CN115868733B - A suspension back frame, motion assist device, and mechanism for use in assistive devices. - Google Patents
A suspension back frame, motion assist device, and mechanism for use in assistive devices.Info
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- CN115868733B CN115868733B CN202110985074.5A CN202110985074A CN115868733B CN 115868733 B CN115868733 B CN 115868733B CN 202110985074 A CN202110985074 A CN 202110985074A CN 115868733 B CN115868733 B CN 115868733B
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Abstract
本发明公开了一种应用于助力装置的悬挂背架、运动助力装置和机构，其中悬挂背架包括腰部结构、肩部结构和背部结构，所述腰部结构通过第一卡合组件连接所述背部结构的下端，且所述背部结构可相对所述腰部结构进行空间旋转和位移，所述背部结构的上端通过第二卡合组件连接所述肩部结构。本发明通过腰部结构、肩部结构和背部结构连接配合以实现将重物压力从人体肩部分散转移至人体腰部，可以有效降低人体肩部负担；而且通过与其他运动助力装置或机构配合使用，使得重物压力分散效果更好，身体所能承受的重物重量更大，也相应的提高了一次性运输的量，提高搬运效率。
This invention discloses a suspension back frame, a motion assist device, and a mechanism for use in assistive devices. The suspension back frame includes a waist structure, a shoulder structure, and a back structure. The waist structure is connected to the lower end of the back structure via a first engaging component, and the back structure is spatially rotatable and displaceable relative to the waist structure. The upper end of the back structure is connected to the shoulder structure via a second engaging component. This invention, through the coordinated connection of the waist, shoulder, and back structures, effectively distributes and transfers the pressure of heavy objects from the shoulders to the waist, thus reducing the burden on the shoulders. Furthermore, by using it in conjunction with other motion assist devices or mechanisms, the pressure distribution effect is improved, allowing the body to bear a greater weight, thereby increasing the amount of weight that can be transported at one time and improving handling efficiency.
Description
Technical Field
The invention relates to the technical field of motion assisting devices, in particular to a suspension back frame applied to an assisting device, the motion assisting device and a mechanism.
Background
The wearing of the exoskeleton helping hand device can effectively strengthen the strength and endurance of the upper limbs or the lower limbs of a human body, hip joint helping hand exoskeleton, knee joint helping hand exoskeleton, upper limb helping hand exoskeleton and the like are already available on the market at present, and a plurality of documents disclose implementation mechanisms of the device.
In the actual use process, in order to enhance the load bearing capacity of the human body, a back frame matched with the exoskeleton auxiliary device is also needed to assist the human body, namely, the load bearing capacity is enhanced by dispersing and transferring the weight pressure from the shoulder of the human body. In some existing schemes, the back frame system is rigidly and fixedly connected with the exoskeleton device, so that on one hand, the back frame system is not easy to detach and install, on the other hand, the rigid connection cannot meet the natural actions such as bending and torsion of the human trunk in the movement process, and experience is poor, and on the other hand, the scheme is that the rigid back frame is directly provided with a waistband and a shoulder strap, but the rigid back frame cannot be detached and separated quickly, and the requirements of sharing the waistband and the shoulder strap with the exoskeleton device and being capable of being separated quickly are not met.
Disclosure of Invention
The invention aims to realize a suspension back frame applied to a booster, a motion booster and a mechanism, which can disperse and transfer weight pressure from the shoulder of a human body to the waist of the human body and can effectively reduce the burden of the shoulder of the human body.
Meanwhile, the hanging back frame has the following beneficial effects:
1. the hanging back frame can be quickly assembled and disassembled without tools, and is very convenient to use;
2. The suspension back frame can adapt to natural actions such as bending and torsion of the trunk in the human body movement process, and the movement flexibility is not affected;
3. The hanging back frame can indirectly transfer the bearing weight to the exoskeleton rigid waist frame, and further downwards transfer the bearing weight, so that the burden of shoulders and spines of a human body can be greatly reduced;
4. The hanging back frame can be folded and expanded, so that the carrying requirements of different equipment are met;
5. The suspension back frame can share the waistband and the shoulder strap with the exoskeleton.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
In a first aspect, a suspension back frame is disclosed, comprising a waist structure, a shoulder structure and a back structure, wherein the waist structure is connected with the lower end of the back structure through a first clamping assembly, the back structure can rotate and displace in space relative to the waist structure, and the upper end of the back structure is connected with the shoulder structure through a second clamping assembly.
The second aspect discloses a motion assisting device, which comprises a waist frame and leg mechanisms, wherein the waist frame is of a rigid structure and surrounds hip parts from the waist to the left side and the right side of a wearer, the leg mechanisms comprise thigh mechanisms, the thigh mechanisms are arranged near thighs of a human body, the upper ends of the thigh mechanisms are rotatably connected with the waist frame, the motion assisting device is provided with a hanging back frame, a waistband is fixedly connected with the waist frame at multiple points, a hanging strip is arranged on the waistband or the waist frame, and shoulder straps are connected with the waistband or the waist frame at multiple points.
In a third aspect, a motion assistance mechanism is disclosed, comprising the motion assistance device, the leg mechanism further comprising a lower leg mechanism disposed adjacent to a lower leg of a human body and/or a foot mechanism disposed adjacent to an ankle of a human body, the lower leg mechanism upper end being rotatably coupled to the thigh mechanism, the lower leg mechanism lower end being rotatably coupled to the foot mechanism.
According to the embodiment of the invention, the waist structure, the shoulder structure and the back structure are connected and matched to realize the dispersed transfer of the weight pressure from the shoulders of the human body to the waist of the human body, so that the burden of the shoulders of the human body can be effectively reduced;
And through the cooperation with other motion booster units or mechanisms, make heavy object pressure dispersion effect better, the heavy object weight that the health can bear is bigger, also corresponding improvement disposable transportation's volume, improvement conveying efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1a is a schematic view of an embodiment of a suspended back frame vertical rigid frame of the present invention;
FIG. 1b is a schematic view of an embodiment of a suspended back frame vertical rigid frame of the present invention;
FIG. 2a is a schematic view of an embodiment of a suspension back frame waist belt of the present invention;
FIG. 2b is a schematic view of an embodiment of a belt hanging structure according to the present invention;
FIG. 3a is a schematic view of an embodiment of a suspension back strap of the present invention;
FIG. 3b is a schematic view of an embodiment of a sliding structure of a shoulder strap according to the present invention;
FIG. 4 is a schematic view of an embodiment of a suspension back hinge of the present invention;
FIG. 5a is a schematic view of an embodiment of a suspension back frame securing device according to the present invention;
FIG. 5b is a schematic view of an embodiment of a suspension back frame binding mechanism of the present invention;
FIG. 6 is a schematic view showing the effect of wearing a person in an embodiment of the present invention in which the hanging back frame is used alone;
FIG. 7a is a schematic view showing the wearing effect of a human body in an embodiment of the invention in which a suspension back frame is used in combination with a motion assisting device;
fig. 7b is a schematic diagram showing the wearing effect of a human body in an embodiment of the invention in which a suspension back frame is matched with a motion assisting mechanism.
The reference numerals are as follows:
1-a vertical rigid frame;
2-supporting rods and 21-first elastic buckles;
3-a sliding rod and 31-a second elastic buckle;
4-hinge structure, 41-hinge shaft, 42-base, 43-upper limit and 44-lower limit;
5-a load tray;
6-waistband fixing and connecting mechanism, 61-suspender, 62-fixing and connecting piece, 63-waistband, 64-rigid fixing and connecting mechanism, 621-inserting hole, 622-elastic buckling hole, 623-flange;
7-shoulder straps, 71-sliding connectors, 711-waist holes, 712-concave sliding grooves;
81-fixing holes, 82-fixing hooks, 83-water bottles, 84-weights and 85-binding belts;
9-motion assisting device, 91-waist frame, 92-leg mechanism, 911-waist bar, 912-power module, 921-thigh mechanism, 922-shank mechanism, 923-foot mechanism.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
The hanging back frame comprises a waist structure, a shoulder structure and a back structure, wherein the waist structure is connected with the lower end of the back structure through a first clamping assembly, the back structure can rotate and displace in space relative to the waist structure, and the upper end of the back structure is connected with the shoulder structure through a second clamping assembly.
The suspension back frame comprises a waist structure, a shoulder structure and a back structure.
In this embodiment, through waist structure, shoulder structure and back structure connection cooperation in order to realize dispersing and transferring the weight pressure to human waist from human shoulder, can effectively reduce human shoulder burden.
In an embodiment, the waist structure comprises a waist belt 63, the shoulder structure comprises a shoulder strap 7, the back structure comprises a vertical rigid frame 1, the first clamping assembly is arranged at the rear side of the waist belt 63 and is connected with the vertical rigid frame 1, the vertical rigid frame 1 can rotate and displace in space relative to the waist belt 63 through the first clamping assembly, the second clamping assembly is arranged at the rear side of the shoulder strap 7 and is connected with the vertical rigid frame 1 in a sliding mode, and the vertical rigid frame 1 can slide relative to the shoulder strap 7 through the second clamping assembly.
In this embodiment, as in the embodiment shown in fig. 2a and 2b, the suspension back frame lumbar structure comprises a lumbar belt 63 or a lumbar belt fastening mechanism 6 consisting of a lumbar belt 63 and a rigid fastening mechanism 64;
As in the embodiment shown in fig. 3a and 3b, the suspension back frame shoulder structure comprises shoulder straps 7;
As in the embodiment shown in fig. 3a and 3b, the connection of the suspension back frame to the shoulder straps is shown.
In the embodiment, the vertical rigid frame is connected with the waistband through the first clamping component, the first clamping component can enable the vertical rigid frame to rotate and displace in space relative to the waistband, and when the waist is bent, leaned back and twisted left and right, the vertical rigid frame can bear load and simultaneously does not block various waist movements of a wearer;
the vertical rigid frame 1 is connected with the shoulder strap 7 through the second clamping assembly, and the vertical rigid frame 1 can slide relative to the shoulder strap 7 through the second clamping assembly, so that users with different heights can be matched.
In an embodiment, a support rod 2 is disposed at the lower end of the vertical rigid frame, the vertical rigid frame 1 is connected to the first clamping assembly through the support rod 2 and then connected to the waist belt 63, a sliding rod 3 is disposed at the upper end of the vertical rigid frame 1, and the vertical rigid frame 1 is connected to the second clamping assembly through the sliding rod 3 and then connected to the shoulder belt 7.
In this embodiment, the support rod 2 and the sliding rod 3 can be regarded as an extension part of the vertical rigid frame 1, that is, the support rod 2, the sliding rod 3 and the vertical rigid frame 1 are integrally designed, which is more beneficial to production, and can be regarded as an external part of the vertical rigid frame 1, so that the vertical rigid frame can be conveniently transported, disassembled and stored.
Specifically, fig. 1a and 1b are schematic views of an embodiment of a suspension back frame according to the present invention, which mainly show the back structure:
The back structure of the suspension back frame comprises a vertical rigid frame 1, a supporting rod 2 is arranged at the lower end of the vertical rigid frame 1, and a sliding rod 3 is arranged at the upper end of the vertical rigid frame 1. The support rod 2 is fixedly connected with the vertical rigid frame 1 and is used for bearing downward load when the hanging back frame carries heavy objects. The sliding rod 3 is fixedly connected with the vertical rigid frame 1 and is used for bearing force which is perpendicular to the direction of the sliding rod 3 and is generated by the fact that the gravity center deviates from the supporting rod 2 when the hanging back frame carries a heavy object. In order to ensure the stability of hanging the back frame to carry the heavy objects, the support rods 2 are at least arranged in two, left and right opposite sides are distributed, the load is stably borne, and the overturning is prevented, and the sliding rods 3 are at least arranged in two, left and right opposite sides are distributed, the force vertical to the sliding rods 3 is stably borne, and the overturning is prevented.
In some embodiments (as shown in fig. 1 b), the vertical rigid frame 1, the support bar 2, and the sliding bar 3 are a unitary structure, which is more convenient to produce.
In an embodiment, the first clamping assembly includes a hanging strip 61 and a fixing connection piece 62, the upper end of the hanging strip 61 is connected to the rear side of the waistband 63, the fixing connection piece 62 is disposed on the hanging strip 61, and the supporting rod 2 is connected with the hanging strip 61 through the fixing connection piece 62, so as to realize flexible hanging connection of the vertical rigid frame 1 and bear the load of the hanging back frame in the downward gravity direction.
In this embodiment, the fixing connection member 62 is connected to the support rod 2, the hanging strip 61 is connected to the waistband 63, and then the hanging strip 61 and the fixing connection member 62 are connected to form a connection relationship between the waistband 63 and the support rod 2, and since the hanging strip 61 can be made of a flexible material and can be bent and twisted, the connection between the support rod 2 and the waistband 63 is not a rigid connection, and the support rod 2 can perform spatial rotation and displacement relative to the waistband 63.
The embodiment shown in fig. 2a and 2b illustrates a flexible suspension connection between the back structure and the lumbar structure of the suspension back frame.
As shown in fig. 2a, the back side of the waistband 63 is suspended with a hanging strap 61, the upper end of the hanging strap 61 is fixed with the waistband 63, in this embodiment, the waistband 63 is closed before the wearer, the lower end of the hanging strap 61 is also fixed with the waistband 63, and in some other embodiments, the lower end of the hanging strap 61 may not be fixedly connected with the waistband 63. The hanging strip 61 is made of flexible material or elastic material, and can be bent and twisted, and the hanging strip 61 is sewn by a braid in the embodiment.
In other certain embodiments, the sling may be sewn from cloth, plastic sheeting, rope, etc.
As shown in the embodiment of fig. 2a, a fixed connection piece 62 is arranged on the hanging strip 61, the fixed connection piece 62 is fixedly connected with the hanging strip, and the vertical rigid frame 1 is connected with the fixed connection piece 62 through the supporting rod 2, so that flexible suspension connection of the vertical rigid frame 1 is realized. The load when the hanging back frame carries the weight is transferred to the hanging belt 61, the load is transferred to the waistband 63 through the hanging action of the hanging belt 61, and the load is dispersed to the whole waist of the wearer through the dispersion action of the waistband 63, so that the waist of the wearer uniformly bears the load. Meanwhile, since the hanging strip 61 is made of flexible material, it can be easily bent and twisted, so that the vertical rigid frame 1 can easily realize the spatial rotation and spatial displacement relative to the waistband 63. Therefore, when the wearer bends down, leans back and turns waist left and right, the hanging back frame can bear load without obstructing various waist movements of the wearer.
In an embodiment, the second locking assembly includes a sliding connection member, a waist hole 711 and a concave chute 712 are disposed on the sliding connection member, the concave chute 712 is connected with the shoulder strap 7, the waist hole 711 is disposed on the concave chute 712, the concave chute 712 is matched with the sliding rod 3, the concave chute 712 is used for accommodating the sliding rod 3 and making it slide up and down along the axial direction of the sliding rod 3 relative to the sliding connection member, the sliding connection member or the sliding rod 3 is provided with a protruding movable shaft pin, the sliding rod 3 or the sliding connection member is provided with a waist hole 711 or a second groove matched with the movable shaft pin, and the movable shaft pin passes through the waist hole 711 or is blocked into the second groove to realize the sliding connection of the sliding connection member and the sliding rod 3 and bear the force perpendicular to the sliding direction of the sliding rod 3.
In this embodiment, the movable pin is engaged with the waist hole 711 or the second groove to achieve the relative engagement and fixation between the sliding rod 3 and the sliding connector, and the movement perpendicular to the direction of the sliding rod 3 is limited, but not limited to the movement in the direction of the sliding rod 3.
Specifically, the waist hole 711 or the second groove extends along the direction (length direction) of the sliding rod 3.
As in the embodiment shown in fig. 3a, a sliding connection 71 is arranged on the rear side of the shoulder strap 7, on which a waist hole 711 and a concave chute 712 are arranged.
In some embodiments, the movable pin is disposed on the sliding connection member 71, and the waist hole is disposed on the sliding rod 3, so that the sliding rod 3 can slide along the rod body direction of the sliding rod 3 relative to the sliding connection member 71, and the two can be blocked from moving perpendicular to the sliding rod 3 direction (i.e. blocked from disengaging).
In one embodiment, the fixing connection member 62 has an upward opening or a first groove, and the support rod 2 is connected to the fixing connection member 62 by passing downward through the opening or snapping into the first groove, so as to transfer the suspension back frame and the load thereof to the fixing connection member 62.
In this embodiment, in the embodiment shown in fig. 2b, an upward insertion hole 621 (i.e., an opening) that can pass through the support rod 2 is disposed on the fixed connection member 62, and when the bottom end of the fixed connection member 62 is closed, the insertion hole 621 is a first groove. The diameter of the insertion hole 621 is slightly larger than that of the support rod 2, the support rod 2 may be inserted downward through the insertion hole 621 into the fixing link 62, and the support rod 2 will be reliably coupled with the fixing link 62 under load pressure.
In an embodiment, the concave chute 712 has a semi-tubular structure with a C-shaped opening, the sliding rod 3 is a circular tube and is matched with the C-shaped sliding groove, the C-shaped opening of the concave chute 712 has elasticity, and the sliding rod 3 can be directly clamped into the opening to form sliding connection with the sliding connector.
In this embodiment, as shown in fig. 3b, the concave chute 712 is designed to have a half-pipe structure with a C-shaped opening in cross section, and the sliding rod 3 is designed to have a circular pipe structure that matches the shape of the concave chute 712 and can be accommodated therein. The C-shaped opening of the concave chute 712 has elasticity, the sliding rod 3 may be locked into the concave chute 712 of the sliding connector 71 through the C-shaped opening, and the sliding rod 3 may slide along the rod body direction of the sliding rod 3 with respect to the sliding connector 71.
In an embodiment, the device comprises a loading tray 5, a hinge structure 4 is arranged on the supporting rod, the loading tray 5 is fixedly connected with a hinge shaft 41 in the hinge structure 4, the loading tray 5 can rotate up and down relative to the supporting rod 2, limiting structures are arranged at the upper end and the lower end of the hinge structure 4, and the limiting structures limit the rotation angle of the loading tray 5.
In the embodiment, the weight bearing tray and the supporting rod are rotatably connected, so that the weight bearing tray can be rotated up when not needed to be used, and the weight bearing tray is convenient to store.
The embodiment illustrated in figures 1a and 1b, 4 shows an embodiment of the hinge structure 4 of the suspension back frame. The hinge structure 4 comprises a base 42 and a hinge shaft 41, the base 42 is fixedly connected with the supporting rod 2, the hinge shaft 41 is fixedly connected with the loading tray 5, and the hinge shaft 41 is rotatably connected with the base 42. The hinge shaft 41 and the base 42 perform a relative rotation motion, so as to drive the weight tray 5 and the support rod 2 to perform a relative rotation motion. An upper limit 43 is arranged at the upper end of the base 42, a lower limit 44 is arranged at the lower end of the base 42, the upper limit 43 prevents the weight tray 5 from continuing to rotate upwards relative to the support rod 2 after the weight tray 5 rotates upwards relative to the support rod 2 to a certain position, and the lower limit 44 prevents the weight tray 5 from continuing to rotate downwards relative to the support rod 2 after the weight tray 5 rotates downwards relative to the support rod 2 to a certain position. When the hanging back frame carries a weight, the weight-bearing tray 5 will rotate downwards to the furthest position, and is prevented from continuing to rotate by the lower limit 44.
The upper limit 43 and the lower limit 44 mentioned above are limit structures.
In an embodiment, the upper end of the vertical rigid frame 1 is provided with a bend corresponding to the shoulder blade of the back of the human body, and the lower end of the vertical rigid frame 1 is provided with a bend corresponding to the waist of the human body, so as to achieve the fit of the back curve of the human body.
In this embodiment, when the hanging back frame is worn by a human body, the vertical rigid frame 1 is tightly attached to the back of the human body, a bend attached to the curve of the back shoulder blade of the human body is provided near the shoulder blade of the back of the human body on the upper part of the vertical rigid frame 1, and a bend attached to the curve of the waist of the human body is provided near the waist of the human body on the lower part of the vertical rigid frame 1. The suspension back frame designed in this way can be more fit with the back curve of a human body.
In an embodiment, the fixing connection piece is further provided with a snap hole 622 and a first flange 623, the first flange 623 is disposed on one side of the snap hole 622, the support rod 2 is provided with a first snap 21, the first snap 21 is clamped in the snap hole 622, and the first flange 623 is used for limiting the axial movement of the first snap 21 relative to the support rod 2, so as to achieve reliable connection between the support rod 2 and the fixing connection piece 62.
In this embodiment, as shown in fig. 2b, the fixing connection member 62 is further provided with a latch hole 622 and a first flange 623, and the lower portion of the support rod 2 is provided with a first latch 21, when the support rod 2 is inserted into the fixing connection member 62 through the insertion hole 621, the first latch 21 is snapped through the latch hole 622, and the first flange 623 contacts with the first latch 21 to prevent the first latch 21 from moving along the length direction of the support rod 2, so that the first latch 21 cannot be separated from the latch hole 622, thereby realizing reliable connection between the support rod 2 and the fixing connection member 62. The first snap 21 is pressed to be separated from the flange 623, so that the support rod 2 can be pulled out upwards, thereby separating the support rod 2 from the fixing connection member 62.
In an embodiment, the movable shaft pin is a second elastic buckle 31, the second elastic buckle 31 is matched with the waist hole 711, a second flange is disposed at an edge of the waist hole 711, the second flange is used for preventing the second elastic buckle 31 from moving along a length direction perpendicular to the sliding rod 3 relative to the sliding connecting piece, and the second elastic buckle 31 can slide along the length direction of the sliding rod 3 in the waist hole 711 relative to the sliding connecting piece.
In this embodiment, the movable pin is a second elastic buckle 31, the sliding rod 3 is provided with a second elastic buckle 31 that can retract into the rod body, the second elastic buckle 31 protrudes out of the rod body of the sliding rod 3, and the second elastic buckle 31 can pass through the waist hole 711. The second flange of the waist hole 711 will prevent the second snap 31 from sliding perpendicular to the sliding rod 3, so as to avoid the sliding rod 3 from being separated from the sliding connector 71, and not prevent the second snap 31 from sliding in the waist hole 711 along the sliding rod 3. In this way, the second snap 31 achieves a reliable coupling of the sliding rod 3 with the sliding connection 71. When the sliding rod 3 and the sliding connection member 71 need to be separated, the second elastic buckle 31 is only pressed to separate from the waist hole 711, so that the sliding rod 3 and the sliding connection member 71 can be separated.
The sliding structure of the sliding rod 3 and the sliding connecting piece 71 is beneficial to the assembly and disassembly of the hanging back frame and is beneficial to matching users with different heights.
In some embodiments, the waist hole 711 is not opened, but is closed to form a groove (i.e. a second groove), which can also serve the same purpose.
The above-mentioned quick coupling and quick decoupling of the support bar 2 and the waist belt and the quick coupling and quick decoupling of the slide bar 3 and the shoulder belt 7 complete the assembly and disassembly of the suspension back frame according to the present invention.
In one embodiment, a fixture is included, the fixture being disposed on the vertical rigid frame 1, the fixture comprising a combination of any one or more of an aperture, a hanging ring, a hook, a clip, and a rope.
In the present embodiment, by providing the fixing means on the vertical rigid frame 1, for increasing the kinds of carrying, the functions of the present suspension back frame are enriched.
Fig. 5a and 5b show an embodiment of the suspended back carrier carrying an item.
As shown in fig. 5a, the suspension back frame is further provided with a fixing hole 81 and a fixing hook 82, and the fixing hole 81 and the fixing hook 82 are both fixing mechanisms.
In some embodiments, the hanging back frame is further provided with a fixing mechanism such as a fixing hanging ring, a fixing hanging rope, a fixing clip and the like.
In the embodiment shown in fig. 5a, a water bottle 83 is suspended from the suspension back frame by the fixing hooks 82.
In one embodiment, a binding mechanism is included for helping secure large items placed on the load tray, the binding mechanism including a combination of any one or more of elastic cords/straps, inelastic cords/straps.
As shown in fig. 5b, a binding belt 85 is further disposed on the suspension back frame, one end of the binding belt 85 is tied to the suspension back frame, and after the weight 84 is placed on the load tray 5, the binding belt 85 is tightened and the other end of the binding belt 85 is tied to the suspension back frame, so that the weight 84 placed on the load tray can be fixed.
In some embodiments, the strap ends are hooked to the suspension back frame by hooks (an alternative to binding) that is simpler to tie than a tie.
In the embodiment shown in fig. 5b, the binder strap is an elastic rope/strap, but in some embodiments, the binder strap is a non-elastic rope/strap with a buckle disposed thereon to help solve the problem of inconvenient tightening with the non-elastic rope/strap.
Fig. 1a, fig. 1b, fig. 2a, fig. 2b, fig. 3a, fig. 3b, fig. 4, fig. 5a, fig. 5b show a main structure of the suspension back frame and examples of the load thereof according to the present invention. In the actual use process, the suspension back frame can be independently used and can be matched with other motion assisting devices for use.
As shown in fig. 6, in some embodiments, the suspension back frame is used independently, the waist structure of the suspension back frame is a waist belt 63, the lower end (or the support rod 2) of the vertical rigid frame 1 is connected with the waist belt 63 in a suspension manner, the upper end (or the sliding rod 3) of the vertical rigid frame 1 is connected with the shoulder belt 7 in a sliding manner, and the shoulder belt 7 is connected with the waist belt 63.
In an embodiment, a rigid fastening mechanism 64 is disposed between the first fastening component and the waistband 63 at the rear side of the waistband 63 to form a waistband fastening mechanism 6, and the first fastening component is connected to the waistband 63 by connecting to the rigid fastening mechanism 64.
In the present embodiment, as shown in fig. 2b, the belt fastening mechanism 6 comprises a belt 63 and a rigid fastening mechanism 64. The harness 61 is not secured to the waist belt 63 but is secured to the rigid securing mechanism 64. The waistband 63 is multipoint attached to the rigid fastening means 64, and the waistband closes in front of the wearer. The load when the suspended back frame carries a weight is transferred to the rigid fastening means 64 and then fixed by the multi-point connection of the waist belt 63 to the rigid fastening means 64, which load will be further distributed to the waist of the wearer by the rigid fastening means 64 and the waist belt 63.
The rigid fastening means 64 is provided for connection to other movement assistance means, where the rigid fastening means 64 acts as a connection between the suspension back frame and the other movement assistance means.
The exercise assisting device comprises a waist frame 91 and leg mechanisms 92, wherein the waist frame 91 is of a rigid structure and surrounds the hip parts from the waist to the left side and the right side of a wearer, the leg mechanisms 92 comprise thigh mechanisms 921, the thigh mechanisms 921 are arranged near the thighs of a human body, the upper ends of the thigh mechanisms 921 are rotatably connected with the waist frame 91, the exercise assisting device is provided with a hanging back frame, the waist belt 63 is fixedly connected with the waist frame 91 at multiple points, the hanging strip 61 is arranged on the waist belt 63 or the waist frame 91, and the shoulder straps 7 are connected with the waist belt 63 or the waist frame 91 at multiple points.
As shown in fig. 7a, in some embodiments, the suspension back frame may also be used together with the motion assisting device 9, the waist structure of the suspension back frame is a waistband fixing mechanism 6, the lower end (or the support rod 2) of the vertical rigid frame 1 is in suspension connection with the waistband fixing mechanism 6, the upper end (or the sliding rod 3) of the vertical rigid frame 1 is in sliding connection with the shoulder strap 7, and the shoulder strap 7 is connected with the waistband fixing mechanism 6. The waistband fixing and connecting mechanism 6 comprises a waistband 63 and a rigid fixing and connecting mechanism 64, the waist frame 91 of the motion assisting device 9 and the rigid fixing and connecting mechanism 64 are fixedly connected into an integral structure, and the motion assisting device 9 and the waistband 63 are connected in multiple points through the integral structure formed by fixedly connecting the rigid fixing and connecting mechanism 64 and the waist frame 91. Also, the vertical rigid frame 1 is tightly fitted to the back of the human body when the human body wears the suspension back frame. The upper part of the vertical rigid frame 1 is provided with a bending part which is fit with the curve of the human back and shoulder blade near the human back and shoulder blade, and the lower part of the vertical rigid frame 1 is provided with a bending part which is fit with the curve of the human waist near the human waist.
As shown in fig. 7a and 7b, the booster further comprises a leg mechanism 92, an upper end of the leg mechanism 92 is rotatably connected to the lumbar frame 91, and the leg mechanism 92 is disposed on a lower limb of a human body.
In the embodiment shown in fig. 7a, the leg mechanism 92 comprises only a thigh mechanism 921, the thigh mechanism 921 is arranged outside the thigh of the human body, and the thigh of the human body is bound by a thigh binding strap, so that the thigh mechanism and the thigh of the human body are relatively fixed.
A motion assistance device comprising a motion assistance device, the leg mechanism 92 further comprising a lower leg mechanism 922 and/or a foot mechanism 923, the lower leg mechanism 922 being arranged near a human lower leg, the foot mechanism 923 being arranged near a human ankle, the upper end of the lower leg mechanism 922 being rotatably coupled with the thigh mechanism 921, the lower end of the lower leg mechanism 922 being rotatably coupled with the foot mechanism 923.
In the embodiment shown in fig. 7b, the leg mechanism 92 includes a lower leg mechanism 922 and a foot mechanism 923 in addition to the thigh mechanism 921. The lower leg mechanism 922 is arranged outside the lower leg of the human body, the upper side of the lower leg mechanism is rotatably connected with the lower end of the thigh mechanism 921, the lower leg of the human body is bound by the lower leg binding band, and the relative fixation between the lower leg mechanism and the lower leg of the human body is realized. The foot mechanism 923 is arranged on the ankle of the human body, the upper end of the foot mechanism 923 is rotatably connected with the lower end of the shank mechanism 922, and the foot mechanism 923 contacts the ground. When the suspension back frame bears the load, the load is transferred to the power assisting device, and the power assisting device conducts the load to the ground through the thigh mechanism 921, the shank mechanism 922 and the foot mechanism 923, so that the load of a human body when bearing the load is reduced.
The embodiment shown in fig. 2b shows in detail the lumbar structure co-operation of the suspension back frame when used with the motion aid 9, the lumbar frame 91 comprises a lumbar bar 911, a power module 912 and a main control frame 913, the majority of the power module 912 being arranged near the hip joint on the lumbar side, the main control frame 913 being arranged on the back of the human body. The upper end of the power module 912 is fixedly connected with the lower end of the waist bar 911, the upper end of the waist bar 911 is fixedly connected with the main control frame 913, and the main control frame 913 and the rigid fixing mechanism 64 are in an integrated structure. The waistband 63 is connected with the rigid fastening mechanism 64 in a multi-point manner, and the waistband 63 can be considered to be connected with the main control frame 913 in a multi-point manner.
In certain embodiments, the belt 63 is also laterally connected to the power module 912.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (11)
1. The suspension back frame is characterized by comprising a waist structure, a shoulder structure and a back structure, wherein the waist structure is connected with the lower end of the back structure through a first clamping assembly, the back structure can rotate and displace in space relative to the waist structure, and the upper end of the back structure is connected with the shoulder structure through a second clamping assembly;
The waist structure comprises a waistband, the shoulder structure comprises a shoulder strap, the back structure comprises a vertical rigid frame, the first clamping assembly is arranged at the rear side of the waistband and is connected with the vertical rigid frame, the vertical rigid frame can rotate and displace in space relative to the waistband through the first clamping assembly, the second clamping assembly is arranged at the rear side of the shoulder strap and is in sliding connection with the vertical rigid frame, the vertical rigid frame can slide relative to the shoulder strap through the second clamping assembly, a waistband fixing mechanism is formed by arranging a rigid fixing mechanism between the first clamping assembly and the waistband, the first clamping assembly is connected with the waistband through the rigid fixing mechanism, and the waistband is fixedly connected with the rigid fixing mechanism through multiple points;
The lower end of the vertical rigid frame is provided with a supporting rod, and the vertical rigid frame is connected with the first clamping assembly through the supporting rod so as to be connected with the waistband;
The first clamping assembly comprises a hanging belt and a fixed connecting piece, wherein the upper end of the hanging belt is connected with the rigid fixing mechanism, the fixed connecting piece is arranged on the hanging belt, the supporting rod is connected with the hanging belt through the fixed connecting piece to realize flexible hanging connection of a vertical rigid frame and bear load in the downward gravity direction of a hanging back frame, the hanging belt is made of flexible materials or elastic materials, the fixed connecting piece is further provided with a snapping hole and a first flange, the first flange is arranged on one side of the snapping hole, the supporting rod is provided with a first snapping buckle, the first snapping buckle is clamped in the snapping hole, and the first flange is used for limiting axial movement of the first snapping buckle relative to the fixed connecting piece to realize reliable connection of the supporting rod and the fixed connecting piece;
The second clamping assembly comprises a sliding connecting piece, a waist hole and a concave sliding groove are formed in the sliding connecting piece, the concave sliding groove is connected with the shoulder belt, the waist hole is formed in the concave sliding groove, the concave sliding groove is matched with the sliding rod, the concave sliding groove is used for accommodating the sliding rod and enabling the sliding rod to slide up and down along the axial direction of the sliding rod relative to the sliding connecting piece, a protruding movable shaft pin is arranged on the sliding connecting piece or the sliding rod, a waist hole or a second groove matched with the movable shaft pin is formed in the sliding connecting piece or the sliding shaft pin, the movable shaft pin penetrates through the waist hole or is clamped into the second groove to achieve sliding connection of the sliding connecting piece and the sliding rod and bear force perpendicular to the sliding direction of the sliding rod, the movable shaft pin is a second elastic buckle, the second elastic buckle is matched with the waist hole, a second blocking edge is arranged on the edge of the waist hole and is used for preventing the second elastic buckle from moving along the length direction perpendicular to the sliding connecting piece in the sliding direction of the waist hole.
2. The suspension back frame of claim 1, wherein the slide bar, support bar and vertical rigid frame are integrally formed.
3. The back suspension frame according to claim 1, wherein the fixed connecting piece is provided with an upward opening or a first groove, and the supporting rod is connected with the fixed connecting piece by penetrating downwards through the opening or being blocked into the first groove, so that the back suspension frame and the load thereof are transmitted to the fixed connecting piece.
4. The hanging back frame according to claim 1, wherein the concave sliding groove is of a semi-tubular structure with a C-shaped opening, the sliding rod is a round tube and is matched with the C-shaped concave sliding groove, the C-shaped opening of the concave sliding groove is elastic, and the sliding rod can be directly clamped into the opening to form sliding connection with the sliding connecting piece.
5. The hanging back frame according to claim 1 or 2, comprising a load tray, wherein a hinge structure is arranged on the supporting rod, the load tray is fixedly connected with a hinge shaft in the hinge structure, the load tray can rotate up and down relative to the supporting rod, limiting structures are arranged at the upper end and the lower end of the hinge structure, and the limiting structures limit the rotation angle of the load tray.
6. The hanging back frame as in claim 1, wherein the upper end of the vertical rigid frame is provided with a bend corresponding to the shoulder blade of the back of the human body, and the lower end of the vertical rigid frame is provided with a bend corresponding to the waist of the human body, so as to achieve the fitting of the back curve of the human body.
7. The suspension back frame of claim 1, comprising a securing device disposed on the vertical rigid frame, the securing device comprising a combination of any one or more of an aperture, a hanging ring, a hook, a clip, and a rope.
8. The suspension back frame of claim 5, comprising a binding mechanism for helping secure large items placed on the load tray, the binding mechanism comprising a combination of any one or more of elastic cords/straps, inelastic cords/straps.
9. The suspension back frame of claim 1, wherein the sling is made of any one of cloth, webbing, flexible plastic sheet, and rope.
10. A motion assisting device comprises a waist frame and leg mechanisms, wherein the waist frame is of a rigid structure and surrounds hip parts from the waist to the left side and the right side of a wearer, the leg mechanisms comprise thigh mechanisms, the thigh mechanisms are arranged near thighs of a human body, the upper ends of the thigh mechanisms are rotatably connected with the waist frame, and the motion assisting device is characterized by comprising a hanging back frame as claimed in any one of claims 1-9, the waistband is fixedly connected with the waist frame at multiple points, the hanging strip is arranged on the waistband or the waist frame, and the shoulder strap is connected with the waistband or the waist frame at multiple points.
11. A motion assistance mechanism comprising the motion assistance device according to claim 10, wherein the leg mechanism further comprises a lower leg mechanism disposed in the vicinity of a lower leg of a human body and/or a foot mechanism disposed in the vicinity of an ankle of a human body, an upper end of the lower leg mechanism being rotatably coupled to the thigh mechanism, and a lower end of the lower leg mechanism being rotatably coupled to the foot mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110985074.5A CN115868733B (en) | 2021-08-25 | 2021-08-25 | A suspension back frame, motion assist device, and mechanism for use in assistive devices. |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110985074.5A CN115868733B (en) | 2021-08-25 | 2021-08-25 | A suspension back frame, motion assist device, and mechanism for use in assistive devices. |
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| US20040108350A1 (en) * | 2002-11-22 | 2004-06-10 | Bruce Warren | External Frame Backpack |
| EP2346447B1 (en) * | 2008-07-23 | 2019-09-04 | Ekso Bionics, Inc. | An exoskeleton and method for controlling a swing leg of the exoskeleton |
| CN101744450B (en) * | 2008-12-08 | 2013-08-21 | 戴珊珊 | Force balancing back support |
| US9333644B2 (en) * | 2010-04-09 | 2016-05-10 | Lockheed Martin Corporation | Portable load lifting system |
| JP5714874B2 (en) * | 2010-11-24 | 2015-05-07 | 川崎重工業株式会社 | Wearable motion support device |
| CN103200919B (en) * | 2010-11-24 | 2015-04-22 | 川崎重工业株式会社 | Wearable motion assistance device |
| WO2012070244A1 (en) * | 2010-11-24 | 2012-05-31 | 川崎重工業株式会社 | Wearable motion assistance device |
| CN102320444B (en) * | 2011-05-24 | 2013-04-24 | 宁波大学 | Multi-functional power assisting device |
| JP6169837B2 (en) * | 2011-11-02 | 2017-07-26 | パナソニック株式会社 | Lower limb movement support device |
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| CN2242624Y (en) * | 1995-12-14 | 1996-12-18 | 谭亚特 | Lightweight Adjustable Backpack Rack |
| CN103610568A (en) * | 2013-12-16 | 2014-03-05 | 哈尔滨工业大学 | Human-simulated external skeleton robot assisting lower limbs |
| CN106535705A (en) * | 2014-05-01 | 2017-03-22 | 罗伯特·蒙克瑞弗 | carrying strap |
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