CN116619328A - Compact waist booster - Google Patents

Abstract

The invention discloses a compact waist power assisting device, which comprises a main body frame, a power module, a leg rod module and a waistband, wherein the main body frame comprises a back plate, a waist rod and a front waist support, the front waist support is arranged at the front side of the waist of a wearer and is used for supporting a weight, the front waist support at least comprises a waist support base, and is fixed on the main body frame and/or the power module and/or the waistband through the waist support base, and the front waist support is rigid in the vertical direction relative to the main body frame or the power module so as to bear the weight on the front waist support and transmit the weight to the main body frame; the front lumbar support is flexible or rotatable relative to the main body frame or the power module in a horizontal direction so that the front lumbar support opens in a horizontal direction to allow the wearer to nest the booster device from the rear lumbar into the waist of the person. When the power assisting device is used by a wearer for carrying and walking, the power assisting device can transfer the load weight to the waist and the back, and has the advantage of stable wearing.

Description

A compact waist assisting device

technical field

The invention relates to the field of power devices for human body assisting exoskeleton, in particular to a compact waist assisting device.

Background technique

In daily work and life, human beings often encounter situations where they want to enhance the strength and endurance of the upper or lower limbs of the human body. Wearable powered exoskeleton devices are devices that meet this type of application, including hip-assisted exoskeletons, knee-assisted exoskeletons, and upper-limb exoskeletons. Power-assisted exoskeletons, etc., many existing documents disclose the realization mechanism of this type of device.

In the existing waist-assisted exoskeleton technology, the hip extension moment is provided when bending over. In order to lift/lift the wearer’s shoulder upward, the back adopts a rigid backplate extending to the shoulder to transmit hip extension Torque, the problem brought about by this is that the backboard will shake from side to side when walking, which will affect the wearing experience; in addition, the current waist-assisted exoskeleton basically adopts the method of hanging rope from the backboard to reduce the load on the arms during walking. The weight of medium and heavy objects is all transmitted by the backboard, so the backboard needs to protrude very high on the back, which makes the exoskeleton equipment very bulky, and further aggravates the side-to-side shaking of the backboard when walking; in addition, the backboard is very long. Without storage, it will be inconvenient in complex work scenes, and the lifting rope may be involved in the running equipment or get stuck.

Contents of the invention

The purpose of the present invention is to provide a compact waist assisting device, aiming at solving the problems of bulky exoskeleton equipment and severe backboard shaking.

In order to solve the above technical problems, the object of the present invention is achieved through the following technical solutions: provide a compact waist assisting device, including a main frame, a power module, a leg bar module and a waist belt, the main frame includes a backboard and a waist bar, The backboard is set on the back of the wearer; the power module is set at the hips on both sides of the wearer; Board transmission connection; the leg bar module is arranged on the side of the wearer's leg and is used for wearing and fixing the wearer's leg. The upper end of the leg bar module is rotatably coupled with the power module, and the power module drives the leg bar The module drives the wearer's legs to swing forward or backward; the waist belt is fixedly connected to the power module or the waist bar;

The main body frame also includes a front lumbar support, which is arranged on the front side of the wearer's waist for lifting heavy objects. The front lumbar support at least includes a lumbar support base, and is fixed on On the main body frame and/or the power module and/or the waist belt, the front lumbar support is rigid in the vertical direction relative to the connection of the main body frame or the power module, so that the front lumbar support carries heavy objects and transmitted to the main body frame; the front lumbar support is flexible or rotated in the horizontal direction relative to the main body frame or the power module, so that the front lumbar support is opened in the horizontal direction so that the wearer can pull the power-assisted device from the back waist cover into the waist of the human body.

Further, the front lumbar support also includes a lumbar support shaft and a lumbar support rod, and the lumbar support rod and the lumbar support base are rotationally coupled based on the vertical direction through the lumbar support rotation shaft.

Further, the backboard at least includes a first backboard, a second backboard and a backboard rotating shaft, the first backboard and the second backboard are rotatably coupled through the backboard rotating shaft, and the backboard rotating shaft is set It is located at the center of the back of the wearer's shoulders and is perpendicular to the coronal plane; when the power-assisted device is used, the second backboard takes the rotation axis of the backboard as the rotation point and rotates along the side-to-side shaking direction of the wearer's shoulder; when the power-assisted device is not used , the second backplane rotates to overlap with the first backplane.

Further, the waist bar and the backboard are tightly connected by a fast-holding structure; the fast-holding structure includes a hold-up rivet, a wrench shaft, a wrench cam and a wrench handle, and the hold-up rivet Connect the backboard and the wrench cam, the waist bar is arranged between the backboard and the wrench cam; when the wrench handle is pulled, the wrench cam is rotated and the backboard is increased or reduced and the distance between the wrench cam, and then loosen or compress the back plate and the waist bar, and when the back plate and the waist bar are loosened, the waist bar and the back bar can be adjusted The relative position of the board.

Further, the waist belt is tightly attached to the waist of the wearer, and the waist belt includes a left waist belt and a right waist belt. One end of the left waist belt and the right waist belt is fastened and connected at the back waist of the wearer. The left waist belt and the right waist belt The other end of the belt is buckled and connected at the wearer's front abdomen, and the left waist belt and the right waist belt are buckled to form a closed ring structure to carry the weight of the main frame, the power module and the weight on it.

Further, the compact waist assisting device also includes a drawstring for lifting heavy objects, the connecting end of the drawstring is fixed on the backboard, and the pull-up end of the drawstring is provided with a drawstring magnet or a convex Shaft, the front lumbar support or the power module or the waist belt is provided with a waist magnet that cooperates with the magnetic attraction of the pull belt or a magnetic opening that matches the protruding shaft.

Further, the drawstring is an elastic drawstring, the outer layer of the drawstring is a cloth cover, the inner layer of the drawband is an elastic inner core, and the elastic inner core slides relative to the cloth cover; the elastic inner The natural length of the core is less than the natural length of the cloth cover; in the natural state, the elastic inner core shortens the outer cloth cover to the shortest length, and in the stretched state, the outer cloth cover stretches to the maximum length to bear the tensile force And prevent the elastic inner core from elongating and overloading.

Further, both sides of the backboard are provided with shoulder straps, and each of the shoulder straps is divided into an upper shoulder strap and a lower shoulder strap. The upper part of the shoulder strap and the lower part of the shoulder strap extend along the wearer's shoulder to the front chest of the wearer, and the ends of the upper part of the shoulder strap and the lower part of the shoulder strap are buckled with each other to form a closed loop structure, so as to The back panel is secured to the wearer's back.

Further, the front lumbar support is provided with a support bar force sensor, the support bar force sensor is connected in series in the front lumbar support, and one end of the support bar force sensor is connected to the power module or the lumbar support The base or the lumbar support rod is fixedly connected, and the other end is fixedly connected with the lumbar support base, the lumbar support rod or the lumbar support rotating shaft, and the force sensor of the support rod is used to sense the gravity carried by the front lumbar support.

Further, the backboard is provided with a drawstring force sensor, one end of the drawstring force sensor is fixed on the backplate, and the other end of the drawstring force sensor is connected to the drawstring The ends are fixedly connected to sense the pulling force of the drawstring.

The beneficial effect of the present invention compared with prior art is:

When the wearer wears and uses the booster device of the present invention, the second backboard can follow the left and right shaking of the wearer's shoulders and rotate, thereby improving the flexibility and human body adaptability of the device of the present invention. In addition, when the device of the present invention is not used, the second backboard can The backboard can be rotated to overlap with the first backboard, so that the length of the backboard can be reduced, the volume of the booster device of the present invention can be reduced, and it is convenient to carry and store the booster device of the present invention.

When the wearer holds a heavy object in front, the lower part of the heavy object falls on the lumbar support rod of the wearer's front abdomen. At this time, the lumbar support rod generates a clockwise torque to the main frame through a rigid connection, so that the back plate presses the wearer's back, In addition, the lumbar support bar is pressed down by gravity on the lumbar bar and/or power module that is fixed to it, and then pulls down the leg belt that is fixed to it, so that the load is transferred to the wearer's waist and back, and the wearer's arms are relieved. and spinal loads.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

Figure 1 is a schematic rear view of Embodiment 1 of the compact waist assisting device provided by the present invention;

Fig. 2 is a right side view schematic diagram of the upright load-bearing state of Embodiment 1 of the compact waist assisting device provided by the present invention;

Fig. 3 is a schematic right side view of the bending state of Embodiment 1 of the compact waist assisting device provided by the present invention;

Fig. 4 is a schematic top view of the main body frame of Embodiment 1 of the compact waist assisting device provided by the present invention;

Fig. 5 is a schematic diagram of the quick-holding structure of the compact waist assisting device provided by the present invention;

Figure 6 is a schematic diagram of the connection between the power module and the waist and leg modules provided by the present invention (view from AA in Figure 1);

Fig. 7 is a schematic right side view of the upright weight-bearing state of Embodiment 2 of the compact waist assisting device provided by the present invention;

Fig. 8 is a schematic view of the right side of Embodiment 3 of the compact waist assisting device provided by the present invention;

Fig. 9 is a schematic top view of the main frame of Embodiment 3 of the compact waist assisting device provided by the present invention.

Instructions for identification in the figure:

1—main frame; 11—back plate; 111—first back plate; 112—second back plate; 1121—extension arm; 113—back plate shaft; 114—holding block; Pull nail; 1152—wrench handle; 1153—wrench shaft; 1154—wrench cam; 12—waist rod; 13—front lumbar support; 131—lumbar support base; 132—lumbar support shaft; - raised lumbar support;

2—power module; 21—power base; 22—power output plate;

3—leg rod module; 31—leg rod transfer section; 32—leg rod shaft; 33—leg rod main body; 34—thigh shield;

41—shoulder strap; 411—upper shoulder strap; 412—lower shoulder strap; 413—shoulder strap buckle; 42—belt; 421—right belt; 422—left belt; 423—back belt buckle; 424—front belt buckle; 425 —Waist magnet; 43—Leg belt; 44—Strap; 441—Magnet; 442—Hook;

5 - heavy objects;

61—Strap force sensor; 62—Stand bar force sensor;

7—Fan.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be understood that when used in this specification and the appended claims, the terms "comprising" and "comprises" indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude one or Presence or addition of multiple other features, integers, steps, operations, elements, components and/or collections thereof.

It should also be understood that the terminology used in the description of the present invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. As used in this specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural referents unless the context clearly dictates otherwise.

It should also be further understood that the term "and/or" used in the description of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

Embodiment 1 of the compact waist assisting device of the present invention will be introduced below with reference to FIG. 1 , FIG. 2 and FIG. 3 .

The compact waist assisting device includes a main body frame 1, a power module 2, a leg bar module 3 and a strap system. The main body frame 1 includes a backboard 11, a waist bar 12 and a front lumbar support 13. The backboard 11 is arranged on the back of the wearer; the power module 2 is arranged at the hips on both sides of the wearer; the waist bar 12 includes a left waist rod and a right waist rod, the left waist rod and the right waist rod are respectively arranged on both sides of the backboard 11, and one end of the left waist rod and the right waist rod is fixedly connected with the power module 2, The other ends of the left waist bar and the right waist bar respectively extend backward and upward from the power modules 2 arranged on both sides of the wearer's hips and are connected to the backboard 11 by transmission; the leg bar module 3 is arranged on the wearer's The side of the leg is used to wear and fix the wearer's leg. The upper end of the leg bar module 3 is rotatably coupled with the power module 2. The power module 2 can drive the leg bar module 3 to drive the wearer's leg forward. or swing back.

As shown in Figures 1 and 2, the backplane 11 includes a first backplane 111, a second backplane 112 and a backplane shaft 113, and the first backplane 111 and the second backplane 112 pass through the backplane shaft 113 Rotating connection, the backboard 11 is arranged parallel to the back of the wearer, and the backboard rotation axis 113 is perpendicular to the backboard 11, that is, perpendicular to the coronal plane of the human body; the backboard rotation axis 113 is arranged under the wearer's shoulders Or at the back center, when the wearer wears and uses the booster device of the present invention, the second backboard 112 can follow the left and right shaking of the wearer's shoulders and rotate, thereby improving the flexibility and human body adaptability of the booster device of the present invention. , when the device of the present invention is not in use, the second back plate 112 can be rotated to a position overlapping with the first back plate 111, thereby reducing the length of the back plate 11, thereby reducing the size of the booster device of the present invention. The volume is convenient for carrying and storing the booster device of the present invention.

As shown in Fig. 2, Fig. 4 and Fig. 6, the main body frame 1 also includes a front waist support 13, and the two front waist supports 13 are respectively arranged on the left and right sides of the wearer's waist and front abdomen. The support 13 is made of rigid material. The front lumbar support 13 includes a lumbar support base 131, a lumbar support rotating shaft 132 and a lumbar support rod 133. The lumbar support base 131 is fixed on the lumbar support 12 and/or the power module 2, the lumbar support base 131 and the lumbar support rod 133 are rotationally coupled based on the lumbar support shaft 132 in the vertical direction, and the front lumbar support 13 is vertically relative to the main body frame 1 or the power module 2 The connection is rigid, so that the front lumbar support 13 can carry the weight 5; It can be unfolded or closed relative to the wearer's abdomen. When unfolded, it is convenient for the wearer to penetrate the device, and it can be used as a load-bearing platform to lift heavy objects 5;

The front waist support 13 can also be made of elastic material (such as titanium alloy, memory alloy, etc.) or semi-flexible material (such as nylon, glass fiber, etc.). 132, just fix the root of the front lumbar support 13 on the lumbar bar 12 and/or the power module 2, and the opening or closing of the front lumbar support 13 can be realized through the deformation of the front lumbar support 13 itself, so as to realize a similar waist support. Support the function of rotating shaft 132.

The working principle of the front lumbar support 13 is as follows: as shown in Fig. 2, Fig. 5 and Fig. 7, when the wearer holds the heavy object 5 in front, the lower part of the heavy object 5 falls on the described lumbar support bar 133 of the wearer's front abdomen. At this time, the lumbar support bar generates a clockwise torque to the main body frame 1 through rigid connection, so that the back plate 11 presses the wearer's back. In addition, the lumbar support bar presses down on the lumbar bar 12 fixedly connected with it by gravity. and/or the power module 2, and then pull down the leg strap 43 fixedly connected with it, so as to transfer the weight of the load to the wearer's waist and back, and reduce the load on the wearer's arms and spine.

As shown in Figure 4, the backboard 11 has a quick-holding structure. Based on the quick-holding structure, the position of the waist bar 12 in the transmission connection of the first backboard 111 can be adjusted to adapt to different waist circumferences. The wearer uses the assisting device of the present invention. Specifically, the fast tightening structure includes a tightening block 114 and a tightening wrench 115, and the tightening wrench 115 includes a tightening pull nail 1151, a wrench handle 1152, a wrench shaft 1153 and a wrench cam 1154; the waist bar 12 It is arranged between the clamping block 114 and the first back plate 111, the clamping rivet 1151 passes through the first back plate 111 and the clamping block 114, and one end of the clamping rivet 1151 It is arranged on the inner side of the first backboard 111, and this end has a flange (or nut), which can be pressed outwardly on the first backboard 111. 1153 connected; as shown in Figure 5, the wrench handle 1152 and the wrench cam 1154 are an integrated structure, when the wrench handle 1152 is pulled, the wrench cam 1154 rotates relative to the wrench shaft 1153, thereby changing the wrench The distance from the wrench rotating shaft 1153 to the clamping block 114 can further compress the clamping block 114 or loosen the clamping block 114 . In Fig. 4, when the wrench handle 1152 is turned clockwise downward, the wrench cam 1154 can expand the distance between the clamping block 114 and the first back plate 111, so that the waist bar 12 is relatively The first backboard 111 can move left and right, that is, the relative distance between the left waist bar and the right waist bar can be adjusted respectively by setting two quick-holding structures, so as to adapt to wearers with different waist circumferences; when the wrench handle 1152 turns upwards counterclockwise, The wrench cam 1154 will reduce the distance between the clamping block 114 and the first backboard 111, so that the waist bar 12 is compressed by the clamping block 114 and the first backboard 111, The resulting frictional force will prevent the waist bar 12 from moving relative to the first backboard 111. At this time, the waist bar 12 and the first backboard 111 are tightly fixed together, and torque can be transmitted, so that The booster device of the present invention can normally apply torque to the wearer.

By adopting the above-mentioned fast-clamping structure, the waist bar 12 of the power booster of the present invention can be closer to the wearer, so that the power booster of the present invention is close to the body, compact and not obtrusive, and is convenient for the wearer to work in a crowded environment.

As shown in Figure 6, the power module 2 includes a power base 21 and a power output disk 22, the power output disk 22 can rotate relative to the power base 21 and output torque, and its rotating shaft is used as a power output shaft . Both the waist bar 12 and the front lumbar support 13 are fixed on the power base 21, and the waist bar 12 and the front lumbar support 13 form a firm connection through the power base 21, so that force and moment can be transmitted .

As shown in FIG. 2 and FIG. 6 , the leg bar module 3 includes a leg bar transfer section 31 , a leg bar rotating shaft 32 , a leg bar main body 33 and a thigh shield 34 . The upper end of the leg-rod transfer section 31 is fixedly connected to the power output disk 22, and the lower end is rotatably connected to the leg-rod main body 33 through the leg-rod rotating shaft 32. The leg-rod rotating shaft 32 is perpendicular to the coronal plane of the human body, and Orthogonal to the power output shaft, so as to allow the wearer's legs to be abducted or retracted while transmitting the power torque; the lower end of the leg rod body 33 is connected to the thigh shield 34 by transmission, and the thigh shield 34 passes through the wearer's legs Leg strap 43 is fixed.

The strap system includes a shoulder strap 41 , a waist strap 42 , a leg strap 43 and a draw strap 44 .

As shown in Figures 1 and 2, the second backboard 112 has protruding extension arms 1121 in all directions, and the two shoulder straps 41 are respectively arranged on the left and right sides of the second backboard 112, and each of the shoulder straps The belt 41 includes an upper shoulder strap section 411, a lower shoulder strap section 412 and a shoulder strap buckle 413. The head ends of the upper shoulder strap section 411 and the lower shoulder strap section 412 are respectively fixedly connected with the corresponding extension arms 1121 at the back of the wearer. The shoulder strap upper section 411 and the shoulder strap lower section 412 extend around the wearer's shoulders to the wearer's chest, and the ends of the shoulder strap upper section 411 and the shoulder strap lower section 412 are locked at the wearer's chest by corresponding shoulder belt buckles 413. buckle, so that the second backboard 112 fits the wearer's back; the shoulder strap 41 adopts a combination of upper and lower sections to facilitate the user's wearing and use, and can make the shoulder strap 41 tightly wrap around the wearer's shoulders for easy power transfer.

As shown in Fig. 1 and Fig. 4, the waist belt 42 is closely attached to the waist of the wearer, and the waist belt 42 includes a right waist belt 421, a left waist belt 422, a back belt buckle 423 and a front belt buckle 424, the right waist belt 421 and the front belt buckle 424. The left waist belt 422 is buckled at the back waist of the wearer through the back belt buckle 423, and is buckled at the wearer's front abdomen through the front waist belt buckle 424, thereby forming a complete circular belt around the wearer's waist; the waist bar 12 Or the power base 21 is fixedly connected to the right waist belt 421 and the left waist belt 422 on both sides, and the closed ring structure of the waist belt 42 carries the main frame 1, the power module 2 and the heavy objects carried thereon 5 weight.

As shown in Figure 2 and Figure 7, when the wearer is holding a weight 5 in front of him, the lower end of the weight 5 falls on the waist support rod 133 on the front abdomen of the wearer, and then transfers the weight to the power base solidly connected with it 21, and then transfer the weight to the waist belt 42, and finally the waist belt 42 will distribute the weight of the heavy object to the waist of the wearer with strong bearing capacity, thereby reducing the load on the wearer's arms and spine.

The back belt buckle 423 and the front belt buckle 424 of the waist belt 42 can adjust the length of the right waist belt 421 and the left waist belt 422 and can be buckled together, so as to be suitable for wearers with different waist circumferences.

The leg strap 43 is fixedly connected to the thigh shell 34, thereby fixing the leg bar module 3 on the wearer's thigh.

As shown in Figure 7, the connecting end of the drawstring 44 is fixed on the second backboard 112 (or the shoulder strap 41); The front lumbar support 13 is supported, and the top is pulled by the lifting end of the drawstring 44 to form a stable bearing structure; the lifting end of the drawstring 44 has a drawstring hook 442, and the drawstring hook 442 can be hooked. Hold the weight 5 so that the wearer's arm can be completely relaxed when carrying the weight.

As shown in Figure 7, the lifting end of the drawstring 44 also has a drawstring magnetic attraction 441, and the front lumbar support 13 or the power module 12 or the waist belt 42 side has a waist magnetic attraction 425 (as shown in Figure 7 The position shown is the waist belt 42), when the drawstring 44 is not used, the drawstring magnetic attraction 441 is attracted to the waist magnetic attraction 425, thereby quickly fixing the end of the drawstring 44 near the waist of the human body, Prevent the drawstring 44 from getting involved in the machine or hooking other items in the workplace.

Further, the fast fixing solution of the lifting end of the above-mentioned drawstring 44 can also use a clamping device to achieve the same function: the lifting end of the drawstring 44 has a protruding shaft, and the front waist support 13 or the power module 12 Or the waist belt 42 has a magnetic opening matching the protruding shaft, and the magnetic opening is used for the protruding shaft to snap in; when the drawstring 44 is not in use, the protruding shaft is snapped in The fast fixing of the lifting end of the drawstring 44 can be realized in the magnetic suction opening.

In order to achieve better storage when the drawstring 44 is not used, the drawstring 44 adopts an inner and outer double-layer structure with limited elasticity; it can be a cloth cover structure with an elastic inner core, and the drawstring 44 outer layer cloth The cover has no elasticity, can be wrinkled and contracted, and can carry a large force. The elastic inner core is an elastic rubber rope, which can slide relative to the cloth cover, and its natural length is shorter than the cloth cover; When the belt magnetic attraction 441 and the waist magnetic attraction 425 are attracted together, the elastic inner core of the drawstring 44 will shorten the drawstring 44 to the length of the inner core, so that the drawstring 44 is close to the front side of the wearer's torso to prevent the drawstring from 44 is involved in sundry; When using drawstring 44 to lift heavy objects, the cloth cover of described drawstring 44 stretches to maximum length, can prevent elastic inner core from being stretched and overloaded and caused damage while bearing tension.

The working principle of embodiment 1 of the present invention is:

As shown in Figure 3, when the wearer bends down to lift the heavy object 5, the power module 2 of the booster device of the present invention outputs a booster torque, so that the backboard 11 and the leg bar module 3 are stretched relatively. , the leg bar main body 33 presses the front side of the wearer's thigh through the thigh shield 34, and the back panel 11 is away from the wearer's back in the counterclockwise direction, and then tightens the shoulder strap 41, so that the wearer's shoulder 1. The chest is pulled up to help the wearer stretch the waist and lift heavy objects 5, reducing the burden on the wearer's lower back muscles and lumbar spine.

As shown in Figure 2, when the wearer lifts the heavy object 5, the wearer can place the lower part of the heavy object 5 on the front lumbar support 13, and part of the weight of the heavy object 5 is transferred to the main body frame 1, and then transferred to the waist belt 42 and the waist of the human body to reduce the load on the wearer's arms and lower back muscles; at this time, the booster device of the present invention detects the wearer's walking action, and then simulates the walking action of the lower limbs of the human body according to the walking intention of the human body to alternately output the hip flexion and hip extension torques, Reduce the burden on the muscles of the lower limbs when walking.

Next, with reference to FIG. 7 , Embodiment 2 of the booster device of the present invention will be introduced.

As shown in Figure 7, when the wearer picks up a heavy object with a large volume, the wearer can place the lower part of the heavy object 5 on the front lumbar support 13, and then use the drawstring 44 to pull the lumbar support from above. Referring to the weight 5, part of the weight of the weight 5 is transferred to the main body frame 1 and the waist belt 42, and part of the weight is distributed to the shoulders and back of the wearer, so that the load distribution of the weight is relatively uniform and the wearer's experience is better. At the same time, the power system of the booster device of the present invention outputs walking power to help the wearer reduce the burden on the muscles of the lower limbs when walking with a load, and reduce the wearer's physical energy consumption when walking with a load.

As shown in Figure 7, the booster device of the present invention also has a sensor system, the sensor system includes a pull belt force sensor 61 arranged on the second backboard 112, one end of the pull belt force sensor 61 is fixed on On the second backboard 112, the other end of the drawstring force sensor 61 is fixed at the connection end of the drawstring 44; when the pull end of the drawstring 44 lifts the weight 5, it will Pull the pull belt force sensor 61 to make it deform and then sense the magnitude of the tension. The booster device of the present invention can drive the power module 2 to output power according to the magnitude of the tension.

As shown in Figure 7, the sensing system also includes a support bar force sensor 62 arranged on the front lumbar support 13, the support bar force sensor 62 is connected in series in the front lumbar support 13, and the support bar force sensor The sense 62 is used to sense the magnitude of gravity carried on the front lumbar support 13; in this embodiment, one end of the support bar force sensor 62 is fixedly connected with the power base 21/lumbar support base 131, The other end of the support bar force sensor 62 is fixedly connected with the lumbar support base 131 or the lumbar support rotating shaft 132; when the front lumbar support 13 carries the weight 5, it will Deformation occurs on the sensor 62 to sense the magnitude of its lifting force, and the booster device of the present invention can drive the power module 2 to output power according to the magnitude of the lifting force.

As shown in FIG. 7 , the device of the present invention has a fan 7 on the backboard 11 , and when the fan 7 rotates, air will be blown into the back of the wearer, so that the wearer is cooler when working.

Embodiment 3 of the booster device of the present invention will be introduced below with reference to FIG. 8 and FIG. 9 .

Compared with Embodiment 1, the structure of the front lumbar support 13 is simplified in Embodiment 3. As shown in Fig. 8 and Fig. 9, the front lumbar support 13 in embodiment 3 removes the lumbar support rotating shaft 132 and the lumbar support rod 133, and the front lumbar support 13 includes a lumbar support base 131, and the lumbar support base 131 There is a waist support protrusion 134 on it, the waist support base 131 is fixed on the right waist belt 421 and the left waist belt 422, and the waist support protrusion 134 at the front end of the waist support base 131 is used for lifting heavy objects 5; In this embodiment, the right waist belt 421 and the left waist belt 422 are fixedly connected to the power module 2, and the inside of the right waist belt 421 and the left waist belt 422 is embedded with a plastic sheet, so that the rigidity in the direction of gravity is relatively strong and the horizontal direction maintains flexible, can distribute the load in the vertical direction to the wearer's waist in a large area; above, the waist belt 42 disperses and transfers the weight of the weight 5 to the wearer's front waist and back waist, and at the same time, transfers part of the weight of the weight 5 to the power module 2 that is fixedly connected with it, and then Transferred to the main body frame 1 and the back of the wearer, so that the weight load is relatively evenly distributed on the wearer, and the experience is better. In addition, in this embodiment, the waist magnetic attraction 425 is fixed on the waist belt 42 or the lumbar support base 131 to realize the attraction with the drawstring magnet 441 to store the end of the drawstring 44 and prevent it from being involved in the work. machine. The structure of the front lumbar support 13 of this embodiment is comparatively simplified, and is suitable for the situation that the weight of the heavy object is not particularly large and the volume of the heavy object is not very large.

The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the technical scope disclosed in the present invention. Modifications or replacements shall all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims (10)

1. A compact waist assisting device, characterized in that it includes a main body frame, a power module, a leg bar module and a waist belt, the main body frame includes a backboard and a waist bar, and the backboard is arranged on the back of the wearer; The power module is set at the hips on both sides of the wearer; the waist bar extends backward and upward from the power module set at the hips on both sides of the wearer and is connected with the backplane through transmission; the leg bar module is set at the wearer's The side of the leg is used for wearing and fixing the wearer's leg. The upper end of the leg bar module is rotatably coupled with the power module, and the power module drives the leg bar module to drive the wearer's leg to swing forward or backward; The waist belt is fixedly connected with the power module or the waist rod; It is characterized in that, The main body frame also includes a front lumbar support, which is arranged on the front side of the wearer's waist for lifting heavy objects. The front lumbar support at least includes a lumbar support base, and is fixed on On the main body frame and/or the power module and/or the waist belt, the front lumbar support is rigid in the vertical direction relative to the connection of the main body frame or the power module, so that the front lumbar support carries heavy objects and transmitted to the main body frame; the front lumbar support is flexible or rotated in the horizontal direction relative to the main body frame or the power module, so that the front lumbar support is opened in the horizontal direction so that the wearer puts the compact waist assist device from the rear The waist sleeve is inserted into the waist of the human body. 2. The compact waist assisting device according to claim 1, characterized in that: the front lumbar support also includes a lumbar support shaft and a lumbar support rod, and the lumbar support rod and the lumbar support base are based on the vertical axis through the lumbar support shaft. Orientation rotation joint. 3. The compact waist assisting device according to claim 1, characterized in that: said backboard at least includes a first backboard, a second backboard and a backboard rotating shaft, said first backboard, second backboard Through the rotating connection of the backboard rotating shaft, the backboard rotating shaft is set at the center of the back of the wearer's shoulders and is perpendicular to the coronal plane; The wearer's shoulders rotate in the direction of shaking left and right, and when the booster device is not used, the second backboard rotates to overlap with the first backboard. 4. The compact waist assisting device according to claim 1, characterized in that: the waist bar and the backboard are tightly connected by a fast-holding structure; the fast-holding structure includes a holding rivet, A wrench shaft, a wrench cam, and a wrench handle, the tightening rivet connects the back plate and the wrench cam, and the waist bar is arranged between the back plate and the wrench cam; when the wrench is pulled Rotate the wrench cam and increase or reduce the distance between the back plate and the wrench cam when the handle is used, and then loosen or compress the back plate and the waist bar, and when the back plate and the waist bar are loosened, The relative position of the waist bar and the backboard can be adjusted when the waist bar is used. 5. The compact waist assisting device according to claim 1, characterized in that: the waist belt is tightly attached to the waist of the wearer, and the waist belt includes a left waist belt and a right waist belt, and one end of the left waist belt and the right waist belt is worn The other end of the left waist belt and the right waist belt are buckled and connected at the front abdomen of the wearer, and the left waist belt and the right waist belt are buckled to form a closed ring structure to carry the main body frame , the weight of the power module and the weight on it. 6. The compact waist assisting device according to claim 1, further comprising a drawstring for lifting heavy objects, characterized in that: the connecting end of the drawstring is fixed on the backboard, and the drawstring of the drawstring The lifting end is provided with a drawstring magnet or a protruding shaft, and the front lumbar support or the power module or the waist belt is provided with a waist magnet that cooperates with the drawstring magnet or a magnet that matches the protruding shaft hole. 7. The compact waist assisting device according to claim 6, wherein the drawstring is an elastic drawstring, characterized in that: the outer layer of the drawstring is a cloth cover, the inner layer of the drawstring is an elastic inner core, the The elastic inner core slides relative to the cloth cover; the natural length of the elastic inner core is smaller than the natural length of the cloth cover; in the natural state, the elastic inner core shortens the outer layer of cloth cover to the shortest length, stretched Next, the outer cloth cover is stretched to the maximum length to bear the tensile force and prevent the elastic inner core from stretching and overloading. 8. The compact waist assisting device according to claim 1, both sides of the backboard are provided with shoulder straps, and it is characterized in that: each of the shoulder straps is divided into an upper section of the shoulder strap and a lower section of the shoulder strap, and the shoulder strap The head ends of the upper section of the shoulder strap and the lower section of the shoulder strap are all fixedly connected with the backboard at the back of the wearer, and the upper section of the shoulder strap and the lower section of the shoulder strap extend along the shoulder of the wearer to the chest of the wearer. The ends of the upper section and the lower section of the shoulder belt are fastened together to form a closed loop structure, so as to fix the backboard on the back of the wearer. 9. The compact waist assisting device according to claim 2, the front lumbar support is provided with a force sensor for the support bar, and it is characterized in that: the force sensor for the support bar is connected in series in the front lumbar support, the One end of the force sensor of the support bar is fixedly connected with the power module or the lumbar support base or the lumbar support rod, and the other end is fixedly connected with the lumbar support base or the lumbar support rod or the lumbar support rotating shaft. The sensor is used for sensing the magnitude of gravity carried by the front lumbar support. 10. The compact waist assisting device according to claim 6, said backboard is provided with a pull belt force sensor, characterized in that one end of said pull belt force sensor is fixed on said back board, said The other end of the drawstring force sensor is fixedly connected with the connecting end of the drawstring to sense the tension of the drawstring.