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A waist-back connection mechanism with adjustable width and its lower limb assisting device

A connection mechanism and back technology, which is applied in the direction of manipulators, program-controlled manipulators, passive exercise equipment, etc., can solve the problems of poor stability, complex structure and high strength of the back relying on two points of connection.

Active Publication Date: 2021-08-20
SHENZHEN CONCHIN TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Wearable exoskeleton equipment needs to use a close-fitting, high-strength waist and back structure, and the width of the waist and back structure requires that the width can be easily adjusted to adapt to the waist size of different wearers; "Research on the Design of Power-assisted Robots" discloses an exoskeleton waist and back structure, which adjusts the width of the waist and back by setting width adjustment holes on the back beam. This method is inconvenient to adjust, and the stability of the waist and back relying on two-point connection is not good; Patents CN101489732A "Contact Displacement Actuation System" and CN201410275617.4 "A Hydraulically Driven Wearable Human Assisted Walking Robot" disclose a similar exoskeleton low back structure, the low back structure is divided into three sections, the middle section is The fixed structure has a rotating shaft, and the width adjustment is realized by adjusting the left section and the right section. This method greatly increases the complexity of the back structure, is inconvenient to adjust, and affects the fit between the waist and the human body; patent CN201310688125.3 "A Kind of Anthropomorphic Lower Limb Assisted Exoskeleton Robot" discloses an exoskeleton low back structure, the low back structure is composed of multiple parts to form a rod-shaped structure, the structure is complex, the adjustment is inconvenient, and the strength is difficult to achieve high; patent US8070700B2 " Lower Extremity Enhancer” discloses two exoskeleton low back structures. One method is to divide the low back structure into 3 sections, which are connected by rotating shafts. The left and right sections are fixed-length rods, and the length of the middle section can be adjusted. Sections are connected by rotating shafts, and the two sections on the left and right are length-fixed rods, and the length of the interrupted section can be adjusted. The method disclosed in this patent has a complex structure and high cost; in the method disclosed above, the width of the waist and back is adjusted through telescopic or adjustment holes. The effective length of the rod body on the back of the waist is realized, resulting in a complex structure of the rod body, and the cost of ensuring the predetermined strength and rigidity is high

Method used

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  • A waist-back connection mechanism with adjustable width and its lower limb assisting device
  • A waist-back connection mechanism with adjustable width and its lower limb assisting device
  • A waist-back connection mechanism with adjustable width and its lower limb assisting device

Examples

Experimental program
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Effect test

Embodiment 1

[0035] A low back connection mechanism with adjustable width, such as figure 1 As shown, it includes a first support beam 21 , a fourth support beam 24 , a first fixing block 31 , and a second fixing block 32 . The rear end of the first support beam 21 is rotatably coupled to the upper end of the first fixing block 31 at a first connection point 25 provided. The rear ends of the four supporting beams 24 are rotatably connected to the third connection point 27 provided on the second fixed block 32 . The first fixing block 31 is provided with a first limiting portion 311 that prevents the first supporting beam 21 from rotating. The second fixing block 32 is provided with a second limiting portion 321 that prevents the fourth supporting beam 24 from rotating. The first fixing block 31 and the second fixing block 32 are provided with an adjusting structure 1A for adjusting the distance between them. The adjusting structure 1A adjusts the distance between the first fixing block ...

Embodiment 2

[0038] A low back connection mechanism with adjustable width, such as figure 1 As shown, it includes a first support beam 21 , a fourth support beam 24 , a first fixing block 31 , and a second fixing block 32 . The rear end of the first support beam 21 is rotatably coupled to the upper end of the first fixing block 31 at a first connection point 25 provided. The rear ends of the four supporting beams 24 are rotatably connected to the third connection point 27 provided on the second fixed block 32 . The first fixing block 31 is provided with a first limiting portion 311 that prevents the first supporting beam 21 from rotating. The second fixing block 32 is provided with a second limiting portion 321 that prevents the fourth supporting beam 24 from rotating. The first fixing block 31 and the second fixing block 32 are provided with an adjusting structure 1A for adjusting the distance between them. The adjusting structure 1A adjusts the distance between the first fixing block ...

Embodiment 3

[0044] On the basis of Example 2, such as figure 1 As shown, the waist and back connection mechanism further includes a second support beam 22 and a third support beam 23 . The lower end of the second support beam 22 is rotatably coupled to the first connection point 25 ; the lower end of the third support beam 23 is rotatably coupled to the third connection point 27 . Both the upper end of the second support beam 22 and the upper end of the third support beam 23 are hinged to the provided second connection point 26 .

[0045] Specifically, the waist and back connection mechanism 1003 includes the first support beam 21, the second support beam 22, the third support beam 23, the fourth support beam 24, the first fixing block 31, the second fixing block 32 and the base structure 1 . The rear end of the first support beam 21 , the lower end of the second support beam 22 and the first fixing block 31 are rotatably connected at the first connection point 25 . The top end of the ...

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Abstract

The invention discloses a width-adjustable waist-back connection mechanism and lower limb assisting equipment. A waist and back connection mechanism with adjustable width, which adopts the waist and back connection composed of the first support beam, the second support beam, the third support beam, the fourth support beam, the base structure, the first fixing block and the second fixing block The mechanism bears the weight of the exoskeleton itself and the weight of the load on its back, with high strength and good rigidity. The first support beam and the fourth support beam are relatively rotated based on the first connection point and the third connection point respectively, so as to realize the abduction and adduction of the legs when worn by the human body, and the first connection point and the third connection point are close to the human body The connection between the bone femur and the pelvis is more ergonomic, and the actual wearing is more comfortable and flexible.

Description

technical field [0001] The invention relates to a wearable device, in particular to a width-adjustable waist-back connection mechanism and lower limb assisting device. Background technique [0002] Wearable exoskeleton equipment needs to use a close-fitting, high-strength waist and back structure, and the width of the waist and back structure requires that the width can be easily adjusted to adapt to the waist size of different wearers; "Research on the Design of Power-assisted Robots" discloses an exoskeleton waist and back structure, which adjusts the width of the waist and back by setting width adjustment holes on the back beam. This method is inconvenient to adjust, and the stability of the waist and back relying on two-point connection is not good; Patents CN101489732A "Contact Displacement Actuation System" and CN201410275617.4 "A Hydraulically Driven Wearable Human Assisted Walking Robot" disclose a similar exoskeleton low back structure, the low back structure is div...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00A61H1/02
Inventor 不公告发明人
Owner SHENZHEN CONCHIN TECH CO LTD
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