cannot slide relative to the elastic bushing. When the buckle seat is relaxed, the pressing part no longer presses the elastic bushing, and the waist bar can slide relative to the elastic bushing.

[0010] The latch is movably installed on the main body. The latch cooperates with the latch plate seat to keep the latch seat in a locked state or a relaxed state.

[0011] This application allows for switching the state of the buckle seat via a lever, thereby enabling the unlocking and locking of the waist bar and allowing for size adjustment according to body waist circumference and shape; the elastic bushing has an opening and can retract with the cooperation of the lever and buckle seat, and the elastic bushing is in surface contact with the waist bar, effectively improving the reliability of the structure.

[0012] In one embodiment of the present invention, the main body has an exposed area corresponding to the side wall of the elastic bushing, and the buckle seat is disposed on one side of the exposed area.

[0013] Setting an exposed area allows a portion of the elastic bushing to be exposed, facilitating direct contact and engagement between the extrusion section and the elastic bushing, enabling reliable large-area extrusion of the elastic bushing.

[0014] In one embodiment of the present invention, one end of the buckle seat is a rotating end and the other end is a pressure end, the squeezing part is between the rotating end and the pressure end, the rotating end of the buckle seat is rotatably mounted on the main body through a first shaft, and the buckle cooperates with the pressure end of the buckle seat.

[0015] In one embodiment of the present invention, the buckle has a mating end and a control end. The mating end is rotatably mounted on the main body via a second shaft. The mating end is located on the pressure-receiving end side of the buckle seat, and the mating end has a protrusion.

[0016] The buckle plate has a first state and a second state; in the first state, the control end is close to the rotating end of the buckle seat and the protrusion presses against the pressure end of the buckle seat, and the buckle seat is in a locked state; in the second state, the control end is away from the rotating end of the buckle seat and the protrusion no longer presses against the pressure end of the buckle seat, and the buckle seat is in a relaxed state.

[0017] The protrusion design allows the buckle to reliably compress the pressure end when the buckle is in the first state, thereby compressing and shrinking the elastic bushing to tightly hold the waist bar.

[0018] In one embodiment of the present invention, the main body has an oblong hole for inserting the second shaft.

[0019] The design of the waist-shaped hole allows the mating end to move in small strokes in addition to rotating, making it easier for the convex part to better press against the pressure end after rotating.

[0020] In one embodiment of the present invention, one end of the elastic bushing has an anti-detachment hook portion and the other end has a limiting portion. The limiting portion contacts and cooperates with the outer side of the main body to limit the maximum distance the elastic bushing extends into the main body. The anti-detachment hook portion engages with the inner side of the main body to prevent the elastic bushing from detaching from the mounting hole from the inside out.

[0021] In one embodiment of the present invention, an anti-detachment post is installed at one end of the waist bar that extends into the receiving cavity, and the anti-detachment post is used to prevent the waist bar from completely detaching from the main body.

[0022] In one embodiment of this utility model, the main body and the waist bar are made of metal, and the elastic bushing is made of engineering plastic.

[0023] There is a plastic part between the two metal parts to prevent the waist bar and the main body from rubbing directly when pulling out, which would cause the pulling to be unsmooth. The elastic bushing can also play a buffering role between the two metal parts to enhance reliability.

[0024] In practical applications, the preferred choice for elastic bushings is various existing wear-resistant and self-lubricating engineering materials, such as POM, PEEK, PA66+30%GF, etc.

[0025] In one embodiment of this utility model, mounting holes are provided on both the left and right sides of the main body, and there are two elastic bushings, buckle seats, buckles, and waist bars.

[0026] The assembly of the waist bar telescopic adjustment structure in this application is also relatively convenient. One assembly method is as follows:

[0027] First, install the buckle seat onto the main body via the first shaft;

[0028] The buckle is installed on the main body via the second shaft;

[0029] Place the elastic bushing inside the mounting hole and push the elastic bushing all the way down so that the anti-slip part contacts the main body, ensuring that the anti-slip hook part is in place.

[0030] Insert the waist bar into the elastic bushing, and install the anti-slip post at the end of the waist bar.

[0031] This application also discloses an exoskeleton robot, including the waist pole telescopic adjustment structure described above.

[0032] The beneficial effects of this utility model are: the application can switch the state of the buckle seat through the buckle, thereby realizing the unlocking and locking of the waist bar, and can adjust the size according to the body waist circumference; the elastic bushing has an opening, which can be contracted under the cooperation of the buckle and the buckle seat, and the elastic bushing is in surface contact with the waist bar, which effectively improves the reliability of the structure. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the waist bar telescopic adjustment structure when the buckle seat is in the locked state;

[0034] Figure 2 It is a waist bar extension adjustment structure that adjusts the waist bar's telescopic movement after it extends outwards;

[0035] Figure 3This is a front view of the waist bar telescopic adjustment structure;

[0036] Figure 4 yes Figure 3 AA section view;

[0037] Figure 5 yes Figure 4 Enlarged view of point A in the middle;

[0038] Figure 6 This is a schematic diagram of the telescopic adjustment structure of the rear waist bar, which is part of the hidden main structure.

[0039] Figure 7 This is a schematic diagram of the waist bar telescopic adjustment structure when one of the buckle seats is in the relaxed state;

[0040] Figure 8 This is an exploded view of the waist bar telescopic adjustment structure;

[0041] Figure 9 This is a further exploded view of the waist bar telescopic adjustment structure.

[0042] The labels for the attached figures are as follows:

[0043] 1. Main body; 11. Receiving cavity; 12. Mounting hole; 13. Exposed area; 14. Waist-shaped hole; 2. Elastic bushing; 21. Opening; 22. Anti-detachment hook part; 23. Limiting part; 3. Lever seat; 31. Pressing part; 32. Rotating end; 33. Pressurized end; 4. Lever; 41. Mating end; 411. Protrusion; 42. Control end; 5. Waist rod; 6. First shaft; 7. Second shaft; 8. Anti-detachment column. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0045] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for 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 application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0046] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0047] The present invention will now be described in detail with reference to the accompanying drawings.

[0048] like Figures 1-9 As shown, a telescopic adjustment structure for a waist bar 5 includes a main body 1, an elastic bushing 2, a latch seat 3, a latch 4, and a waist bar 5.

[0049] The main body 1 has a receiving cavity 11, and the main body 1 also has a mounting hole 12 communicating with the receiving cavity 11. The mounting hole 12 is used for inserting the waist bar 5.

[0050] The elastic bushing 2 has an opening 21 along its length. The elastic bushing 2 is fitted inside and defined on the mounting hole 12 of the main body 1. The inner sidewall of the elastic bushing 2 is adapted to the outer sidewall of the waist bar 5.

[0051] The waist bar 5 is inserted into the mounting hole 12 and passes through the inside of the elastic bushing 2;

[0052] The buckle seat 3 is rotatably mounted on the main body 1. The buckle seat has a pressing part 31 that is adapted to the outer wall of the elastic bushing 2. The buckle seat 3 has a locked state and a relaxed state. When the buckle seat 3 is locked, the pressing part 31 presses the elastic bushing 2, so that the elastic bushing 2 presses the locking waist bar 5, and the waist bar 5 cannot slide relative to the elastic bushing 2. When the buckle seat 3 is relaxed, the pressing part 31 no longer presses the elastic bushing 2, and the waist bar 5 can slide relative to the elastic bushing 2.

[0053] The latch 4 is movably installed on the main body 1. The latch 4 cooperates with the latch plate seat to keep the latch seat 3 in the locked state or in the relaxed state.

[0054] This application allows the lever 4 to switch the state of the lever seat 3, thereby enabling the unlocking and locking of the waist bar 5 and adjusting the size according to the body's waist circumference; the elastic bushing 2 has an opening 21, which can be contracted with the cooperation of the lever 4 and the lever seat 3, and the elastic bushing 2 and the waist bar 5 are in surface contact, effectively improving the reliability of the structure.

[0055] like Figure 8 and 9 As shown, in this embodiment, the main body 1 has an exposed area 13 corresponding to the side wall of the elastic bushing 2, and the buckle seat 3 is disposed on one side of the exposed area 13.

[0056] The exposed area 13 allows a portion of the elastic bushing 2 to be exposed, facilitating direct contact and engagement between the extrusion part 31 and the elastic bushing 2, enabling reliable large-area extrusion of the elastic bushing 2.

[0057] like Figure 7 and 8 As shown, in this embodiment, one end of the buckle seat 3 is a rotating end 32 and the other end is a pressure end 33. The squeezing part 31 is located between the rotating end 32 and the pressure end 33. The rotating end 32 of the buckle seat 3 is rotatably mounted on the main body 1 through the first shaft 6. The buckle 4 cooperates with the pressure end 33 of the buckle seat 3.

[0058] like Figure 7 and 8 As shown, in this embodiment, the latch 4 has a mating end 41 and a control end 42. The mating end 41 is rotatably mounted on the main body 1 via the second shaft 7. The mating end 41 is located on the side of the pressure end 33 of the latch seat 3. The mating end 41 has a protrusion 411.

[0059] The buckle plate has a first state and a second state. In the first state, the control end 42 is close to the rotating end 32 of the buckle seat 3 and the protrusion 411 presses against the pressure end 33 of the buckle seat 3, and the buckle seat 3 is in a locked state. In the second state, the control end 42 is away from the rotating end 32 of the buckle seat 3 and the protrusion 411 no longer presses against the pressure end 33 of the buckle seat 3, and the buckle seat 3 is in a relaxed state.

[0060] The design of the protrusion 411 enables the buckle plate to reliably squeeze the pressure end 33 when it is in the first state, thereby causing the squeezing part 31 to press and shrink the elastic bushing 2 and tightly hug the waist bar 5.

[0061] like Figure 7 and 8 As shown, in this embodiment, the main body 1 has an oblong hole 14 for inserting the second shaft 7.

[0062] The design of the waist-shaped hole allows the mating end 41 to move with a small stroke in addition to rotating, which makes it easier for the protrusion 411 to better press against the pressure end 33 after rotating.

[0063] like Figure 5 , 6 As shown in Figure 9, in this embodiment, the elastic bushing 2 has an anti-disengagement hook portion 22 at one end and a limiting portion 23 at the other end. The limiting portion 23 contacts and cooperates with the outer side of the main body 1 to limit the maximum distance that the elastic bushing 2 extends into the main body 1. The anti-disengagement hook portion 22 engages and cooperates with the inner side of the main body 1 to prevent the elastic bushing 2 from disengaging from the inside to the outside of the mounting hole 12.

[0064] like Figure 4 , 5As shown in Figure 9, in this embodiment, an anti-detachment post 8 is installed at one end of the waist bar 5 that extends into the receiving cavity 11. The anti-detachment post 8 is used to prevent the waist bar 5 from completely detaching from the main body 1.

[0065] In this embodiment, the main body 1 and the waist bar 5 are made of metal, and the elastic bushing 2 is made of engineering plastic.

[0066] There is a plastic part between the two metal parts to prevent the waist rod 5 and the main body 1 from rubbing directly when pulling out, which would cause the pulling to be unsmooth. The elastic bushing 2 can also play a buffering role between the two metal parts to enhance reliability.

[0067] In practical applications, the elastic bushing 2 is preferably made of various existing wear-resistant and self-lubricating engineering materials, such as POM, PEEK, PA66+30%GF, etc.

[0068] like Figure 1 and 2 As shown, in this embodiment, mounting holes 12 are provided on both the left and right sides of the main body 1, and there are two elastic bushings 2, buckle seats 3, buckles 4 and waist bars 5.

[0069] The assembly of the telescopic adjustment structure of the waist bar 5 in this application is also relatively convenient. One assembly method is as follows:

[0070] First, install the buckle seat 3 onto the main body 1 via the first shaft 6;

[0071] The buckle 4 is installed on the main body 1 via the second shaft 7;

[0072] Fit the elastic bushing 2 into the mounting hole 12, push the elastic bushing 2 all the way down, so that the anti-slip part contacts the main body 1, and ensure that the anti-slip hook part 22 is in place.

[0073] Insert the waist bar 5 into the elastic bushing 2, and install the anti-detachment post 8 at the end of the waist bar 5.

[0074] This embodiment also discloses an exoskeleton robot, including the telescopic adjustment structure of the waist bar 5 mentioned in this embodiment.

[0075] The above description is only a preferred embodiment of the present utility model and does not limit the scope of patent protection of the present utility model. Any equivalent structural transformations made based on the content of the present utility model specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present utility model.

Claims

1. A waist bar telescopic adjustment structure, characterized in that, Includes the main body, elastic bushing, buckle seat, buckle, and waist bar: The main body has a receiving cavity, and the main body also has a mounting hole communicating with the receiving cavity, the mounting hole being used for inserting the waist bar; The elastic bushing has an opening along its length, the elastic bushing is fitted inside and defined on the mounting hole of the main body, and the inner sidewall of the elastic bushing is adapted to the outer sidewall of the waist bar. The waist bar is inserted into the mounting hole and passes through the inside of the elastic bushing; The buckle seat is rotatably mounted on the main body. The buckle seat has a pressing part that is adapted to the outer wall of the elastic bushing. The buckle seat has a locked state and a relaxed state. When the buckle seat is locked, the pressing part presses the elastic bushing, so that the elastic bushing presses the locking waist bar, and the waist bar cannot slide relative to the elastic bushing. When the buckle seat is relaxed, the pressing part no longer presses the elastic bushing, and the waist bar can slide relative to the elastic bushing. The latch is movably installed on the main body. The latch cooperates with the latch plate seat to keep the latch seat in a locked state or a relaxed state.

2. The waist bar telescopic adjustment structure as described in claim 1, characterized in that, The main body has an exposed area corresponding to the side wall of the elastic bushing, and the buckle seat is disposed on one side of the exposed area.

3. The waist bar telescopic adjustment structure as described in claim 2, characterized in that, One end of the latch seat is a rotating end, and the other end is a pressure end. The squeezing part is located between the rotating end and the pressure end. The rotating end of the latch seat is rotatably mounted on the main body via a first shaft, and the latch engages with the pressure end of the latch seat.

4. The waist bar telescopic adjustment structure as described in claim 3, characterized in that, The latch has a mating end and a control end. The mating end is rotatably mounted on the main body via a second shaft. The mating end is located on the pressure-receiving end side of the latch seat, and the mating end has a protrusion. The buckle plate has a first state and a second state; in the first state, the control end is close to the rotating end of the buckle seat and the protrusion presses against the pressure end of the buckle seat, and the buckle seat is in a locked state; in the second state, the control end is away from the rotating end of the buckle seat and the protrusion no longer presses against the pressure end of the buckle seat, and the buckle seat is in a relaxed state.

5. The waist bar telescopic adjustment structure as described in claim 4, characterized in that, The main body has an oblong hole for inserting the second shaft.

6. The waist bar telescopic adjustment structure as described in claim 1, characterized in that, The elastic bushing has an anti-detachment hook at one end and a limiting part at the other end. The limiting part contacts and cooperates with the outer side of the main body to limit the maximum distance the elastic bushing extends into the main body. The anti-detachment hook is engaged with the inner side of the main body to prevent the elastic bushing from detaching from the mounting hole from the inside out.

7. The waist bar telescopic adjustment structure as described in claim 1, characterized in that, An anti-detachment post is installed at one end of the waist bar that extends into the receiving cavity. The anti-detachment post is used to prevent the waist bar from completely detaching from the main body.

8. The waist bar telescopic adjustment structure as described in claim 1, characterized in that, The main body and waist bar are made of metal, and the elastic bushing is made of engineering plastic.

9. The waist bar telescopic adjustment structure as described in claim 1, characterized in that, The main body has mounting holes on both the left and right sides, and there are two elastic bushings, buckle seats, buckles, and waist bars.

10. An exoskeleton robot, characterized in that, Includes the waist bar telescopic adjustment structure as described in any one of claims 1 to 9.

Images