CN110861070A

CN110861070A - Support assembly and exoskeleton robot

Info

Publication number: CN110861070A
Application number: CN201910975236.XA
Authority: CN
Inventors: 吴新宇; 彭安思; 陈春杰; 王灿; 王超; 闫泽峰; 何勇; 李南; 郭子铭; 马勋举
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2019-10-14
Filing date: 2019-10-14
Publication date: 2020-03-06
Anticipated expiration: 2039-10-14
Also published as: CN110861070B

Abstract

The application provides a supporting component and an exoskeleton robot, wherein the supporting component comprises a leg component, a waist component and an elastic component, the waist component can rotate relative to the leg component, and the elastic component can generate elastic deformation during the rotation of the waist component relative to the leg component so as to generate elastic restoring force to support the waist component. In the process of bending down, the elastic restoring force can support the bending part of the body of the user, so that the auxiliary user can maintain the bending state required by production operation more easily, the fatigue of the waist is relieved, and the injury to the waist is reduced or even eliminated.

Description

Support assembly and exoskeleton robot

Technical Field

The application relates to the technical field of walking-aid robots, in particular to a supporting assembly and an exoskeleton robot.

Background

The exoskeleton robot is a non-invasive mechanical device directly equipped on a human body. After a user wears the exoskeleton robot, the exoskeleton robot can play roles in supporting a human body, assisting the human body to move, reducing the sense of load and the like.

At present, operators engaged in industries such as logistics transportation, building transportation, automobile assembly, airplane assembly and the like often need to work in a stooping state for a long time, the operators are easy to feel fatigue, and the waist is easy to be greatly injured, such as lumbar vertebra strain, lumbar disc herniation and the like.

Disclosure of Invention

The application mainly provides a supporting assembly and an exoskeleton robot, and aims to solve the problem that in the prior art, supporting and protecting effects on a bending-over operator are poor.

In order to solve the above technical problems, the present application provides a support assembly including a leg assembly, a waist assembly capable of rotating relative to the leg assembly, and an elastic assembly connected between the leg assembly and the waist assembly; wherein the elastic member is elastically deformable to generate an elastic restoring force during rotation of the waist assembly with respect to the leg assembly, thereby supporting the waist assembly.

In order to solve the technical problem, the application further provides an exoskeleton robot, which comprises the support assembly.

The beneficial effect of this application is: unlike the prior art, the waist assembly of the present application can rotate relative to the leg assembly, and the elastic assembly can be elastically deformed to generate an elastic restoring force during the rotation of the waist assembly relative to the leg assembly, thereby supporting the waist assembly. In the process of bending down, the elastic restoring force can support the bending part of the body of the user, so that the auxiliary user can maintain the bending state required by production operation more easily, the fatigue of the waist is relieved, and the injury to the waist is reduced or even eliminated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is further obvious for those skilled in the art to be able to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of an exoskeleton robot provided herein;

FIG. 2 is an exploded schematic view of the structure of the leg assembly of FIG. 1;

FIG. 3 is an exploded view of the waist assembly of FIG. 1;

FIG. 4 is an exploded schematic view of the structure of the elastomeric component of FIG. 1;

FIG. 5 is a cross-sectional view of the second mounting portion rotatably coupled to the first mounting portion of FIG. 4;

FIG. 6 is a schematic view of the first and second stoppers and the torsional elastic member of FIG. 4 relative to each other;

FIG. 7 is an exploded view of the chest assembly of FIG. 1;

FIG. 8 is an exploded view of the structure of the thoracic support cage of FIG. 1;

FIG. 9 is a schematic cross-sectional view of the structure of the elastically stretchable portion in FIG. 8;

FIG. 10 is a schematic front view of the exoskeletal robot of FIG. 1 worn by a user and in an upright position;

FIG. 11 is a side schematic view of the exoskeletal robot of FIG. 1 worn by a user and in an upright position;

fig. 12 is a side schematic view of the exoskeletal robot of fig. 1 worn by a user and in a stooped position.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The inventor of the application finds that: operators engaged in industries such as logistics transportation, building transportation, automobile assembly, and airplane assembly often need to work in a stooped state for a long time, and are prone to fatigue and serious injuries to the waist, such as lumbar strain and lumbar disc herniation. If the wearable exoskeleton robot realizes assistance through power driving, components such as a battery, a speed reduction motor, a driver, a sensor and a control system account for one third of the weight of the exoskeleton robot, so that the load sense of a user is increased, the man-machine coupling degree is poor, and the equipment cost is high. To this end, the present application provides the following examples.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an exoskeleton robot according to an embodiment of the present application.

The exoskeleton robot 10 of the present embodiment includes a leg assembly 11, a waist assembly 12, an elastic assembly 13 and a chest assembly 14, wherein the waist assembly 12 can rotate relative to the leg assembly 11, the elastic assembly 13 is connected between the leg assembly 11 and the waist assembly 12, and the chest assembly 14 is connected with the waist assembly 12.

Wherein the elastic members 13 are capable of being elastically deformed to generate elastic restoring force during rotation of the waist member 12 relative to the leg members 11, thereby supporting the waist member 12.

In this embodiment, the leg unit 11, the waist unit 12, and the elastic unit 13 may constitute a support unit for the hip joint, and the waist unit 12 and the chest unit 14 may constitute a support unit for the chest.

Optionally, the exoskeleton robot 10 further comprises a leg link base 15 for connecting with the leg assembly 11 and a waist link base 16 for connecting with the waist assembly 12.

Optionally, the leg connecting seat 15 and the waist connecting seat 16 are disposed in a disc shape or a circular ring shape.

Optionally, the exoskeleton robot 10 further comprises a chest support frame 17, one end of the chest support frame 17 is fixedly connected to the chest assembly 14, the other end of the chest support frame 17 is arranged at the waist assembly 12, and the other end of the chest support frame 17 can elastically stretch and contract, so that the length of the chest support frame 17 can be adjusted.

Referring to fig. 2, fig. 2 is an exploded view of the leg assembly 11 of fig. 1.

The leg assembly 11 includes a leg supporting plate 111, a leg binding band 112 and a leg connector 113, the leg supporting plate 111 is movably connected to the leg connector 15, and the leg supporting plate 111 cannot rotate in a first direction and a direction opposite to the first direction with respect to the leg connector 15, the leg connector 113 is connected to both ends of the leg binding band 112 so that the leg binding band 112 is enclosed in a ring shape, and the leg connector 113 is fixedly connected to the leg supporting plate 111, thereby binding the leg assembly 11 to the leg of the user.

The "user" in the embodiment of the present application may be an adult, and there may be a difference in sex, height, weight, etc. among different users, so that there may be a difference in the position where the leg assembly 11 is attached to the leg of the user.

In this embodiment, the first direction may be a direction in which the waist part assembly 12 rotates relative to the leg part assemblies 11 during the process of bending down of the user.

Optionally, the leg support plate 111 and the leg connecting seat 15 are integrally formed, which can reduce the complexity and assembly difficulty of the exoskeleton robot 10.

Optionally, the leg support plate 111 is hinged with the leg connecting base 15, and the leg support plate 111 is rotatable with respect to the leg connecting base 15 in a direction perpendicular to the first direction. In this embodiment, when the leg assembly 11 is bound to the leg of the user, the leg support plate 111 and the leg connection seat 15 are generally located on the outer side of the user, the diameter of the thigh generally decreases from the waist to the lower leg, when the leg connection seat 15 is located at the waist, the leg support plate 111 is bound to the thigh of the user, the leg support plate 111 can rotate in the direction perpendicular to the first direction relative to the leg connection seat 15, that is, the leg support plate 111 can be attached to the thigh of the user, and accordingly the degree of attachment between the leg support plate 111 and the thigh of the user is increased.

Optionally, the leg support plate 111 is partially folded. In this embodiment, one end of the leg support plate 111 close to the leg connecting seat 15 is bent, and when the leg assembly 11 is bound to the leg of the user, the bent portion of the leg support plate 111 close to one end of the leg connecting seat 15 extends toward the direction close to the thigh to reduce the distance between the leg support plate 111 and the waist assembly 12, thereby increasing the fit degree of the leg assembly 11 and the leg of the user.

Optionally, the leg support plate 111 has a curvature to accommodate variations in curvature of the user's leg, e.g., the leg support plate 111 is attached to the user's thighs, which generally taper in diameter from waist to lower legs, thereby increasing the fit between the leg support plate 111 and the user's thighs.

Optionally, the leg binding straps 112 are made of textile fabric, leather, or the like, to provide the leg binding straps 112 with strength and flexibility to increase the binding effect between the leg assembly 11 and the user's leg.

Alternatively, the length of the leg supporting plate 111 corresponds to the length of the user's thighs, and the number of leg binding bands 112 may be plural, and the plurality of leg binding bands 112 bind the leg assembly 11 to the user's legs at different positions, thereby increasing the binding effect.

In this embodiment, the user can adjust the size of the ring-shaped leg-binding band 112 by the leg connector 113, thereby increasing the binding effect.

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

Referring again to fig. 2, the leg assembly 11 further includes a leg connecting rod 114 and a leg blocking plate 115, wherein one end of the leg connecting rod 114 is connected to the leg blocking plate 115, and the other end of the leg connecting rod 114 is connected to one end of the leg supporting plate 111 far away from the leg connecting base 15.

Alternatively, the leg connecting rod 114 is bent, for example, it may be a circular arc member, and when the leg assembly 11 is attached to the leg of the user, one part of the leg connecting rod 114 is located on the front side of the leg of the user, and the other part of the leg connecting rod 114 is located on the outer side of the leg of the user.

Optionally, the leg shield 115 is disposed in a disc shape to increase the contact area between the leg shield 115 and the leg of the user, thereby increasing the comfort of the leg assembly 11.

In other embodiments, the leg connecting rod 114 and the leg shield 115 may be integrally formed, which may reduce the complexity and assembly difficulty of the leg assembly 11.

In this embodiment, during the process of bending over, the waist assembly 12 rotates in the first direction relative to the leg assemblies 11, and at the same time, the leg shield 115 abuts against the front side of the user's legs to prevent the leg assemblies 11 from following the waist assembly 12 to rotate in the first direction, thereby increasing the reliability of the exoskeleton robot 10.

Optionally, the connection position of the leg connecting rod 114 to the leg support plate 111 is adjustable, so that the distance between the leg baffle 115 and the leg support plate 111 is adjustable to accommodate the difference in leg sizes of different users, thereby increasing the range of applicability of the exoskeleton robot 10.

Optionally, a connection groove 1141 is formed at an end of the leg connection rod 114 away from the leg blocking plate 115, a connection hole 1111 is formed at an end of the leg support plate 111 away from the leg connection seat 15, and the leg connection rod 114 and the leg support plate 111 are connected by a fastening member 116 passing through the connection groove 1141 and the connection hole 1111.

In this embodiment, after the fastening member 116 is inserted into the connecting groove 1141 and the connecting hole 1111, the fastening member 116 is tightened to fixedly connect the leg connecting rod 114 to the leg supporting plate 111, and conversely, the fastening member 116 is loosened to adjust the distance between the leg blocking plate 115 and the leg supporting plate 111, so that the adjustment and fixation can prevent the leg assembly 11 from rotating in the first direction along with the waist assembly 12, thereby ensuring the elastic support of the elastic assembly 13, and adapting to the difference of the leg sizes of different users.

Alternatively, the coupling groove 1141 is a sliding groove, but may be a plurality of holes arranged at consecutive intervals.

In this embodiment, the exoskeleton robot 10 may include two leg assemblies 11, one leg assembly 11 attached to the left leg of the user and the other leg assembly 11 attached to the right leg of the user, which may increase the reliability of the exoskeleton robot 10.

Referring to fig. 3, fig. 3 is an exploded view of the waist assembly 12 of fig. 1.

The waist assembly 12 includes a waist support plate 121, two waist binding straps 122 and a waist connector 123, the waist support plate 121 is fixedly connected to the waist connector 16, the waist connector 123 is used to connect opposite ends of the two waist binding straps 122, so that the two waist binding straps 122 are encircled into a ring shape, and the waist connector 123 is fixedly connected to the waist support plate 16, so that the waist assembly 12 is bound to the waist of the user.

In this embodiment, the gender, height, weight, etc. of different users may be different, so that the position where the waist portion 12 is attached to the waist of the user may also be different.

In this embodiment, since the waist connecting seat 16 can be fixedly connected to the elastic component 13, the waist supporting plate 121 is fixedly connected to the waist connecting seat 16, and it can also be understood that the waist supporting plate 121 is fixedly connected to the elastic component 13.

Optionally, the waist support plate 121 is formed as an integral part of the waist attachment base 16, which reduces the complexity and assembly difficulty of the exoskeleton robot 10.

Optionally, a snap groove 1211 is formed at an end of the waist support plate 121 close to the waist connecting seat 16.

Optionally, the end of the waist supporting plate 121 away from the waist connecting seat 16 is provided with a first locking portion 1212.

Optionally, the first latch portion 1212 is detachably connected to the lumbar support plate 121 to facilitate replacement after the first latch portion 1212 is damaged, thereby increasing the useful life of the lumbar assembly 12. In other embodiments, the first locking portion 1212 and the lumbar support plate 121 may be integrally formed, which may reduce the complexity and assembly difficulty of the lumbar assembly 12.

Optionally, the lumbar support plate 121 has an arc to accommodate changes in the arc of the user's lumbar region, thereby increasing the fit between the lumbar support plate 121 and the user's lumbar region.

Optionally, the waist binding band 122 is made of textile fabric, leather, or the like, such that the waist binding band 122 has strength and flexibility to increase the binding effect between the waist assembly 12 and the waist of the user.

Optionally, the number of waist attachment buckles 123 is two. In this embodiment, the waist assembly 12 may comprise two waist supporting plates 121, one waist supporting plate 121 is located at the left side of the body of the user, and the other waist supporting plate 121 is located at the right side of the body of the user, so that one waist connecting buckle 123 is fixedly connected with the left supporting plate 121, and the other waist connecting buckle 123 is fixedly connected with the right supporting plate 121.

In this embodiment, the user can adjust the size of the waist binding band 122 to form a ring shape by the waist connecting button 123, thereby increasing the binding effect.

Referring to fig. 4, fig. 4 is an exploded view of the structure of the elastic member 13 of fig. 1.

The elastic member 13 includes a torsional elastic member 131, a first stopper 132 and a second stopper 133, the first stopper 132 is used for stopping the first end 1311 of the torsional elastic member 131, the second stopper 132 is used for stopping the second end 1312 of the torsional elastic member 131, the first stopper 132 moves along with the leg assembly 11, the second stopper 133 moves along with the waist assembly 12 during the rotation of the waist assembly 12 relative to the leg assembly 11, and the second end 1312 can move along with the second stopper 132 and move relative to the first end 1311, so that the torsional elastic member 131 can be elastically deformed.

The terms "first" and "second" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

Alternatively, the torsional elastic member 131 is an elastic rod or a torsional spring, and the first end 1311 and the second end 1312 of the torsional elastic member are respectively connected to the first stopper 132 and the second stopper 133, so that during the rotation of the waist assembly 12 relative to the leg assembly 11, the first stopper 132 follows the leg assembly 11, the second stopper 133 follows the waist assembly 12, and the second end 1312 follows the second stopper 132, so that the second end 1312 generates a relative displacement relative to the first end 1311, and the torsional elastic member 131 can be elastically deformed to generate an elastic restoring force.

In this embodiment, the parameters such as the dimension and the elastic coefficient of the torsional elastic element 131 can be designed according to the elastic restoring force required to be generated by the torsional elastic element 131.

The elastic assembly 13 further includes a first mounting portion 134 and a second mounting portion 135, the first mounting portion 134 is fixedly connected to the leg connecting base 15, the second mounting portion 135 is fixedly connected to the waist connecting base 16, the second mounting portion 135 is connected to the first mounting portion 134 in a matching manner, the second mounting portion 135 can rotate relative to the first mounting portion 134, the torsional elastic member 131 is located between the first mounting portion 134 and the second mounting portion 135, the first end 1311 is adjacent to the first mounting portion 134, the second end 1312 is adjacent to the second mounting portion 135, the first stopper 132 is disposed on the first mounting portion 134, and the second stopper 133 is disposed on the second mounting portion 135.

In other embodiments, the first mounting portion 134 and the leg link base 15 may be integrally formed, which may reduce the complexity and assembly difficulty of the exoskeleton robot 10.

In other embodiments, the second mounting portion 135 and the leg link base 16 may be integrally formed, which may reduce the complexity and assembly difficulty of the exoskeleton robot 10.

Optionally, the second mounting portion 135 is coaxially disposed with the first mounting portion 134 to increase the smoothness of the rotation of the second mounting portion 135 relative to the first mounting portion 134 to increase the reliability of the exoskeleton robot 10.

Optionally, the first stopper 132 is detachably connected to the first mounting portion 134 so as to be easily replaced after the first stopper 132 is damaged, thereby extending the service life of the elastic assembly 13. In other embodiments, the first stop member 132 and the first mounting portion 134 may also be integrally formed, so as to reduce the processing difficulty of the elastic element 13 and reduce the complexity and assembly difficulty of the elastic element 13.

Optionally, the second stopper 133 is detachably connected to the second mounting portion 135 to facilitate replacement after the second stopper 133 is damaged, thereby extending the lifespan of the elastic assembly 13. In other embodiments, the second stopper 133 and the second mounting portion 135 may also be integrally formed, so as to reduce the processing difficulty of the elastic element 13 and reduce the complexity and assembly difficulty of the elastic element 13.

Referring to fig. 4 and 5 together, fig. 5 is a cross-sectional view illustrating a structure in which the second mounting portion 135 and the first mounting portion 134 are rotatably connected in fig. 4.

A first receiving space 1341 is formed at a side of the first mounting part 134 facing the second mounting part 135, a boss portion 1351 is provided at a side of the second mounting part 135 facing the first mounting part 134,

a second accommodating space 1353 is formed between the side wall 1352 of the second mounting portion 135 and the boss 1351, the torsion elastic member 131 is disposed in a spring shape and is sleeved on the boss 1351, the second end 1312 is located in the second accommodating space 1353, the boss 1351 penetrates into the first accommodating space 1341 and is rotatably connected with the first mounting portion 134 through the bearing 136, and the first end 1311 is located in the first accommodating space 1341.

Optionally, the protruding portion 1351 is disposed in a cylindrical shape, one end of the protruding portion 1351, which is adjacent to the first mounting portion 134, is recessed to form a step portion 1354, the first mounting portion 134 is opened with a mounting hole 1342 communicating with the first accommodating space 1341, the bearing 136 is accommodated in the mounting hole 1342, and the protruding portion 1351 is disposed through the bearing 136, so that the first mounting portion 134 is rotatably connected to the second mounting portion 135.

Optionally, the boss 1351 is hollow, which not only reduces the weight of the second mounting portion 135, but also increases the load-bearing capacity of the second mounting portion 135.

Optionally, a through hole 1355 corresponding to the second stopper 133 is opened in the side wall 1352 of the second mounting portion 135, the through hole 1355 communicates with the second receiving space 1353, and the second stopper 133 is inserted in the through hole 1355.

In this embodiment, the bearing 136 may be a deep groove ball bearing, and its outer ring is tightly fitted with the first mounting portion 134 through the mounting hole 1342, and its inner ring is tightly fitted with the second mounting portion 135 through the step portion 1354, so that the first mounting portion 134 and the second mounting portion 135 are rotatably connected.

Referring to fig. 4 and 6, fig. 6 is a schematic diagram illustrating a relative position relationship between the first stopper 132 and the second stopper 133 and the torsional elastic element 131 in fig. 4.

The first stopper 132 is spaced apart from an end surface of the first end portion 1311, and/or the second stopper 133 is spaced apart from an end surface of the second end portion 1312, such that the first stopper 132 abuts against the end surface of the first end portion 1311 and the second stopper 133 abuts against the end surface of the second end portion 1312 after the second mounting portion 135 is rotated by a predetermined angle in the first direction with respect to the first mounting portion 134.

After the second mounting portion 135 is rotated in the first direction by a predetermined angle with respect to the first mounting portion 134, the second mounting portion 135 may be further rotated with respect to the first mounting portion 134, so that the second stopper 133 is further rotated with respect to the first stopper 132 to elastically deform the torsion elastic member 131, and thus the torsion elastic member 131 generates an elastic restoring force to support the lumbar assembly 12.

Alternatively, the first direction is a direction indicated by an arrow a in fig. 6, which is a direction in which the waist part assembly 12 rotates relative to the leg part assembly 11 during the user's stooping, that is, a direction in which the second stopper 133 rotates relative to the first stopper 132 to elastically deform the torsion elastic member 131.

In this embodiment, the spaced arrangement may be understood as first stop 132 not directly abutting an end surface of first end 1311 and/or second stop 133 not abutting an end surface of second end 1312 when the user is in an upright position. In addition, when the user bends too little, although the second mounting portion 135 rotates relative to the first mounting portion 134, the first stopper 132 is only close to the end surface of the first end portion 1311, and/or the second stopper 133 is only close to the end surface of the second end portion 1312. At this time, the torsional elastic member 131 is not elastically deformed by the first and

second stoppers

132 and 133, which can increase the flexibility of the exoskeleton robot 10.

In the present embodiment, the preset angle may correspond to a distance between the second stopper 133 and an end surface of the second end portion 1312, in other words, the second mounting portion 135 is rotated by a certain angle in the first direction with respect to the first mounting portion 134, the second stopper 133 moves by a corresponding distance following the second mounting portion 135, and after rotating to the preset angle, the second stopper 133 abuts against an end portion of the second end portion 1312.

It should be noted that after the exoskeleton robot 10 is worn by the user, the degree of bending may vary according to the work content, and the angle of rotation of the second mounting seat 135 relative to the first mounting seat 134 in the first direction varies, and accordingly, the magnitude of the elastic restoring force generated by the torsion elastic member 131 varies.

Optionally, the first end portion 1311 is fixedly connected to the first mounting portion 134, so that the first stopper 132 abuts against an end surface of the first end portion 1311 in the first direction, which can increase the smoothness of the force applied by the first stopper 132 and the second stopper 133 to the torsional elastic member 131, thereby increasing the reliability of the exoskeleton robot 10.

In this embodiment, the user may consider the leg assembly 11 stationary and mainly the waist assembly 12 rotating relative to the leg assembly 11 during bending, or may consider the first stop member 132 stationary and mainly the second stop member 133 moving along the second mounting seat 135 and moving relative to the first stop member 132, that is, the second end portion 1312 moving relative to the first end portion 1311. Therefore, in order to simplify the related structure in the drawings, the position of the second stopper 133 relative to the first stopper 132 may be regarded as the position of the waist assembly 12 relative to the leg assembly 11.

In other embodiments, the first stopper 132 is fixedly connected to the first mounting portion 134, the second stopper 133 is fixedly connected to the second mounting portion 135, and when the second mounting portion 135 rotates relative to the first mounting portion 134 in the first direction, the second stopper 133 is driven to rotate relative to the first stopper 132, and after the rotation angle is greater than the preset angle, the second mounting portion 135 can further rotate relative to the first mounting portion 134, so that the second stopper 133 further rotates relative to the first stopper 132 to elastically deform the torsional elastic member 131, and the torsional elastic member 131 generates an elastic restoring force to support the lumbar assembly 12.

Referring to fig. 4 to 6 together, the elastic assembly 13 further includes a toggle member 137, the toggle member 137 is disposed on the lumbar connecting seat 16, one end of the toggle member 137 is exposed from the lumbar connecting seat 16, the other end of the toggle member 137 is connected to the second stopper 133, and the toggle member 137 is configured to enable the second stopper 133 to be movably inserted into or withdrawn from the second accommodating space 1353 through the through hole 1355.

Optionally, the toggle 137 is disposed in an "L" shape, and a corner of the toggle 137 is rotatably connected to the waist connecting seat 16, so that when the toggle 137 rotates relative to the waist connecting seat 16, the second stop member 133 is driven to extend into or withdraw from the second accommodating space 1353 through the through hole 1355.

In this embodiment, since waist connecting seat 16 and waist connecting seat 121 may be integrally formed, toggle 137 is disposed on waist connecting seat 16, and toggle 137 may also be disposed on waist connecting seat 121.

Optionally, the toggle member 137 includes a pressing portion 1371 and a locking portion 1372, the pressing portion 1371 is connected to the second stopper 133, and the locking portion 1372 corresponds to the locking groove 1211.

In this embodiment, since the waist connecting seat 16 and the waist supporting plate 121 can be integrally formed, the latch groove 1211 formed on the waist supporting plate 121 can also be understood as the latch groove 1211 formed on the waist connecting seat 16.

Optionally, the elastic assembly 13 further includes a resilient member 138, the resilient member 138 is sleeved on the second stopping member 133, during the process that the toggle member 137 rotates relative to the lumbar connecting seat 16 until the latching portion 1372 is received in the latching slot 161, the pressing portion 1371 elastically deforms the resilient member 138 and pushes the second stopping member 133 to extend into the second receiving space 1353 through the through hole 1355, and when the latching portion 1372 is disengaged from the latching slot 161, the resilient member 138 can elastically return to pull the second stopping member 133 out of the second receiving space 1353 through the through hole 1355.

In this embodiment, the parameters such as the dimension and the elastic coefficient of the resilient member 138 can be designed according to the elastic restoring force required to be generated by the resilient member 138.

In some other embodiments, the pressing portion 1371 may not be connected to the second stopper 133, but the second stopper 133 abuts against the pressing portion 1371 under the action of the resilient member 138, so that the complexity and the assembly difficulty of the elastic assembly 13 can be reduced.

In this embodiment, before bending, the user can make the second stopping member 133 extend into the second accommodating space 1353 through the through hole 1355 by the toggle member 137, and at this time, the second stopping member 133 is spaced from the end surface of the second end portion 1312. Further, during the process of bending, the waist assembly 12 rotates in the first direction relative to the leg assembly 11 to drive the second stop member 133 to rotate relative to the first stop member 132, and after the rotation angle is greater than the preset angle, the second stop member 133 further rotates relative to the first stop member 132 to elastically deform the torsional elastic member 131, so that the torsional elastic member 131 generates an elastic restoring force to support the bent portion of the body of the user, which can assist the user to maintain the bending state required by the production operation more easily, thereby relieving the fatigue of the waist and reducing or even eliminating the injury to the waist.

Of course, if the user does not need the support of the elastic member 13 while bending down, the second stopper 133 may be drawn out of the second accommodating space 1353 through the through hole 1355 by the toggle member 137 before bending down.

Referring to fig. 7, fig. 7 is an exploded view of the chest assembly 14 of fig. 1.

The chest assembly 14 comprises a chest plate 141, a back plate 142 and chest binding straps 143, the chest binding straps 143 fixedly connecting the chest plate 141 and the back plate 142, the chest plate 141 being fixedly connected to the chest support frame 17 for attaching the chest assembly 14 to the chest of the user.

In this embodiment, the sex, height, weight, etc. of different users may be different, so that the position of the chest component 14 attached to the chest of the user may also be different.

Optionally, the front chest flap 141 has a curvature to accommodate changes in curvature of the user's front chest to increase the fit between the front chest flap 141 and the user's front chest.

Optionally, a side of the chest flap 141 adjacent to the user's chest is provided with a cushion (not shown), which can be connected to the chest flap 141 by hook and loop fasteners, gluing, riveting, sewing, etc. to increase the comfort of the chest assembly 14.

Optionally, the back shield 142 has a curvature to accommodate changes in curvature of the user's back to increase the fit between the back shield 142 and the user's back.

Optionally, a cushion (not shown) is provided on the side of the back flap 142 adjacent to the back of the user, and the cushion may be attached to the back flap 142 by velcro, glue, rivets, sewing, etc. to increase the comfort of the chest assembly 14.

Optionally, the area of the chest flap 141 is larger than the area of the back flap 142. In this embodiment, since the chest of the user will be subjected to a larger force than the back during the process of bending, which causes a stronger oppressive feeling, it is obvious that the chest baffle 141 with a larger force area can relieve the oppressive feeling, thereby increasing the comfort of the chest component 14.

Optionally, the chest binding strap 143 is made of textile fabric, leather, etc. to provide the chest binding strap 143 with strength and flexibility to increase the binding effect between the chest assembly 14 and the user's waist.

Optionally, the number of chest binding straps 143 is at least four, with at least two chest binding straps 143 connected between the side of the front chest flap 141 distal from the waist feature 12 and the side of the back flap 142 distal from the waist feature 12, and the other chest binding straps 143 connected between the side of the front chest flap 141 proximal to the waist feature 12 and the side of the back flap 142 proximal to the waist feature 12.

Optionally, the chest assembly 14 further comprises a plurality of chest connecting buckles 144, the plurality of chest connecting buckles 144 are disposed on the front chest plate 141 and the back plate 142 and are used for fixedly connecting the chest binding straps 143 with the front chest plate 141 and the back plate 142.

In this embodiment, the user can adjust the tightness of the chest-binding strap 143 via the chest connector 144 to increase the binding effect between the chest assembly 14 and the user's waist.

In this embodiment, taking the number of the chest binding bands 143 as four as an example, the front chest flap 141 is provided with four chest connecting buckles 144, and the back flap 142 is provided with four corresponding chest connecting buckles 144. When the user binds chest subassembly 14 in the chest, user's forebreast is located in the subsides of antethorax baffle 141, user's back is located in the subsides of back baffle 142, a chest bondage area 143 is around locating user's left shoulder, a chest bondage area 143 is around locating user's right shoulder, a chest bondage area 143 is around locating user's left armpit lower part, a chest bondage area 143 is around locating user's right armpit lower part, can rational distribution chest subassembly 14's stress point like this, thereby increase chest subassembly 14's the effect of binding.

Optionally, the line between the two waist attachment buckles 123 is perpendicular to or at a predetermined angle to the line between the front chest plate 141 and the back plate 142 to facilitate better support of the user's chest by the chest assembly 14.

Referring to fig. 8, fig. 8 is an exploded view of the structure of the thoracic support frame 17 of fig. 1.

The thoracic support frame 17 includes a thoracic support rod 171 and an elastic expansion portion 172, one end of the thoracic support rod 171 is fixed to the thoracic module 14, the other end of the thoracic support rod 171 is fixed to the elastic expansion portion 172, the elastic expansion portion 172 is fixed to the lumbar module 12, and the elastic expansion portion 172 is provided to be elastically expandable and contractible in a direction from the lumbar module 12 to the thoracic module 14.

Alternatively, one end of the thoracic support frame 17 is fixedly coupled to the front thoracic barrier 141 by means of hinge, sewing, or the like, and the other end of the thoracic support frame 17 is fixedly coupled to the lumbar coupling buckle 123.

Optionally, the thoracic support frame 17 is angled to accommodate spatial differences in the positioning of the lumbar and

thoracic assemblies

12, 14, e.g., the lumbar assembly 12 is primarily on the left and right sides of the user and the thoracic assembly 14 is primarily on the front and rear sides of the user, thereby facilitating the connection of the thoracic support frame 17 to the lumbar and

thoracic assemblies

12, 14.

All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.

Optionally, chest support bar 171 has an arc to accommodate changes in the arc of the user's chest to increase the fit of chest support bar 171 to the user's chest.

In this embodiment, the exoskeleton robot 10 can include two chest support frames 17, one chest support frame 17 connected to the chest assembly 14 and the lumbar assembly 12 on the left side of the user, and the other chest support frame 17 connected to the chest assembly 14 and the lumbar assembly 12 on the right side of the user, which can increase the reliability of the exoskeleton robot 10.

Referring to fig. 8 and 9 together, fig. 9 is a schematic cross-sectional view illustrating the structure of the elastic expansion part 172 in fig. 8.

Elastic expansion portion 172 includes connecting seat 1721, first sleeve 1722, second sleeve 1723 and flexible elastic component 1724, connecting seat 1721 is fixed in waist subassembly 12, first sleeve 1722 and connecting seat 1721 fixed connection, second sleeve 1723 and chest support rod 171 fixed connection, flexible elastic component 1724 wears to locate first sleeve 1722 and extends towards the direction of chest subassembly 14, first sleeve 1722 is located to second sleeve 1723 cover, the one end butt connecting seat 1721 of flexible elastic component 1724 or the one end that chest subassembly 14 was kept away from to first sleeve 1722, the other end butt second sleeve 1723 of flexible elastic component 1724 keeps away from the one end of connecting seat 1721, second sleeve 1723 can slide for first sleeve 1722.

Alternatively, the direction indicated by arrow B in fig. 9 is the direction in which the second sleeve 1723 slides relative to the first sleeve 1722.

Optionally, an attachment base 1721 is secured to an end of the waist support plate 121 distal from the elastic assembly 13.

Optionally, a side of the connecting seat 1721 facing the chest component 14 is formed with a receiving hole 1725, and the first sleeve 1722 is inserted into the receiving hole 1725 and tightly fits with the receiving hole 1725, so that the first sleeve 1722 is fixed to the connecting seat 1721.

Optionally, the connecting seat 1721 is provided with an air hole (not labeled), and the air hole is communicated with the accommodating hole 1725.

In other embodiments, the first sleeve 1722 and the connecting seat 1721 can be integrally formed, so as to reduce the complexity and assembly difficulty of the thoracic support frame 17.

Optionally, the first sleeve 1722 is disposed in a hollow manner, and the elastic member 1724 can penetrate through two ends of the first sleeve 1722, at this time, one end of the elastic member 1724 abuts against the connecting seat 1721. In other embodiments, the first sleeve 1722 may be a blind tube, and the elastic member 1724 can only penetrate through one end of the first sleeve 1722, and at this time, one end of the elastic member 1724 abuts against one end of the first sleeve 1722 far away from the chest component 14.

Optionally, the second sleeve 1723 is disposed as a blind pipe, and a hole (not labeled in the figure) is formed in a surface of the second sleeve 1723 abutting against the elastic member 1724, the hole formed in the second sleeve 1723 and the connecting seat 1721 is used for balancing the air pressure inside the second sleeve 1723 and the first sleeve 1722 with the outside, so as to reduce the resistance generated by the air pressure difference during the sliding process of the second sleeve 1723 relative to the first sleeve 1722, thereby increasing the sliding efficiency of the second sleeve 1723 relative to the first sleeve 1722, i.e., increasing the telescopic efficiency of the elastic member 1724.

For example, when the second sleeve 1723 slides relative to the first sleeve 1722 and compresses the elastic member 1724, the air in the first sleeve 1722 and the second sleeve 1723 can be exhausted through the air holes, so that the sliding of the second sleeve 1723 can be prevented from being blocked due to the excessive air pressure in the first sleeve 1722 and the second sleeve 1723.

For another example, when the elastic member 1724 is stretched and pushes the second sleeve 1723 to slide relative to the first sleeve 1722, air can be sucked into the first sleeve 1722 and the second sleeve 1723 through the air holes to prevent the sliding of the second sleeve 1723 from being blocked due to the fact that the air pressure in the first sleeve 1722 and the second sleeve 1723 is too small.

Optionally, the resilient member 1724 is a resilient spring.

In this embodiment, the parameters such as the dimension and the elastic coefficient of the elastic member 1724 may be designed according to the elastic restoring force required to be generated by the elastic member 1724.

In this embodiment, the first locking portion 1212 provided in the lumbar assembly 12 is provided in the lumbar support plate 121.

Referring to fig. 8 and 9 again, the second locking portion 1726 is disposed at an end of the second sleeve 1723 close to the connecting seat 1721, when the second sleeve 1723 is elastically supported by the elastic member 1724, the second sleeve 1723 can slide toward the chest component 14 relative to the first sleeve 1722, so that the chest support bracket 17 can adapt to the change of the body size of the user during the process of bending the user, and the second sleeve 1723 is restricted from moving toward the chest component 14 when the first locking portion 1212 and the second locking portion 1726 are locked and engaged, so as to prevent the second sleeve 1723 from being disengaged from the first sleeve 1722, thereby increasing the reliability of the exoskeleton robot 10.

Optionally, second latch 1726 is provided as a groove in which first latch 1212 is located.

Alternatively, the elastic members 1724 may be retained for a certain amount of compression when the first and

second latch portions

1212 and 1726 are latched in engagement, which may increase the compactness of the chest support frame 17.

In this embodiment, during the process of sliding the second sleeve 1723 relative to the first sleeve 1722 and compressing the elastic member 1724, the second sleeve 1723 may abut against the connecting seat 1721 and/or the first sleeve 1722 to limit the second sleeve 1723 from sliding further.

In this embodiment, during the process of bending, the waist assembly 12 rotates in the first direction relative to the leg assembly 11 to drive the second stop member 133 to rotate relative to the first stop member 132, and after the rotation angle is greater than the preset angle, the second stop member 133 further rotates relative to the first stop member 132 to elastically deform the torsional elastic member 131, so that the torsional elastic member 131 generates an elastic restoring force to support the bent portion of the body of the user, which can assist the user to maintain the bending state required by the production operation more easily, thereby alleviating the fatigue of the waist, and alleviating or even eliminating the injury to the waist. Meanwhile, during the process of bending the user, the second sleeve 1723 can slide towards the chest assembly 14 relative to the first sleeve 1722 to adjust the length of the chest support frame 17, so that the chest support frame 17 can adapt to the change of the body size of the user during the process of bending, and the fitting degree of the exoskeleton robot 10 to the body of the user can be increased.

Referring to fig. 10 to 12 together, fig. 10 is a front view illustrating the exoskeletal robot 10 of fig. 1 worn on a user in an upright state, fig. 11 is a side view illustrating the exoskeletal robot 10 of fig. 1 worn on a user in an upright state, and fig. 12 is a side view illustrating the exoskeletal robot 10 of fig. 1 worn on a user in a stooped state.

In this embodiment, when the exoskeleton robot 10 is worn by a user, the leg assembly 11 is attached to the left and right legs of the user, the waist assembly 12 is attached to the waist of the user, the chest assembly 14 is attached to the chest of the user, the elastic assembly 13 is connected to the leg assembly 11 and the waist assembly 12, and the chest support frame 17 is connected to the waist assembly 12 and the chest assembly 14.

Unlike the prior art, the waist assembly of the present application can rotate relative to the leg assembly, and the elastic assembly can be elastically deformed to generate an elastic restoring force during the rotation of the waist assembly relative to the leg assembly, thereby supporting the waist assembly. In the process of bending down, the elastic restoring force can support the bending part of the body of the user, so that the auxiliary user can maintain the bending state required by production operation more easily, the fatigue of the waist is relieved, and the injury to the waist is reduced or even eliminated.

Furthermore, the length of the chest supporting frame is adjustable, so that the chest supporting frame can adapt to the change of the body size of a user in the process of bending down, and the fitting degree of the supporting assembly and the body of the user is increased.

Furthermore, the exoskeleton robot does not need to realize power assistance through power driving, so that components such as a battery, a speed reduction motor, a driver, a sensor, a control system and the like are undoubtedly reduced, the load feeling of a user is reduced, the man-machine coupling degree is increased, and the equipment cost is reduced.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. A support assembly, characterized in that the support assembly comprises:

a leg assembly;

a waist assembly rotatable relative to the leg assembly;

an elastic assembly connected between the leg assembly and the waist assembly;

wherein the elastic member is elastically deformable to generate an elastic restoring force during rotation of the waist member with respect to the leg members, thereby supporting the waist member.

2. The support assembly of claim 1 wherein the elastic assembly includes a torsional elastic member, a first stop for stopping a first end of the torsional elastic member, and a second stop for stopping a second end of the torsional elastic member, the first stop following movement of the leg assembly, the second stop following movement of the waist assembly, and the second end being capable of following movement of the second stop and moving relative to the first end during rotation of the waist assembly relative to the leg assembly to thereby enable elastic deformation of the torsional elastic member.

3. The support assembly of claim 2, further comprising a leg attachment base for attachment to the leg assembly and a lumbar attachment base for attachment to the lumbar assembly, the elastic component further comprises a first mounting part and a second mounting part, the first mounting part is fixedly connected with the leg connecting seat, the second mounting part is fixedly connected with the waist connecting seat, the second mounting part is matched and connected with the first mounting part, the second mounting part can rotate relative to the first mounting part, the torsional elastic piece is positioned between the first mounting part and the second mounting part, the first end portion being adjacent the first mounting portion and the second end portion being adjacent the second mounting portion, the first stop member is disposed on the first mounting portion, and the second stop member is disposed on the second mounting portion.

4. The support assembly of claim 3, wherein a first receiving space is formed at a side of the first mounting portion facing the second mounting portion, a protrusion is formed at a side of the second mounting portion facing the first mounting portion, a second receiving space is formed between a side wall of the second mounting portion and the protrusion, the torsional elastic member is disposed in a spring shape and sleeved on the protrusion, the second end is located in the second receiving space, the protrusion penetrates into the first receiving space and is rotatably connected with the first mounting portion through a bearing, and the first end is located in the first receiving space;

wherein, first stopper with the terminal surface of first end is the interval setting, and/or, the second stopper with the terminal surface of second end is the interval setting, with the second installation department for after first installation department rotates preset angle in the first direction, first stopper butt the terminal surface of first end, second stopper butt the terminal surface of second end.

5. The support assembly of claim 4, wherein the first end is fixedly connected with the first mounting portion such that the first stop abuts an end surface of the first end in the first direction.

6. The supporting assembly according to claim 4, wherein the elastic assembly further includes a toggle member, the toggle member is disposed on the waist connecting seat, one end of the toggle member is exposed from the waist connecting seat, the other end of the toggle member is connected to the second stopper, a through hole corresponding to the second stopper is formed in a side wall of the second mounting portion, the through hole is communicated with the second accommodating space, and the toggle member is configured to enable the second stopper to be movably inserted into or pulled out of the second accommodating space through the through hole.

7. The support assembly of claim 6, wherein the resilient assembly further comprises a resilient member, the rebounding piece is sleeved on the second stop piece, the shifting piece is arranged in an L shape, the corner of the shifting piece is rotationally connected with the waist connecting seat and comprises a pressing part and a buckling part, the waist connecting seat is provided with a buckling groove corresponding to the buckling part, the pressing part is connected with the second stop part, the pressing part enables the rebound piece to generate elastic deformation in the process that the shifting piece rotates relative to the waist connecting seat until the buckling part is accommodated in the buckling groove, and pushes the second stop piece to extend into the second accommodating space through the through hole, and when the buckling part is separated from the buckling groove, the resilient member can elastically return, so that the second stop member is pulled out of the second accommodating space through the through hole.

8. The support assembly of claim 4, wherein the leg assembly includes a leg support plate that is movably connected to the leg link base and is not rotatable relative to the leg link base in the first direction and a direction opposite the first direction.

9. The support assembly of claim 8, wherein the leg support plate is hingedly connected to the leg attachment base, the leg support plate being rotatable relative to the leg attachment base in a direction perpendicular to the first direction.

10. The support assembly of claim 8, further comprising a leg link and a leg shield, wherein one end of the leg link is connected to the leg shield and the other end of the leg link is connected to an end of the leg support plate remote from the leg attachment base.

11. The support assembly of claim 10 wherein the connection position of the leg connecting rod to the leg support plate is adjustable such that the distance of the leg shield from the leg support plate is adjustable.

12. The support assembly of claim 11, wherein an end of the leg link lever remote from the leg shield defines a connecting slot, an end of the leg support plate remote from the leg link base defines a connecting hole, and the leg link lever and the leg support plate are coupled together by a fastener passing through the connecting slot and the connecting hole.

13. The support assembly of claim 8, further comprising a leg binding strap and a leg connector, the leg connector being connected to both ends of the leg binding strap such that the leg binding strap forms a loop and the leg connector is fixedly connected to the leg support plate.

14. The support assembly of claim 3, wherein the lumbar assembly includes a lumbar support plate fixedly connected to the lumbar connection seat, two lumbar binding straps, and a lumbar connector buckle for connecting opposite ends of the two lumbar binding straps such that the two lumbar binding straps enclose a loop, and the lumbar connector buckle is fixedly connected to the lumbar support plate.

15. An exoskeleton robot comprising a support assembly as claimed in any one of claims 1 to 14.