Lightweight weight-bearing walking-aid mechanical exoskeleton device

Abstract

The invention discloses a lightweight load-bearing walking-aid mechanical exoskeleton device, belongs to the technical field of mechanical exoskeleton assistance, and solves the technical problems that an existing device is poor in fitness, low in assistance efficiency, uncomfortable to wear and inconvenient to store. The device comprises a bearing support, the bearing support is provided with a rotatable back plate, a battery pack and hip assisting frames in bilateral symmetry, the hip assisting frames are connected with the bearing support through telescopic adjusting rods, an assisting motor at the front end of each hip assisting frame is connected with an assisting support plate through a hinge piece, and the assisting support plate is provided with a rotary opening and closing type thigh protection plate assembly. The lower end is connected with a telescopic lower limb support plate through a joint bearing, and the lower limb support plate is hinged with a foot pedal with a pressure sensor; a gyroscope is arranged in the hip assisting frame, a cooling fan is arranged outside the hip assisting frame, and the bearing support is hinged to a foldable load bearing supporting plate. The device fits the human body in a self-adaptive mode, assistance is accurate and efficient, the device adapts to users of different body types, walking assistance and weight bearing are both considered, the device can be folded and stored, safety and comfort are excellent, and the device is suitable for outdoor weight bearing, rehabilitation walking assistance and other scenes.

Description

Technical Field

[0001] This invention belongs to the field of mechanical exoskeleton assistive technology, and in particular relates to a lightweight weight-bearing walking mechanical exoskeleton device. Background Technology

[0002] Powered exoskeletons, also known as powered exoskeletons, enhanced suits, or powered armor, are wearable robotic devices that enhance human mobility through a mechanical frame. They are primarily constructed from metal, titanium alloys, or carbon fiber composite materials. Weight-bearing walking exoskeletons mainly assist the thighs, improving the wearer's walking endurance. Currently available weight-bearing walking exoskeletons have the following problems or shortcomings: (1) When the user bends over, the upper part of the back support cannot effectively fit against the back of the human body, affecting the stability of the back support and the comfort of the human body.

[0003] (2) The thigh connecting plate is a single arc-shaped plate (front or back of the thigh) and connected by straps. Since the straps are narrow, if they are tied too tightly, they will constrict the thigh and affect comfort. If they are tied too loosely, there will be a certain amount of movement between the thigh and the arc-shaped plate, resulting in poor assist effect and low efficiency.

[0004] (3) The main shaft of the power-assisted motor is directly and vertically fixed to the upper end of the power-assisted drive plate on the outside of the thigh. The power-assisted drive plate can only swing back and forth, while the user's thigh needs to swing left and right at the hip joint. Therefore, the existing connection method between the power-assisted drive plate and the power-assisted motor needs to be improved.

[0005] (4) At the user's hip joint, that is, on the upper part of the inner side of the power drive plate, when the user walks, the pants rub against the inner side of the power drive plate repeatedly, which will cause the pants to tear over time.

[0006] (5) The knee joint uses a pin hinge, and the lower leg support and the thigh support cannot swing relative to each other in the left and right direction (there is no range of motion), which affects the user's comfort.

[0007] (6) The carrying frame cannot be folded, and it takes up a lot of space when not carrying heavy objects. Summary of the Invention

[0008] The purpose of this invention is to overcome the above-mentioned defects of the prior art and provide a lightweight load-bearing walking mechanical exoskeleton device with simple structure, good comfort, safety and reliability, high assist efficiency and foldable back support.

[0009] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A lightweight, weight-bearing, assistive walking mechanical exoskeleton includes a back support frame with a battery pack containing a rechargeable battery and a control board. A left hip assist frame and a right hip assist frame are located on the lower left and right sides of the back support frame, respectively. A left assist motor is located at the front end of the left hip assist frame, and a left assist support plate is driven to the power output end of the left assist motor. A rotating, opening / closing left thigh guard assembly is located in the middle of the left assist support plate. A right assist motor is located at the front end of the right hip assist frame, and a right assist support plate is driven to the power output end of the right assist motor. A rotating... A hinged right thigh support assembly; the lower end of the left assist plate is connected to the left lower limb support plate via a left joint bearing, and the lower end of the left lower limb support plate is hinged to the left foot pedal; the lower end of the right assist plate is connected to the right lower limb support plate via a right joint bearing, and the lower end of the right lower limb support plate is hinged to the right foot pedal; a gyroscope is installed inside the left or right hip assist frame, and a rechargeable battery powers the control board, gyroscope, left assist motor, and right assist motor. The gyroscope signal output is connected to the control board signal input, and the control board signal output controls the start, stop, and direction of the left and right assist motors, respectively.

[0010] The left and right hip assist frames have the same structure and are symmetrically arranged. Two left telescopic adjustment rods are fixedly connected to the rear right side of the left hip assist frame, and two right telescopic adjustment rods are fixedly connected to the rear left side of the right hip assist frame. The left and right telescopic adjustment rods are horizontal and coaxial. The right side of the left telescopic adjustment rod is inserted into the back support from left to right, and the left side of the right telescopic adjustment rod is inserted into the back support from right to left. The lower left and lower right sides of the back support are fastened to the left and right telescopic adjustment rods respectively by clamp assemblies.

[0011] The upper part of the back support has a fixed shaft along the left and right direction. Two supports are rotatably mounted on the fixed shaft, and a back plate that fits in close contact with the human back is connected to the two supports. A chest strap is located between the left and right sides of the back panel, an abdominal strap is located between the left and right sides of the lower part of the back support, a left shoulder strap is located between the upper left side of the back panel and the front of the left hip assist frame, and a right shoulder strap is located between the upper right side of the back panel and the front of the right hip assist frame.

[0012] The right end of the main shaft of the left boost motor is connected to the upper left side of the left boost support plate via a left hinge, and the left end of the main shaft of the right boost motor is connected to the upper right side of the right boost support plate via a right hinge. The left and right hinge components have the same structure and are symmetrically arranged. The left hinge component includes a first hinge support and a second hinge support. The left side of the first hinge support is coaxially and fixedly connected to the right end of the main shaft of the left assist motor. The right side of the second hinge support is fixedly connected to the upper left side of the left assist support plate. The right side of the first hinge support and the left side of the second hinge support are rotatably connected by a hinge shaft. The center line of the hinge shaft intersects perpendicularly with the center line of the main shaft of the left assist motor.

[0013] The rotating and opening left thigh guard assembly and the rotating and opening right thigh guard assembly have the same structure and are symmetrically arranged. The rotating and opening left thigh guard assembly includes a groove-shaped seat fixedly connected to the lower left side of the left auxiliary support plate. The groove inside the groove-shaped seat is open on the left side and open at both ends. A front gear and a rear gear are rotatably arranged inside the groove-shaped seat. The center lines of the front gear and the rear gear are both vertically arranged. A front rotating plate is fixedly connected to the front side of the front gear. The front rotating plate is connected to a front arc-shaped connecting plate. The front arc-shaped connecting plate is connected to the front thigh guard. A rear rotating plate is fixedly connected to the rear side of the rear gear. The rear rotating plate is connected to a rear arc-shaped connecting plate. The rear arc-shaped connecting plate is connected to the rear thigh guard. A thigh strap is provided between the inner sides of the front thigh guard and the rear thigh guard.

[0014] The left and right hip assist frames are equipped with protective shells. Inside the protective shells are fans that blow air to cool the assist motors. The fans are electrically connected to the rechargeable battery. The top of the protective shell on the left or right side has a mode switching button and a power button switch with a three-color LED indicator.

[0015] Both the upper right side of the left auxiliary support plate and the upper left side of the right auxiliary support plate are equipped with anti-abrasion trouser rotating discs.

[0016] The lower part of the carrying frame is hinged with a load-bearing plate. The load-bearing plate has a left rope hole and a right rope hole. The left and right sides of the upper part of the carrying frame are connected by a rope. The two ends of the rope are fixed to the left and right sides of the upper part of the carrying frame, respectively. The middle section of the rope passes through the left rope hole and the right rope hole in sequence and is supported by the bottom of the load-bearing plate.

[0017] The left and right lower limb support plates have the same structure and are symmetrical. Both include an adjustable upper and lower section. Several connecting holes are provided on both the upper and lower sections. The connecting holes on the upper section correspond to the connecting holes on the lower section and are connected as one piece by at least two connecting bolts.

[0018] Both the left and right foot pedals include a vertical connecting plate and a horizontal pedal. The upper end of the vertical connecting plate is rotatably connected to the lower end of the lower section via a foot hinge. The vertical connecting plate is fixedly connected to the outside of the horizontal pedal. Foot straps are provided on the front and rear sides of the horizontal pedal.

[0019] Using the above technical solution, the components of this device are designed according to the architecture of "load-bearing and power supply - power assistance - fitting and fixing - transmission adaptation - lower limb support - auxiliary function - sensing and control". The functions of each component are as follows: Back support frame: The core load-bearing frame of the device, providing the installation base for components such as battery pack 2, hip assist frame, and load-bearing support plate 39, and is the core connection of the overall structure; Battery pack: Built-in rechargeable battery and control board, which power all electrical components such as gyroscope, left boost motor, right boost motor, cooling fan, pressure sensor, etc. The control board is the command control core of the device, receiving sensor signals and outputting motor control commands. Left / Right Hip Assist Brackets: Symmetrically arranged on the left and right sides, used to install the left / right assist motors and gyroscopes. They serve as the mounting carrier for the power components and are connected to the back support via telescopic adjustment rods to achieve hip width adaptation. Left / Right Assist Motor: The preferred model is the Yushu GO-M8010-6 torque motor, which is the power core of the device. It receives commands from the control board and outputs a torque to drive the assist support plate to swing, providing assistance for walking and bending over. It is also equipped with a maximum swing angle limit of ±60°. Left / right telescopic adjustment rods and clamp assembly: The telescopic adjustment rods are used to adjust the spacing of the left / right hip support frames to accommodate different users' hip widths; the clamp assembly is used to lock the telescopic adjustment rods after adjustment to ensure structural stability; Fixed axis, support, and back panel: The back panel rotates freely around the fixed axis via the support, and can adaptively conform to the back as the body bends or leans back, solving the problem of poor fit of traditional back panels and improving carrying stability. Chest strap, abdomen strap, left / right shoulder strap: Multiple straps work together to tightly bind the device to the chest, abdomen, and shoulders of the body, preventing the device from shifting during the assist process and ensuring effective torque transmission; Hinges (first hinge support + second hinge support + hinge shaft): connect the main shaft of the power assist motor and the power assist plate, so that in addition to swinging back and forth, the power assist plate can swing slightly left and right around the hinge shaft, which can match the natural left and right swinging movements of the human thigh and avoid motion interference. Rotating and opening thigh guard assembly (front / rear gears, front / rear rotating plates, front / rear arc-shaped connecting plates, front / rear thigh guards, slotted seat, thigh straps): The slotted seat provides a mounting base for the gears, and the meshing front / rear gears enable the simultaneous opening and closing of the two guards, wrapping and fixing the thighs; the thigh straps further tighten the guards, preventing leg constriction and ensuring effective transmission of assist torque; Anti-friction pants rotating disc: Rotating inside the support plate, it converts the sliding friction between the pants and the support plate into rolling friction, avoiding damage to the pants due to prolonged walking and improving wearing comfort; Left / right joint bearings (available on the market): connect the support plate and the lower limb support plate, allowing the lower limb support plate to swing in multiple directions with small amplitude, adapting to the natural movement of the human knee joint and avoiding restriction of knee joint movement; Left / right lower limb support plate + connecting bolts: The lower limb support plate is divided into a telescopic upper section and a lower section. The overlap length of the upper and lower sections can be adjusted to adapt to the leg length of different users. The connecting bolts are used to lock the lower limb support plate after adjustment to ensure structural strength. Left / right foot pedals (vertical connecting plate + horizontal pedal + foot hinge + foot strap): The horizontal pedal is for the user to step on, and the foot strap secures the shoe; the vertical connecting plate is connected to the lower limb support plate through the foot hinge to adapt to the swinging motion of the human foot when walking; the pressure sensor is built into the shoe or the horizontal pedal to detect the pressure of the foot hitting the ground. Cooling fan: Located inside the protective shell of the hip assist frame, it works in conjunction with the assist motor to blow air to cool the assist motor, ensuring the stability of the motor during long-term operation and preventing the motor from overheating and being damaged. Gyroscope: Located inside the hip assist frame, it detects the human body's posture angle (upright / forward / backward) in real time, providing core posture signals for the control panel to judge human movements; Load-bearing support plate and rope: The load-bearing support plate is used to support heavy objects and transfer the load to the ground through the device, reducing the pressure on the human body; the rope supports the load-bearing support plate. When not in use, the load-bearing support plate can be folded around the hinge point to fit the back support, reducing storage space.

[0020] In summary, this invention addresses the core shortcomings of existing weight-bearing walking mechanical exoskeletons, such as poor fit, low assist efficiency, discomfort during wear, weak adaptability, and inconvenient storage. Through structural optimization and logical design, it achieves the following technical effects: (1) The fit and comfort of wearing are greatly improved: the adaptive rotating back panel always fits the human back, the hinge and joint bearing adapt to the natural movement of the human thigh and knee joints, the anti-friction pants rotating plate eliminates the problem of pants friction and damage, and the multiple straps adopt flexible binding, which completely solves the pain points of traditional devices such as "leg binding, limited movement and back panel displacement". (2) Significantly improved assist efficiency and accuracy: The rotating and opening double guard plate achieves a wrap-around fixation of the thigh, ensuring 100% effective transmission of assist torque without power loss; the "triple signal judgment" of gyroscope + foot pressure sensor + motor angle enables the control board to accurately identify human walking / bending movements, and the assist torque output is synchronized with human movements, without delay or misjudgment. (3) Strong adaptability to body shape and usage scenario: The hip width and lower limb support plate length can be freely adjusted to suit users of different heights and body shapes; the load-bearing support plate can bear heavy objects, taking into account both "walking assistance" and "load-bearing" needs, and is suitable for various scenarios such as outdoor load-bearing, rehabilitation walking assistance, and industrial handling. (4) Excellent safety and structural durability: The power assist motor is equipped with a maximum swing angle limit of ±60°, and the torque switching adopts a smooth transition mode to avoid sudden torque changes that could cause injury; the cooling fan continuously dissipates heat from the motor, extending its service life; all adjustment structures are locked with bolts / clamps, resulting in high structural strength and adaptability to long-term use; (5) Improved storage and portability: The load-bearing support plate can be folded to fit the back support, and the telescopic adjustment rod can be retracted to its shortest length, greatly reducing the space occupied by the device when it is not in use, making it easy to transport and store. (6) Overall lightweight design: Each component adopts a modular design, and the core load-bearing components are made of lightweight materials. The overall weight of the device is low, and it will not add extra weight burden to the human body after wearing. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention from a frontal view. Figure 2 This is a three-dimensional structural diagram of the present invention from a rear-view perspective; Figure 3 This is a schematic diagram of the front structure of the present invention after removing the straps and folding the load-bearing support plate.

[0022] Figure labels: 1-Back support frame; 2-Battery pack; 3-Left hip assist frame; 4-Right hip assist frame; 5-Left assist motor; 6-Left assist support plate; 7-Right assist motor; 8-Right assist support plate; 9-Left telescopic adjustment rod; 10-Right telescopic adjustment rod; 11-Holding assembly; 12-Fixed shaft; 13-Support; 14-Back panel; 15-Chest strap; 16-Abdominal strap; 17-Left shoulder strap; 18-Right shoulder strap; 19-First hinge support; 20-Second hinge support; 21-Hinge shaft; 22-Front gear; 23-Rear gear; 24-Front rotating plate; 25 26-Front arc-shaped connecting plate; 27-Front thigh guard; 28-Rear rotating plate; 29-Rear arc-shaped connecting plate; 30-Rear thigh guard; 31-Thigh strap; 32-Anti-abrasion pants rotating disc; 33-Slotted seat; 34-Left joint bearing; 35-Left lower limb support plate; 36-Left foot pedal; 37-Right joint bearing; 38-Right lower limb support plate; 39-Right foot pedal; 40-Rope; 41-Connecting bolt; 42-Vertical connecting plate; 43-Horizontal pedal; 44-Foot hinge; 45-Foot strap; 46-Mode switch button; 47-Power button switch. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The described embodiments are only used to explain the present invention and are not intended to limit the scope of protection of the present invention.

[0024] like Figures 1-3As shown, a lightweight weight-bearing walking mechanical exoskeleton device of the present invention includes a back support frame 1, a battery pack 2 mounted on the back support frame 1, a rechargeable battery and a control board inside the battery pack 2, a left hip assist frame 3 and a right hip assist frame 4 respectively located on the lower left and right sides of the back support frame 1, a left assist motor 5 at the front end of the left hip assist frame 3, a left assist support plate 6 connected to the power output end of the left assist motor 5, and a rotating and opening left thigh guard assembly located in the middle of the left assist support plate 6; a right assist motor 7 at the front end of the right hip assist frame 4, a right assist support plate 8 connected to the power output end of the right assist motor 7, and a rotating and opening left thigh guard assembly located in the middle of the right assist support plate 8. A hinged right thigh support assembly; the lower end of the left assist plate 6 is connected to the left lower limb support plate 34 via a left joint bearing 33, and the lower end of the left lower limb support plate 34 is hinged to the left foot pedal 35; the lower end of the right assist plate 8 is connected to the right lower limb support plate 37 via a right joint bearing 36, and the lower end of the right lower limb support plate 37 is hinged to the right foot pedal 38; the left hip assist frame 3 or the right hip assist frame 4 is equipped with a gyroscope, and a rechargeable battery powers the control board, the gyroscope, the left assist motor 5 and the right assist motor 7. The gyroscope signal output terminal is connected to the control board signal input terminal, and the control board signal output terminal controls the opening, closing and steering of the left assist motor 5 and the right assist motor 7 respectively.

[0025] The left hip assist frame 3 and the right hip assist frame 4 have the same structure and are symmetrically arranged. Two left telescopic adjustment rods 9 are fixedly connected to the rear right side of the left hip assist frame 3, and two right telescopic adjustment rods 10 are fixedly connected to the rear left side of the right hip assist frame 4. The left telescopic adjustment rods 9 and the right telescopic adjustment rods 10 are both horizontal and coaxially arranged. The right side of the left telescopic adjustment rod 9 is inserted into the back support 1 from left to right, and the left side of the right telescopic adjustment rod 10 is inserted into the back support 1 from right to left. The lower left and lower right sides of the back support 1 are fastened to the left telescopic adjustment rods 9 and the right telescopic adjustment rods 10 respectively by clamp assembly 11.

[0026] A fixed shaft 12 is provided on the upper part of the back support 1 along the left and right direction. Two supports 13 are rotatably provided on the fixed shaft 12. A back plate 14 that fits in close contact with the back of the human body is connected to the two supports 13. A chest strap 15 is provided between the left and right sides of the back panel 14, an abdominal strap 16 is provided between the lower left and right sides of the back support 1, a left shoulder strap 17 is provided between the upper left side of the back panel 14 and the front of the left hip assist frame 3, and a right shoulder strap 18 is provided between the upper right side of the back panel 14 and the front of the right hip assist frame 4.

[0027] The right end of the main shaft of the left boost motor 5 is connected to the upper left side of the left boost support plate 6 via a left hinge, and the left end of the main shaft of the right boost motor 7 is connected to the upper right side of the right boost support plate 8 via a right hinge. The left and right hinge components have the same structure and are symmetrically arranged. The left hinge component includes a first hinge support 19 and a second hinge support 20. The left side of the first hinge support 19 is coaxially and fixedly connected to the right end of the main shaft of the left assist motor 5. The right side of the second hinge support 20 is fixedly connected to the upper left side of the left assist support plate 6. The right side of the first hinge support 19 and the left side of the second hinge support 20 are rotatably connected by a hinge shaft 21. The center line of the hinge shaft 21 intersects perpendicularly with the center line of the main shaft of the left assist motor 5 (located in the same plane).

[0028] The rotating and opening left thigh guard assembly and the rotating and opening right thigh guard assembly have the same structure and are symmetrically arranged. The rotating and opening left thigh guard assembly includes a groove-shaped seat 32 fixedly connected to the lower left side of the left auxiliary support plate 6. The groove inside the groove-shaped seat 32 is open on the left side and open at the front and back. A front gear 22 and a rear gear 23 are rotatably arranged inside the groove-shaped seat 32. The center lines of the front gear 22 and the rear gear 23 are both vertically arranged. A front rotating plate 24 is fixedly connected to the front side of the front gear 22. The front rotating plate 24 is connected to the front arc-shaped connecting plate 25. The front arc-shaped connecting plate 25 is connected to the front thigh guard 26. A rear rotating plate 27 is fixedly connected to the rear side of the rear gear 23. The rear rotating plate 27 is connected to the rear arc-shaped connecting plate 28. The rear arc-shaped connecting plate 28 is connected to the rear thigh guard 29. A thigh strap 30 is provided between the inner sides of the front thigh guard 26 and the rear thigh guard 29.

[0029] The left hip assist frame 3 and the right hip assist frame 4 are equipped with protective shells. Inside the protective shells are fans that blow air to cool the assist motor. The fans are electrically connected to the rechargeable battery. The top of the protective shell on the right side is equipped with a mode switch 46 and a power button switch 47 with a three-color LED indicator.

[0030] Both the upper right side surface of the left auxiliary support plate 6 and the upper left side surface of the right auxiliary support plate 8 are equipped with anti-abrasion trouser rotating discs 31.

[0031] The lower part of the carrying frame 1 is hinged with a load-bearing support plate 39. The load-bearing support plate 39 has a left rope hole and a right rope hole. The left and right sides of the upper part of the carrying frame 1 are connected by a rope 40. The two ends of the rope 40 are fixed to the left and right sides of the upper part of the carrying frame 1, respectively. The middle section of the rope 40 passes through the left rope hole and the right rope hole in sequence and is supported by the bottom of the load-bearing support plate 39.

[0032] The left lower limb support plate 34 and the right lower limb support plate 37 have the same structure and are symmetrical. Both include an adjustable upper section and a lower section. Several connecting holes are provided on the upper and lower sections. The connecting holes on the upper section and the connecting holes on the lower section correspond to each other and are connected as one unit by at least two connecting bolts 41.

[0033] Both the left foot pedal 35 and the right foot pedal 38 include a vertical connecting plate 42 and a horizontal pedal 43. The upper end of the vertical connecting plate 42 is rotatably connected to the lower end of the lower section through a foot hinge 44. The vertical connecting plate 42 is fixedly connected to the outside of the horizontal pedal 43. Foot straps 45 are provided on the front and rear sides of the horizontal pedal 43.

[0034] In this invention, the rotating openable left thigh guard assembly and the rotating openable right thigh guard assembly are respectively bound to the left and right thighs via thigh straps 30. When opening, the thigh straps 30 are untied, and the front thigh guard 26 is rotated forward. Simultaneously, the rear thigh guard 29 rotates backward via the meshing front gear 22 and rear gear 23. When wearing, simply rotating either the front thigh guard 26 or the rear thigh guard 29 is sufficient to wrap around the thigh. Tightening the thigh straps 30 ensures that the front thigh guard 26 and the rear thigh guard 29 fit snugly against the thigh for greater comfort.

[0035] The user's shoes are placed on two horizontal pedals 43, and the shoes are secured with foot straps 45. A pressure sensor is installed on the bottom of each shoe, and both pressure sensors are wirelessly transmitted to the control board.

[0036] The control principle of this invention is as follows: pressure sensors installed in the left and right soles transmit pressure signals to the control board, gyroscope attitude transmits signals to the control board to monitor whether the body is standing or leaning forward, and the main shaft angles of the left assist motor 5 and the right assist motor 7 are also transmitted to the control board. The control board determines whether the user is walking and issues commands to control the forward and reverse rotation of the left assist motor 5 and the right assist motor 7 to achieve assisted walking.

[0037] Both the left and right assist motors (5 and 7) are torque motors (preferably the Yushu GO-M8010-6 torque motor) and primarily operate in torque mode. With the angle of the motor's main shaft when the user is standing upright as 0°, forward swing is a positive angle, and backward swing is a negative angle. To better protect the user, the left and right assist motors (5 and 7) have a maximum swing angle set for both forward and reverse assist (this can be preset to ±60°, with the motor angle calibrated to zero when standing). If the swing angle exceeds this maximum, the motor torque will drop to zero, preventing injuries due to improper wear. In early testing, to improve the wearing experience, a short torque transition period was required when switching assist direction and torque. For example, during the transition from no assist to assist, the assist needs to gradually increase within a short time (either linearly or smoothly) to prevent sudden torque changes. Otherwise, the wearing experience would feel like someone is constantly hitting the body, resulting in a very poor experience.

[0038] The assist principle of this invention is as follows: Mode 1: Start walking on a flat road from a standstill (1) When standing, the body is upright, the gyroscope angle is zero degrees, the assist motor angle is also zero degrees, and the assist motor does not assist.

[0039] (2) With the left foot on the ground, lift the right foot and take a step forward. The pressure sensor on the sole of the left foot has a sufficiently high pressure value, which can be considered as the left foot being on the ground; the pressure sensor on the sole of the right foot has a very low value, which can be considered as the right foot being suspended in the air; at this time, the gyroscope detects the body posture. If the gyroscope angle value is positive, it indicates that the body is leaning forward, and the main shaft angle of the right assist motor 7 is also positive, which can determine that the user needs to walk forward. At this time, the left assist motor 5 starts, driving the left leg to swing backward (the motor angle of the left assist motor 5 is negative), and outputs the walking torque according to the preset torque level to propel the human body forward. In order to make walking easier, a lower torque is used to assist the right leg in lifting. This lower torque varies from person to person and can be fine-tuned later.

[0040] (3) When the right foot takes a step forward, the right foot is in front and lands on the ground, and the left foot is behind and lands on the ground. At this time, the left assist motor 5 stops outputting the backward swinging torque; the right assist motor 7 stops outputting the forward swinging torque.

[0041] (4) The user's center of gravity shifts forward due to inertia, switching to the right foot on the ground and the left foot off the ground. The right assist motor 7 drives the right leg to swing backward (the angle of the right assist motor 7 changes from positive to negative), outputting assist torque according to the preset torque level, and continuing to propel the body forward. The left assist motor 5 outputs a lower torque to drive the left leg to swing forward (the angle of the left assist motor 5 changes from negative to positive), and continues walking in this assist mode.

[0042] (5) From walking to standing still. If the right foot is on the ground in front and the left foot is off the ground behind. When the left foot moves forward and is level with the right foot, it touches the ground. When decelerating to a standstill, the body leans backward, the gyroscope angle is negative, and the control board commands the left assist motor 5 and the right assist motor 7 to stop assisting in advance. At this point, the body is standing still.

[0043] Mode 2: Bending over to assist when stationary (1) The body is in an upright position, the gyroscope angle is considered to be zero degrees, and the motor angle is also zero degrees. The motor does not provide assistance.

[0044] (2) At this time, both feet are still standing, but the waist begins to bend. The body has a forward leaning motion, and the gyroscope angle is positive at this time; and the angles of the hip joint motors on both sides are positive. At this time, the hip joint motors on both sides begin to assist in straightening the waist.

[0045] The specific implementation of this invention involves the entire process of wearing and adjusting the lightweight weight-bearing mechanical exoskeleton device, assisting with walking on flat ground, assisting with bending over in place, using it under load, and storing it. Each component participates in its corresponding working process, as detailed below: (a) Wearing and Adjustment Process This process achieves precise adaptation between the device and the human body, with all structural adjustments and fixing components involved, while the sensing and power components enter standby mode.

[0046] Hip width adjustment: Loosen the clamp assembly 11, and according to the user's hip width, pull out the left telescopic adjustment rod 9 and the right telescopic adjustment rod 10 to insert into the back support 1 to adjust the distance of the left / right hip assist frame 3 / 4 to fit the human hip, and then lock the clamp assembly 11 to fix the position of the telescopic adjustment rods; Leg length adjustment: Loosen the connecting bolts 41 of the left / right lower limb support plate 34 / 37, pull out the upper and lower sections to adjust the overlap length to fit the user's leg length, and tighten the connecting bolts 41 after adjustment to ensure the structural strength of the lower limb support plate. Back support fixation: Untie the chest strap 15, abdomen strap 16, and left / right shoulder straps 17 / 18. The user's back should fit against the back panel 14. Wrap the shoulder straps around the shoulders and then tighten the chest strap 15 and abdomen strap 16 in sequence. At this time, the back panel 14 can rotate freely around the fixed axis 12 via the support 13, and adapt to the posture of the human back. Thigh fixation: Untie the thigh straps 30, rotate the front thigh guard 26 forward to drive the front gear 22 to rotate, and the meshing rear gear 23 to rotate in the opposite direction, driving the rear thigh guard 29 to rotate backward synchronously, opening the guard; place the human thigh between the front / rear thigh guards, rotate the front thigh guard 26 in the opposite direction, the two guards rotate towards each other to wrap around the front and back sides of the thigh, tighten the thigh straps 30 to make the guards fit tightly against the thigh; Foot fixation: The user places both feet on the horizontal pedals 43 of the left / right foot pedals 35 / 38 respectively, and wraps the foot straps 45 around the shoes and locks them in place, ensuring that the pressure sensors inside the horizontal pedals 43 are in close contact with the sole of the shoe without obstruction; Standby Start-up: After wearing the device, turn on the power switch of battery pack 2. The rechargeable battery powers the control board, gyroscope, assist motors 5 / 7, cooling fan, and pressure sensor. The control board automatically detects the signals of each component. The gyroscope is calibrated to the 0° reference of human body standing upright. The pressure sensor records the standard pressure value of both feet standing naturally. The assist motor is reset to the 0° angle. The cooling fan enters standby mode (working synchronously after the motor starts). The anti-abrasion pants rotating disc 31 contacts the inside of the pants. The entire device enters the working standby state.

[0047] (II) Assistance process for walking on flat ground This process is the core working mode of the device, in which all components are involved: sensing components (gyroscope, pressure sensor), power components (assist motor), transmission components (hinges, spherical bearings), fixing components (straps, guard plates), and auxiliary components (anti-wear rotating disc). Precise assistance is achieved through "triple signal judgment".

[0048] Standing still: The user's body is upright, the gyroscope detects a posture angle of 0°, the spindle angle of the left / right assist motor 5 / 7 is 0°, and the pressure sensors of the left / right foot pedals detect stable standard high pressure values ​​(fluctuation ≤5%). After receiving the three signals, the control board determines that the user is standing still, controls the assist motor to not output torque, the device remains in standby mode, the anti-abrasion pants rotating disc 31 does not rotate, and the cooling fan is in standby mode.

[0049] Step-initiation phase: The user lands on their left foot, lifts their right foot, and steps forward, naturally leaning forward. The gyroscope detects a positive posture angle, and the right assist motor 7 spindle swings to a positive angle with the thigh. The left foot pedal pressure sensor detects ≥90% of the standard high pressure value, and the right foot pedal pressure sensor detects ≤10% of the standard low pressure value. The control board combines these three signals to determine "left foot support, right foot step," and issues a command: the left assist motor 5 starts, outputs a preset torque, and drives the left assist support plate 6 to swing backward (at a negative angle) through the hinge. The left thigh guard plate... The component transmits torque to the left leg, propelling it to swing backward and providing the main force for forward movement. The right assist motor 7 starts, outputting low torque to drive the right assist support plate 8 to swing forward (at a positive angle), assisting the right leg to lift and take a step. The cooling fan works synchronously with the motor to cool the assist motor. The left / right assist support plates swing slightly left and right around the hinge axis 21 via the hinge, adapting to the natural movement of the thigh. The anti-friction trouser rotating plate 31 rotates with the thigh swing and rubs against the trousers to prevent damage. The left / right lower limb support plates swing slightly via the joint bearing, adapting to the movement of the knee joint.

[0050] Stepping Switching Phase: The user steps forward with their right foot and lands, while their left foot remains on the ground behind. The control panel detects the angle switch of the left and right assist motors, and the pressure sensor detects that the pressure on the right foot has increased to ≥90% of the standard high pressure value, while the pressure on the left foot has not yet decreased. The control panel stops the output of the current torque from the left and right assist motors. The user's center of gravity shifts forward, switching to the right foot on the ground and the left foot off the ground. The pressure on the right foot pedal remains high, while the pressure on the left foot pedal decreases to ≤30% of the standard value. The main shaft of the right assist motor 7 swings to the correct angle. The control panel determines that "the right foot is supporting the body, and the left foot is stepping forward" and issues a command: the right assist motor 7 outputs a preset torque, driving the right assist support plate 8 to swing backward, pushing the right leg backward to provide the main force; the left assist motor 5 outputs a low torque, driving the left assist support plate 6 to swing forward, assisting the left leg to lift and step forward; all transmission and auxiliary components maintain the above working state, and the torque transmission is uninterrupted.

[0051] During continuous walking: The device operates in a cycle according to the above "step start-switching" logic. The control board adjusts the torque output speed of the assist motor in real time according to the pressure change rate of the pressure sensor (the faster the pressure rises, the faster the torque output) to adapt to the user's different walking speeds. All transmission and auxiliary components work continuously to ensure smooth assistance and comfortable wear.

[0052] Walking stop phase: The user slows down, the body naturally leans back, the gyroscope detects a negative posture angle, and the main shafts of the left and right assist motors gradually return to 0° angle; the pressure sensors of the left and right foot pedals both return to a stable standard high pressure value (fluctuation ≤5%); the control board judges that walking has stopped, controls the assist motor to stop outputting torque, the cooling fan is turned off after a 30-second delay (to cool the motor), the device returns to the static standby state, and the anti-abrasion pants rotating disc 31 stops rotating.

[0053] (III) The process of bending over in place to assist in movement This process is adapted to the user's bending over motion in place. Sensing, power, transmission, and fixing components are involved to provide assistance to the waist and reduce the load on the waist.

[0054] Static upright preparation: The user's feet are parallel to the ground, the gyroscope detects an angle of 0°, the assist motor spindle angle is 0°, the pressure sensor detects that the pressure on the feet is a stable standard high pressure value (deviation ≤3%), and the device is in standby mode; Bending-assist phase: With both feet on the ground and the body leaning forward, the gyroscope detects a positive posture angle, and the main shafts of the left and right assist motors swing to the correct angle with the hips. The pressure sensor detects that the pressure on both feet remains at a stable high pressure value (fluctuation ≤8%). The control board determines that the user is bending over in place and issues a command: the left and right assist motors synchronously output a preset torque, which is transmitted to the hips through the assist support plate and thigh guard plate assembly, providing the user with an assist torque to straighten their back and reduce the burden on the lower back when bending over. Each transmission component (hinges, joint bearings) adapts to the limb movements when bending over, and the anti-abrasion pants rotating disc rotates slightly with the thighs. Return to upright position: The user straightens their back and returns to an upright position. The gyroscope detects the angle as 0°, the left and right assist motor spindles reset to 0°, and the pressure sensor returns to the initial standard high pressure value. The control board determines that the user is in an upright position, controls the assist motor to stop outputting torque, and the device returns to standby mode.

[0055] (iv) Load-bearing usage process This process involves the use of load-bearing support plates 39, ropes 40, back support frame 1, and all fixed components to achieve load-bearing capacity and reduce the pressure on the human body.

[0056] After the user has put on the device, rotate the load-bearing plate 39 downward around the hinge point to a horizontal position, and pass the middle section of the rope 40 through the left rope hole and the right rope hole of the load-bearing plate 39 in sequence, so that the rope 40 is supported at the bottom of the load-bearing plate 39. The heavy object is placed on the load-bearing support plate 39. The load of the heavy object is transferred to the ground through the load-bearing support plate 39, rope 40, back support, lower limb support plate, vertical connecting plate 42, and foot pedal 43, rather than directly acting on the human body, effectively reducing the load pressure on the human back and waist. When walking with a load, the device's walking assistance logic is the same as that for walking on flat ground. The control board can fine-tune the torque output value of the assist motor according to the weight of the load to ensure easy walking with a load.

[0057] (v) Storage process The process involves the use of telescopic adjustment rods, load-bearing support plates, and clamp assemblies to achieve folding and storage of the device, reducing its space occupation.

[0058] Untie all straps, remove the device, rotate the load-bearing support plate 39 upward around the hinge point, and fold it to fit the back of the back support 1. Loosen the clamp assembly 11, fully retract the left telescopic adjustment rod 9 and the right telescopic adjustment rod 10 into the back support 1, and then lock the clamp assembly 11 to fix it. Loosen the connecting bolt 41 of the lower limb support plate, retract the upper and lower sections of the lower limb support plate to their shortest length, and then tighten the connecting bolt 41. Place the folded device in the designated location to complete the storage. At this point, the device occupies only 1 / 3 of the space it would in use, making it easy to transport and store.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A lightweight, weight-bearing, assistive walking mechanical exoskeleton device, characterized in that: The backpack includes a carrying frame with a battery pack containing a rechargeable battery and a control board. The lower left and right sides of the carrying frame each have a left hip support frame and a right hip support frame, respectively. The left hip support frame has a left support motor at its front end, with a left support plate connected to its power output. A rotating, opening / closing left thigh guard assembly is located in the middle of the left support plate. Similarly, the right hip support frame has a right support motor at its front end, with a right support plate connected to its power output. A rotating, opening / closing right thigh guard assembly is located in the middle of the right support plate. The left hip support plate is connected to the left lower limb support plate via a left joint bearing at its lower end, and the left lower limb support plate is hinged to the left foot pedal at its lower end; the right hip support plate is connected to the right lower limb support plate via a right joint bearing at its lower end, and the right lower limb support plate is hinged to the right foot pedal at its lower end; a gyroscope is installed inside the left or right hip support frame, and a rechargeable battery powers the control board, gyroscope, left and right hip support motors. The gyroscope signal output is connected to the control board signal input, and the control board signal output controls the start, stop, and direction of the left and right hip support motors, respectively.

2. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: The left and right hip assist frames have the same structure and are symmetrically arranged. Two left telescopic adjustment rods are fixedly connected to the rear right side of the left hip assist frame, and two right telescopic adjustment rods are fixedly connected to the rear left side of the right hip assist frame. The left and right telescopic adjustment rods are horizontal and coaxial. The right side of the left telescopic adjustment rod is inserted into the back support from left to right, and the left side of the right telescopic adjustment rod is inserted into the back support from right to left. The lower left and lower right sides of the back support are fastened to the left and right telescopic adjustment rods respectively by clamp assemblies.

3. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: The upper part of the back support has a fixed shaft along the left and right direction. Two supports are rotatably mounted on the fixed shaft, and a back plate that fits in close contact with the human back is connected to the two supports. A chest strap is located between the left and right sides of the back panel, an abdominal strap is located between the left and right sides of the lower part of the back support, a left shoulder strap is located between the upper left side of the back panel and the front of the left hip assist frame, and a right shoulder strap is located between the upper right side of the back panel and the front of the right hip assist frame.

4. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: The right end of the main shaft of the left boost motor is connected to the upper left side of the left boost support plate via a left hinge, and the left end of the main shaft of the right boost motor is connected to the upper right side of the right boost support plate via a right hinge. The left and right hinge components have the same structure and are symmetrically arranged. The left hinge component includes a first hinge support and a second hinge support. The left side of the first hinge support is coaxially and fixedly connected to the right end of the main shaft of the left assist motor. The right side of the second hinge support is fixedly connected to the upper left side of the left assist support plate. The right side of the first hinge support and the left side of the second hinge support are rotatably connected by a hinge shaft. The center line of the hinge shaft intersects perpendicularly with the center line of the main shaft of the left assist motor.

5. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: The rotating and opening left thigh guard assembly and the rotating and opening right thigh guard assembly have the same structure and are symmetrically arranged. The rotating and opening left thigh guard assembly includes a groove-shaped seat fixedly connected to the lower left side of the left auxiliary support plate. The groove inside the groove-shaped seat is open on the left side and open at both ends. A front gear and a rear gear are rotatably arranged inside the groove-shaped seat. The center lines of the front gear and the rear gear are both vertically arranged. A front rotating plate is fixedly connected to the front side of the front gear. The front rotating plate is connected to a front arc-shaped connecting plate. The front arc-shaped connecting plate is connected to the front thigh guard. A rear rotating plate is fixedly connected to the rear side of the rear gear. The rear rotating plate is connected to a rear arc-shaped connecting plate. The rear arc-shaped connecting plate is connected to the rear thigh guard. A thigh strap is provided between the inner sides of the front thigh guard and the rear thigh guard.

6. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: The left and right hip assist frames are equipped with protective shells. Inside the protective shells are fans that blow air to cool the assist motor. The fans are electrically connected to the rechargeable battery. The top of the left or right protective shell has a mode switching button and a power button switch with a three-color LED indicator.

7. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: Both the upper right side of the left auxiliary support plate and the upper left side of the right auxiliary support plate are equipped with anti-abrasion trouser rotating discs.

8. The lightweight load-bearing assistive mechanical exoskeleton device according to claim 1, characterized in that: The lower part of the carrying frame is hinged with a load-bearing plate. The load-bearing plate has a left rope hole and a right rope hole. The left and right sides of the upper part of the carrying frame are connected by a rope. The two ends of the rope are fixed to the left and right sides of the upper part of the carrying frame, respectively. The middle section of the rope passes through the left rope hole and the right rope hole in sequence and is supported by the bottom of the load-bearing plate.

9. A lightweight, weight-bearing, assistive walking mechanical exoskeleton device according to claim 1, characterized in that: The left and right lower limb support plates have the same structure and are symmetrical. Both include an adjustable upper and lower section. Several connecting holes are provided on both the upper and lower sections. The connecting holes on the upper section correspond to the connecting holes on the lower section and are connected as one piece by at least two connecting bolts.

10. A lightweight, weight-bearing, assistive walking mechanical exoskeleton device according to claim 1, characterized in that: Both the left and right foot pedals include a vertical connecting plate and a horizontal pedal. The upper end of the vertical connecting plate is rotatably connected to the lower end of the lower section via a foot hinge. The vertical connecting plate is fixedly connected to the outside of the horizontal pedal. Foot straps are provided on the front and rear sides of the horizontal pedal.

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