A mechanical passive waist-assisted exoskeleton

Abstract

This invention discloses a mechanical passive lumbar assistive exoskeleton, comprising an abdominal support, a lumbar support, a leg support, and an energy storage unit. The lower left and lower right sides of the abdominal support are detachably fixed to the top left and top right sides of the lumbar support, respectively. The inner side of the abdominal support can be releasably abutted against the abdomen or chest of the wearer. The lumbar support is abutted against the waist of the wearer in an adjustable manner. The leg support and the energy storage unit are detachably rotatably connected to the left and right sides of the lumbar support, respectively. The lower part of the leg support is detachably fixed to the legs of the wearer. This mechanical passive lumbar assistive exoskeleton has a simple structure, is easy to wear, interferes minimally with human movement, provides effective and wide-range assistance to the waist when the wearer performs bending and straightening movements, and has good practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of human motion assisting machinery, and in particular to a mechanical passive waist assisting exoskeleton. Background Art

[0002] The waist-assisted exoskeleton is a mechanical exoskeleton device that can be worn on the human body and provide assistance to the waist. In some labor occasions such as logistics handling, agricultural production, construction and decoration industries where workers need to bend over repeatedly or for a long time, the waist-assisted exoskeleton can reduce the burden and fatigue of the waist muscles during the bending process, thereby helping to improve work efficiency and reduce the occurrence of chronic diseases such as lumbar muscle strain.

[0003] Power-assisted exoskeletons are divided into active and passive types according to whether they use external energy when working. Active power-assisted exoskeletons require external power sources, such as power or air pressure, hydraulic source, and usually contain sensors, controllers and other components, so they are generally heavier, the system is more complex, the use time or range is limited, and the cost is higher. Passive power-assisted exoskeletons do not require external power sources, are generally lighter, the system is simpler, the use time or range is not limited, and the cost is lower.

[0004] The basic principle of passive waist-assisted exoskeleton is as follows Figure 1 As shown in the figure, the thick solid line part represents the human body, and the thin solid line part represents the waist-assisted exoskeleton, which generally includes an upper body support a, an upper body binding buffer component b, an elastic element c, a leg binding buffer component d, and a leg support e. The upper body support a and the leg support e are the first rotation joints, which are analogous to the hip joints of the human body. The upper body support a and the leg support e are in contact with the human body through the upper body binding buffer component b and the leg binding buffer component d, respectively. During the bending process of the human body, the upper body support a provides support for the upper body of the human body, and the elastic element c is compressed so that the gravitational potential energy of the upper body of the human body and the load is converted into the elastic potential energy of the elastic element c and stored, and the load of the upper body of the human body and the load is transferred to the thigh, thereby reducing the load on the waist of the human body. During the straightening process of the human body, the elastic potential energy stored in the elastic element c is released and gradually converted into the gravitational potential energy of the upper body of the human body and the load, helping the human body to complete the movement process from bending to straightening.

[0005] However, the passive waist-assisted exoskeleton in the prior art usually has problems in design such as inconvenient size adjustment, restrictions on some human movements such as thigh flexion and extension, thigh abduction and adduction, the energy storage effect and corresponding assistance effect of the elastic elements used are not obvious, and the elastic elements are single, inconvenient or cannot be replaced, resulting in a single assistance effect, a small assistance range, and poor practicality. Summary of the invention

[0006] The present invention is completed to solve the deficiencies in the prior art. The purpose of the present invention is to provide a mechanical passive waist-assisting exoskeleton which has a simple structure, is easy to wear, has little interference with human body movements, can provide effective large-range assistance to the wearer's waist when the wearer does bending-straightening movements, and has good practicality.

[0007] A mechanical passive waist-assisting exoskeleton of the present invention comprises an abdominal support portion, a waist support portion, a leg support portion and an energy storage portion, wherein the lower left side and the lower right side of the abdominal support portion are respectively detachably fixed to the top left side and the top right side of the waist support portion, the inner side of the abdominal support portion is releasably abutted against the abdomen or chest of a human body, the front side of the waist support portion is elastically and releasably abutted against the front waist of a human body, the rear part of the waist support portion is elastically and adjustably abutted against the rear waist of a human body, the left bottom and the right bottom of the waist support portion are respectively provided with T-shaped joint axes, the T-shaped joint axes comprise a top transverse axis and a lower longitudinal axis vertically integrated or fixed at the central position of the top transverse axis, the top transverse axis is detachably and rotatably connected to the bottom of the waist support portion, the top left side and the top right side of the leg support portion are respectively detachably and rotatably connected to the lower longitudinal axes on the left and right sides, the lower part of the leg support portion is detachably fixed to the legs of a human body, and the energy storage portion is detachably and key-connected to the lower longitudinal axis at the top outer position of the leg support portion.

[0008] A mechanical passive waist-assisting exoskeleton of the present invention may also be:

[0009] The energy storage part includes a housing assembly, a switch assembly, and a cam assembly, a clutch disk assembly and a lower cylinder all of which are arranged inside the housing assembly. The cylinder body of the lower cylinder is detachably fixed to the lower part of the housing assembly, the top of the piston of the lower cylinder is releasably abutted against the lower edge of the cam assembly, the lower longitudinal axis passes through the top of the leg support part, the inner side of the housing assembly, the center of the cam assembly, the center of the clutch disk assembly from the inside to the outside in sequence and extends to the outside of the housing assembly, the clutch disk assembly is detachably key-connected to the lower longitudinal axis, the clutch disk assembly is elastically releasably plugged into the cam assembly, the upper part of the clutch disk assembly is releasably abutted against the bottom of the switch assembly, the switch assembly extends from the upper part of the clutch disk assembly to the outside of the housing assembly, the middle part of the switch assembly is lockably rotatably connected to the housing assembly, and the inner and outer sides of the housing assembly and the center of the cam assembly are detachably rotatably connected to the lower longitudinal axis.

[0010] The energy storage unit also includes an upper cylinder, which is centrally symmetrically arranged with respect to the lower cylinder. The cylinder body of the upper cylinder is detachably fixed to the upper part of the housing assembly, and the bottom of the piston of the upper cylinder is releasably abutted against the upper edge of the cam assembly.

[0011] The switch assembly includes a switch handle, a rotating shaft and a cam roller. The rotating shaft is inserted into the housing assembly and is lockably rotatably connected to the housing assembly. The top of the rotating shaft is arranged on the outside of the housing assembly and is detachably fixed to the switch handle. The bottom of the rotating shaft is arranged inside the housing assembly and is detachably fixed to the inner periphery of the cam roller. The outer periphery of the cam roller is releasably abutted against the top of the clutch disc assembly.

[0012] The cam assembly includes a cam body located at a central position and a lower swing arm assembly arranged below the cam assembly, the lower longitudinal axis passes through the top of the leg support portion, the inner side of the shell assembly, the center of the cam body, the center of the clutch plate assembly from the inside to the outside and extends to the outside of the shell assembly, a lower contour protrusion surface for the starting position of the lower swing arm assembly is provided at the lower rear edge position of the cam body, the top of the lower swing arm assembly is releasably abutted against the outer peripheral lower edge of the cam body, the bottom of the lower swing arm assembly is releasably abutted against the top of the piston of the lower cylinder, and the inner and outer sides of the shell assembly and the center of the cam body are detachably rotatably connected to the lower longitudinal axis.

[0013] The lower swing arm assembly includes a triangular lower swing arm body and a lower spring roller, a lower swing arm shaft and a cam lower roller which are detachably rotatably connected to the front, rear and top of the lower swing arm body respectively, the left and right sides of the lower swing arm shaft are detachably fixed to the housing assembly respectively, the top of the cam lower roller is releasably abutted against the lower edge of the outer periphery of the cam body, and the bottom of the lower spring roller is releasably abutted against the top of the piston of the lower cylinder.

[0014] The clutch disc assembly includes a clutch disc body and a clutch disc support seat elastically and detachably fixed to the clutch disc body, the lower longitudinal axis passes through the top of the leg support portion, the inner side of the shell assembly, the center of the cam body, the center of the clutch disc body, the center of the clutch disc support seat from the inside to the outside and extends to the outside of the shell assembly, the clutch disc body and the clutch disc support seat are both detachably keyed to the lower longitudinal axis, the clutch disc body and the cam body are releasably plugged in, and the top of the clutch disc body and the bottom of the switch assembly are releasably abutted against each other.

[0015] The waist support part includes a front waist belt, a rear waist adjustment part and two joint bend plates rotatably connected to the left and right sides of the rear waist adjustment part respectively. The left and right sides of the front waist belt are detachably fixed to the left and right joint bend plates respectively, and the top transverse axis is detachably rotatably connected to the joint bend plates on the left and right sides of the human body respectively.

[0016] The rear waist adjustment part includes an outer slide groove and an inner slide rail. The left side of the outer slide groove is detachably rotatably connected to the left joint bend plate, the right side of the inner slide rail is detachably rotatably connected to the right joint bend plate, and the inner slide rail is lockably slidably connected to the outer slide groove.

[0017] At least two rows of staggered positioning holes are integrally formed or fixed on the rear side wall of the outer slide groove, and a positioning spring block assembly is elastically and detachably provided on the left side of the inner slide rail, and the positioning spring block assembly is elastically and releasably abutted against the positioning holes.

[0018] A mechanical passive waist-assisting exoskeleton of the present invention comprises an abdominal support portion, a waist support portion, a leg support portion and an energy storage portion, wherein the lower left side and the lower right side of the abdominal support portion are respectively detachably fixed to the top left side and the top right side of the waist support portion, the inner side of the abdominal support portion is releasably abutted against the abdomen or chest of a human body, the front side of the waist support portion is elastically and releasably abutted against the front waist of a human body, the rear part of the waist support portion is elastically and adjustably abutted against the rear waist of a human body, the left bottom and the right bottom of the waist support portion are respectively provided with T-shaped joint axes, the T-shaped joint axes comprise a top transverse axis and a lower longitudinal axis vertically integrated or fixed at the central position of the top transverse axis, the top transverse axis is detachably and rotatably connected to the bottom of the waist support portion, the top left side and the top right side of the leg support portion are respectively detachably and rotatably connected to the lower longitudinal axes on the left and right sides, the lower part of the leg support portion is detachably fixed to the legs of a human body, and the energy storage portion is detachably and key-connected to the lower longitudinal axis at the top outer position of the leg support portion. In this way, the abdominal support part is located at the upper part and its lower part is in contact with the human abdomen or chest, and its inner side is against the human abdomen or chest to support the upper body of the wearer. When the wearer bends over, the gravity of the wearer's upper body is against the abdominal support part. The lower left side and the lower right side of the abdominal support part are detachably fixed to the top left side and the top right side of the waist support part respectively. The abdominal support part transfers the upper body gravity to the waist support part, and the waist support part is detachably keyed with the energy storage part through the T-shaped joint shaft, and then the waist support part continues to transfer the gravity to the energy storage part. The energy storage part generates elastic potential energy under the action of gravity and stores the elastic potential energy inside the energy storage part. This process gradually occurs as the wearer bends over more. The stored elastic potential energy can support the wearer, and the energy storage part will generate corresponding elastic force to balance the gravity. In this process, the change in gravity potential energy of the wearer's upper body is also gradually converted into elastic potential energy and stored. Therefore, when the wearer bends over, the upper body and load of the wearer can be supported, thereby reducing the muscle burden and fatigue of the wearer's waist. When the wearer needs to stand up after bending over, the energy storage part generates elastic restoring force under the action of elastic potential energy, and the generated elastic restoring force then acts on the wearer in the opposite direction through the T-shaped joint axis, the waist support part and the abdomen support part. This process also occurs gradually. When the wearer slowly stands up after bending over, the elastic force generated by the energy storage part forms a "pushing" support effect on the wearer's abdomen or chest through the T-shaped joint axis, the waist support part and the abdomen support part. In this process, the elastic potential energy stored in the energy storage part is gradually released and converted into the wearer's gravitational potential energy. As a result, the muscle burden and fatigue of the wearer's waist can be reduced when the wearer stands up.The front side of the waist support part is elastically releasably against the front waist of the human body, and the rear side of the waist support part is elastically adjustable against the rear waist of the human body, so that the entire waist support part fits the waist of the human body more closely, thereby providing more accurate support to the upper body of the wearer, whether it is the front waist or the rear waist. The left bottom and right bottom of the waist support part are respectively provided with a T-shaped joint axis, and the T-shaped joint axis includes a top transverse axis and a lower longitudinal axis that is vertically integrated or fixed at the central position of the top transverse axis. The top transverse axis is detachably rotatably connected to the bottom of the waist support part, so that the waist support part can rotate along the central axis direction of the top transverse axis, that is, the front and rear extension direction of the human body, and the lower longitudinal axis passes through the leg support part and the energy storage part longitudinally outward in sequence. Therefore, after wearing it, the wearer can also swing the upper body or thigh around the central axis direction of the top transverse axis to the left or right side of the human body, and perform side bending waist movement or thigh abduction and adduction movement within a certain range, thereby reducing interference with the wearer's body movement. The mechanical passive waist-assisting exoskeleton of the present invention has the following advantages over the prior art: simple structure, easy to wear, less interference with human body movements, ability to provide effective large-range assistance to the wearer's waist when the wearer performs bending-straightening movements, and good practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A basic principle structural diagram of a mechanical passive waist-assisted exoskeleton in the prior art.

[0020] Figure 2 A front axonometric view of a mechanical passive waist-assisted exoskeleton according to the present invention.

[0021] Figure 3 A rear axonometric diagram of a mechanical passive waist-assisted exoskeleton according to the present invention.

[0022] Figure 4 A schematic diagram of a rear waist adjustment portion of a mechanical passive waist-assisting exoskeleton according to the present invention.

[0023] Figure 5 A partial cross-sectional view of a rear waist adjustment portion of a mechanical passive waist-assisting exoskeleton of the present invention.

[0024] Figure 6 A partial perspective view of the overlap between the rear waist adjustment part and the joint bending plate of a mechanical passive waist power-assisting exoskeleton of the present invention.

[0025] Figure 7 A cross-sectional view of the overlap between the rear waist adjustment part and the joint bending plate of a mechanical passive waist-assisting exoskeleton of the present invention.

[0026] Figure 8A schematic diagram of an abdominal support portion of a mechanical passive waist-assisting exoskeleton according to the present invention.

[0027] Fig. 9 A partial cross-sectional view of the abdominal support portion of a mechanical passive waist-assisting exoskeleton of the present invention.

[0028] Fig.10 The present invention discloses a mechanical passive waist power-assisting exoskeleton joint bending plate and a T-shaped joint axis overlap diagram.

[0029] Fig.11 A partial cross-sectional view of the overlap of a mechanical passive waist-assisting exoskeleton joint bending plate and a T-shaped joint axis of the present invention.

[0030] Fig.12 A partial cross-sectional view of an energy storage part and a joint bending plate of a mechanical passive waist-assisting exoskeleton of the present invention.

[0031] Fig.13 Internal schematic diagram of the energy storage unit of a mechanical passive waist-assisted exoskeleton of the present invention Figure 1 .

[0032] Fig.14 A right view of the interior of an energy storage unit of a mechanical passive waist-assisting exoskeleton according to the present invention.

[0033] Fig.15 A schematic diagram of the working of the energy storage part of a mechanical passive waist-assisting exoskeleton of the present invention.

[0034] Fig.16 A rear view of an energy storage part of a mechanical passive waist-assisting exoskeleton according to the present invention.

[0035] Fig.17 A schematic diagram of a closed state of an energy storage part of a mechanical passive waist-assisting exoskeleton according to the present invention.

[0036] Fig.18 A schematic diagram of an open state of an energy storage part of a mechanical passive waist-assisting exoskeleton according to the present invention.

[0037] Description of Figure Number

[0038] a…upper body support b…upper body binding cushioning component c…elastic element

[0039] d…Leg binding cushioning assembly e…Leg support

[0040] 1… Lumbar support 101… Abduction and adduction joint block 102… Front waist belt

[0041] 103 ... rear waist adjustment part 1031 ... outer slide groove 1032 ... inner slide rail

[0042] 1033 ...Adjustment handle 1034 ...Adjustment stopper 1035 ...Second guide shaft

[0043] 1036 ... first guide shaft 1037 ... elastic member 1038 ... elastic block body

[0044] 1039…Shock-absorbing spring 104…T-shaped joint shaft 1041…Lower longitudinal shaft

[0045] 1042 ... top transverse axis 105 ... joint bend 1051 ... second rotational joint

[0046] 10511 ... second connection part 1052 ... first rotation joint 10521 ... first connection part

[0047] 1053 ... first connecting shaft 1054 ... first positioning pin 1055 ... rotating positioning pin

[0048] 1056…Axial waist groove 1057…Ear hole 2…Leg support part

[0049] 201 ... Leg support plate 202 ... Leg strap 3 ... Abdominal support part

[0050] 301 ... Abdominal support seat 302 ... Abdominal support plate 303 ... Abdominal support elbow

[0051] 4...Energy storage unit 401...Housing assembly 4011...Ball plunger

[0052] 4021…Switch handle 4022…Rotating shaft 4023…Cam roller

[0053] 4024… plunger groove 4025… ball head hole 403… lower cylinder

[0054] 404...upper cylinder 405...clutch disc assembly 4051...clutch disc body

[0055] 4052…Clutch disc support seat 4053…Clutch disc claw 4061…Cam body

[0056] 40611…Upper profile protrusion 40612…Lower profile protrusion 40613…Clutch plate hole

[0057] 40621…Lower arm body 40622…Lower spring roller 40623…Lower arm shaft

[0058] 40624…Cam lower roller 40631…Upper swing arm body 40632…Upper spring roller

[0059] 40633…Upper swing arm shaft 40634…Cam upper roller DETAILED DESCRIPTION

[0060] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", "vertical", "horizontal" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0061] The mechanical passive waist assist exoskeleton of the present invention is described by taking the direction when it is worn on the human body as an example. The abdominal support part 3 is on the front side, the rear waist adjustment part 103 is on the back side, the abdominal support part 3 is on the upper side, the leg support part 2 is on the lower side, the direction away from the human body is the outside, the direction close to the human body is the inside, the left hand of the human body is on the left side, and the right hand of the human body is on the right side, and the directions of "front", "back", "left", "right", "up", "down", "inside" and "outside" are determined by this.

[0062] The following is combined with the attached drawings Figures 2 to 18 A mechanical passive waist-assisting exoskeleton of the present invention is further described in detail.

[0063] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18The relevant figures include an abdominal support part 3, a waist support part 1, a leg support part 2 and an energy storage part 4. The lower left side and the lower right side of the abdominal support part 3 are respectively detachably fixed to the top left side and the top right side of the waist support part 1. The inner side of the abdominal support part 3 is releasably against the abdomen or chest of the human body. The front side of the waist support part 1 is releasably against the front waist of the human body. The rear part of the waist support part 1 is elastically releasable against the rear waist of the human body. The left bottom and the right bottom of the waist support part 1 are respectively provided with a T-shaped joint shaft 104, and the T-shaped joint shaft 104 includes It includes a top transverse axis 1042 and a lower longitudinal axis 1041 which is vertically integrated or fixed at the central position of the top transverse axis 1042, the top transverse axis 1042 is detachably rotatably connected to the bottom of the lumbar support part 1, the top left side and the top right side of the leg support part 2 are detachably rotatably connected to the lower longitudinal axis 1041 on the left and right sides respectively, the lower part of the leg support part 2 is detachably fixed to the human leg, and the energy storage part 4 is detachably key-connected to the lower longitudinal axis 1041 of the T-shaped joint axis 104 at the top outer position of the leg support part 2. In this way, the abdominal support part 3 is located at the upper part and its lower part is in contact with the waist support part 1, and its inner side is against the abdomen or chest of the human body to support the upper body of the wearer. When the wearer bends, the gravity of the wearer's upper body is against the abdominal support part 3. The lower left side and the lower right side of the abdominal support part 3 are respectively detachably fixed to the top left side and the top right side of the waist support part 1. The abdominal support part 3 transfers the upper body gravity to the waist support part 1, and the waist support part 1 is connected to the waist support part 1 through the T-shaped joint shaft 104. The energy storage part 4 is detachably key-connected, and the waist support part 1 continues to transfer gravity to the energy storage part 4. The energy storage part 4 generates elastic potential energy under the action of gravity and stores the elastic potential energy inside the energy storage part 4. This process occurs gradually as the wearer bends more and more. The stored elastic potential energy can support the wearer. The energy storage part 4 will generate corresponding elastic force to balance the gravity, and the change of gravity potential energy of the wearer's upper body in this process is gradually converted into elastic potential energy and stored. Therefore, when the wearer bends, the upper body and load of the wearer can be supported, thereby reducing the muscle burden and fatigue of the wearer's waist.When the wearer needs to stand up after bending over, the energy storage part 4 generates elastic restoring force under the action of elastic potential energy, and the generated elastic restoring force then acts on the wearer in the opposite direction through the T-shaped joint shaft 104, the waist support part 1 and the abdominal support part 3. This process also occurs gradually. When the wearer stands up slowly after bending over, the elastic force generated by the energy storage part 4 forms a "pushing" support effect on the wearer's abdomen or chest through the T-shaped joint shaft 104, the waist support part 1 and the abdominal support part 3. In this process, the elastic potential energy stored in the energy storage part 4 is gradually released and converted into the wearer's gravity potential energy. In this way, the wearer can also reduce the muscle burden and fatigue of the wearer's waist when standing up. The front side of the waist support part 1 is elastically releasable against the front waist of the human body, and the rear side of the waist support part 1 is elastically adjustable against the back waist of the human body, so that the entire waist support part 1 is more closely fitted to the waist of the human body, thereby providing more accurate support to the wearer's upper body, whether in the front waist or the back waist. The left and right bottom parts of the lumbar support part 1 are respectively provided with T-shaped joint shafts 104, and the T-shaped joint shafts 104 include a top transverse shaft 1042 and a lower longitudinal shaft 1041 which is vertically integrated or fixed at the central position of the top transverse shaft 1042. The top transverse shaft 1042 is detachably rotatably connected to the bottom of the lumbar support part 1, so the lumbar support part 1 can be rotated along the central axis direction of the top transverse shaft 1042, that is, the front and rear extension direction of the human body, and the lower longitudinal shaft 1041 passes through the leg support part 2 and the energy storage part 4 longitudinally outward in sequence. Therefore, after putting it on, the wearer can also swing the upper body or thigh around the central axis direction of the top transverse shaft 1042 to the left or right side of the human body, and perform side bending waist movements or thigh abduction and adduction movements within a certain range, thereby reducing interference with the wearer's body movements. The mechanical passive waist-assisting exoskeleton of the present invention has the following advantages over the prior art: simple structure, easy to wear, less interference with human body movements, ability to provide effective large-range assistance to the wearer's waist when the wearer performs bending-straightening movements, and good practicality.

[0064] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the previous technical scheme, it can also be: the abdominal support part 3 includes an abdominal support plate 302, an abdominal support elbow 303 and an abdominal support seat 301 which are symmetrically arranged on the left and right sides, the abdominal support seat 301 and the waist support part 1 are detachably plugged and fixed on the left and right sides of the human body respectively, the inner side of the abdominal support plate 302 is releasably abutted against the abdomen or chest of the human body, and the abdominal support elbow 303 extends from the abdominal support plate 302 to the abdominal support seat 301. In this way, the inner side of the abdominal support plate 302 is releasably offset against the abdomen or chest of the human body. When the wearer bends over, the gravity of the wearer's upper body acts on the abdominal support plate 302, and is transmitted layer by layer to the waist support part 1 through the abdominal support curved pipe 303 and the abdominal support seat 301, and then transmitted to the energy storage part 4, so that the energy storage part 4 gradually converts the gravitational potential energy into elastic potential energy and stores it under the action of gravity. In the process of the wearer standing up and straightening his waist, the energy storage part 4 can generate elastic restoring force under the action of elastic potential energy. The generated elastic restoring force is successively transmitted to the abdominal support plate 302 through the waist support part 1, the abdominal support seat 301 and the abdominal support curved pipe 303. The abdominal support plate 302 acts on the chest or abdomen of the wearer to assist the wearer to stand up and reduce the wearer's muscle burden and fatigue.

[0065] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the previous technical solution, it can also be: the energy storage part 4 includes a housing assembly 401, a switch assembly, and a cam assembly, a clutch disk assembly 405 and a lower cylinder 403 all arranged inside the housing assembly 401, the cylinder body of the lower cylinder 403 is detachably fixed to the lower part of the housing assembly 401, the top of the piston of the lower cylinder 403 is releasably abutted against the lower edge of the cam assembly, and the lower longitudinal axis 1041 passes through the top of the leg support part 2, the inner side of the housing assembly 401, the center of the cam assembly, the center of the clutch disk assembly 405 from the inside to the outside. Extending to the outside of the housing assembly 401, the clutch disk assembly 405 is detachably key-connected to the lower longitudinal axis 1041, the clutch disk assembly 405 is elastically releasably plugged into the cam assembly, the upper part of the clutch disk assembly 405 is releasably abutted against the bottom of the switch assembly, the switch assembly extends from the upper part of the clutch disk assembly 405 to the outside of the housing assembly 401, the middle part of the switch assembly is lockably rotatably connected to the housing assembly 401, and the inner and outer sides of the housing assembly 401 and the center of the cam assembly are detachably rotatably connected to the lower longitudinal axis 1041. In this way, when the wearer is in the process of bending over, if the switch assembly is in the closed state, although the clutch disc assembly 405 is key-connected to the lower longitudinal shaft 1041, the lumbar support part 1 rotates forward to drive the lower longitudinal shaft 1041 to rotate around its central axis, thereby driving the clutch disc assembly 405 to rotate, but the clutch disc assembly 405 and the cam assembly are in a disengaged state, and the cam assembly will not rotate with the clutch disc assembly 405, and the lower cylinder 403 cannot be pressed down to store energy. Therefore, when the switch assembly is in the closed state, the wearer can perform reciprocating free bending or thigh flexion and extension and other actions without being subject to resistance from the energy storage part 4.When the switch assembly is rotated to the open state, the clutch disk assembly 405 is elastically abutted against the cam assembly under the push of the switch assembly, and the bottom of the switch assembly tightly fits the clutch disk against the cam assembly. When the wearer bends over, the waist support part 1 drives the lower longitudinal axis 1041 to rotate around its central axis, and the clutch disk assembly 405 is key-connected with the lower longitudinal axis 1041, so that the clutch disk assembly 405 also rotates around the central axis of the lower longitudinal axis 1041. The clutch disk assembly 405 is plugged into the cam assembly, so the cam assembly also rotates around the lower longitudinal axis 1041, and the bottom of the cam assembly abuts against the piston of the lower cylinder 403. The rotation of the cam assembly presses the piston of the lower cylinder 403 downward into the cylinder body, compressing the air in the lower cylinder 403, and then the air in the lower cylinder 403 is compressed to generate elastic potential energy and store the elastic potential energy. When the wearer straightens up and stands up, the pressure on the piston part of the lower cylinder 403 decreases due to the wearer standing up. Therefore, the air pressure in the lower cylinder 403 is greater than the pressure on the piston part of the lower cylinder 403, and then the piston lifts the cam assembly, causing the cam assembly to rotate in the opposite direction, thereby driving the lower longitudinal shaft 1041 to rotate in the opposite direction, transmitting the torsional force to the lumbar support part 1 and the abdominal support part 3, and converting it into thrust on the wearer, thereby helping the wearer to stand up. A further preferred technical solution is that the energy storage unit 4 further includes an upper cylinder 404, the upper cylinder 404 and the lower cylinder 403 are centrally symmetrically arranged, the cylinder body of the upper cylinder 404 is detachably fixed to the upper part of the housing assembly 401, and the bottom of the piston of the upper cylinder 404 is releasably abutted against the upper edge of the cam assembly. In this way, the upper cylinder 404 and the lower cylinder 403 are centrally symmetrically arranged above and below the cam assembly, and when the cam assembly rotates forward or reversely, the piston of the lower cylinder 403 at the lower part can be pressed downward, and the piston of the upper cylinder 404 at the upper part can also be pushed upward, thereby effectively increasing the power-assisting range of the energy storage unit 4, making each component evenly stressed, and improving the service life of the components. The centrally symmetrical arrangement of the upper cylinder 404 and the lower cylinder 403 can ensure that the energy storage part 4 is closed. When the cam assembly is disengaged from the clutch disc assembly, the cam assembly has no circumferential movement relative to the clutch disc assembly and does not produce circumferential relative displacement, thereby ensuring that when the energy storage part 4 is opened in a straight waist state, the clutch disc assembly can be smoothly plugged into the cam assembly without causing engagement failure.

[0066] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the previous technical solution, it can also be: the switch assembly includes a switch handle 4021, a rotating shaft 4022 and a cam roller 4023, the rotating shaft 4022 is penetrated by the housing assembly 401 and is lockably rotatably connected to the housing assembly 401, the top of the rotating shaft 4022 is arranged on the outside of the housing assembly 401 and is detachably fixed to the switch handle 4021, the bottom of the rotating shaft 4022 is arranged inside the housing assembly 401 and is detachably fixed to the inner periphery of the cam roller 4023, and the outer periphery of the cam roller 4023 is releasably abutted against the top of the clutch disk assembly 405. In this way, the switch handle 4021 makes the rotating shaft 4022 more convenient in the process of twisting. The rotating shaft 4022 is inserted into the housing assembly 401 and is lockably connected to the housing assembly 401. When the rotating shaft 4022 is respectively turned to the open state or the closed state, the rotating shaft 4022 and the housing assembly 401 can be locked to prevent the switch from being switched randomly without the wearer's operation during use. A further preferred technical solution is that the housing assembly 401 and the rotating shaft 4022 have an overlapping portion, the housing assembly 401 is elastically and detachably connected with a ball plunger 4011 at a corresponding position of the overlapping portion, the rotating shaft 4022 is provided with a plunger groove 4024 in the circumferential direction at a corresponding position of the ball plunger 4011, the rotating shaft 4022 is provided with a ball hole 4025 at the maximum diameter and the minimum diameter of the cam roller 4023, and the ball plunger 4011 and the ball hole 4025 are releasably abutted against each other. In this way, when the rotating shaft 4022 is rotating, the ball head part of the ball head plunger 4011 always slides along the plunger groove 4024, and the outer periphery of the cam roller 4023 abuts against the top of the clutch disk assembly 405. When the maximum diameter of the cam roller 4023 is at the top of the clutch disk assembly 405, the clutch disk assembly 405 is closest to the cam assembly. In this position, the clutch disk assembly 405 is plugged and fixed with the cam assembly, and the switch assembly is in the on state. The ball head plunger 4011 is stuck in the ball head hole 4025. On the contrary, when the minimum diameter of the cam roller 4023 abuts against the top of the clutch disk assembly 405, the distance between the clutch disk assembly 405 and the cam assembly is the largest. At this time, the clutch disk assembly 405 is disengaged from the cam assembly, and the switch assembly is in the off state. A further preferred technical solution is that sleeve bearings are respectively provided at the upper and lower parts of the connection between the rotating shaft 4022 and the housing assembly 401 .In this way, the outer periphery of the sleeve bearing is fixed to the housing assembly 401, and the inner periphery of the sleeve bearing is fixed to the rotating shaft 4022. The ball body sandwiched in the middle of the sleeve bearing is used to reduce the friction between the rotating shaft 4022 and the housing assembly 401, thereby increasing the service life of both. The sleeve bearing can also be a plastic sleeve bearing with good wear and pressure resistance due to size limitations. The same is true for the sleeve bearings used in other parts to reduce the friction between the two parts of the rotational connection.

[0067] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the previous technical solution, it can also be: the cam assembly includes a cam body 4061 located at the central position and a lower swing arm assembly arranged below the cam assembly, the lower longitudinal axis 1041 passes through the top of the leg support part 2, the inner side of the shell assembly 401, the center of the cam body 4061, the center of the clutch plate assembly 405 from the inside to the outside and extends to the outside of the shell assembly 401, and a lower contour protrusion surface 40612 for the starting position of the lower swing arm assembly is provided at the lower rear edge position of the cam body 4061, the top of the lower swing arm assembly is releasably abutted against the lower edge of the outer periphery of the cam body 4061, and the bottom of the lower swing arm assembly is releasably abutted against the top of the piston of the lower cylinder 403. In this way, the top of the lower swing arm assembly and the lower peripheral edge of the cam body 4061 can be releasably abutted against each other, with the lower contour protrusion surface 40612 as the starting position. The distance from the lower contour protrusion surface 40612 to the axial point of the cam body 4061 increases sharply, so that the cam body 4061 cannot rotate counterclockwise at this point, and the lower cylinder 403 is also in a state of free extension or slight compression. Therefore, when the lower peripheral edge of the cam body 4061 and the top of the lower swing arm assembly are abutted against each other at the corresponding position of the lower contour protrusion surface 40612, the cam body 4061 can reach a balanced state, and the balanced state of the cam body 4061 can be maintained in the absence of external force. When the cam body 4061 rotates clockwise under the drive of the clutch plate assembly 405, the lower swing arm assembly also rotates clockwise under the action of the cam body 4061, and the bottom of the lower swing arm assembly can be releasably abutted against the top of the piston of the lower cylinder 403, so the piston of the lower cylinder 403 is also pressed downward into the cylinder body, thereby compressing the lower cylinder 403 for compression energy storage until the lower cylinder 403 is in the maximum compression stroke state. A further preferred technical solution is that an upper swing arm assembly symmetrical to the center of the lower swing arm assembly is provided above the cam body 4061, an upper contour protrusion surface 40611 symmetrical to the center of the lower contour protrusion surface 40612 is provided at the upper front side edge position of the cam body 4061, the top of the upper swing arm assembly can be releasably abutted against the outer peripheral upper edge of the cam body 4061, and the top of the upper swing arm assembly can be releasably abutted against the bottom of the piston of the upper cylinder 404.In this way, the bottom of the upper swing arm assembly and the outer peripheral upper edge of the cam body 4061 can be releasably abutted against each other, with the upper contour protrusion surface 40611 as the starting position, and the distance from the upper contour protrusion surface 40611 to the axial center point of the cam body 4061 increases sharply, so that the cam body 4061 cannot rotate counterclockwise at this point to further ensure the stability of the cam assembly, and the upper cylinder 404 is also in a state of free extension or slight compression. Therefore, when the outer peripheral upper edge of the cam body 4061 and the top of the upper swing arm assembly are abutted against each other at the corresponding position of the upper contour protrusion surface 40611, the cam body 4061 can reach a balanced state, and the balanced state of the cam body 4061 can be maintained in the absence of external force. When the cam body 4061 rotates clockwise under the drive of the clutch plate assembly 405, the upper swing arm assembly also rotates clockwise under the action of the cam body 4061, and the bottom of the upper swing arm assembly is releasably abutted against the top of the piston of the upper cylinder 404, so that the piston of the upper cylinder 404 is also pressed upward into the cylinder body, thereby compressing the upper cylinder 404 to store compression energy until the upper cylinder 404 is in the maximum compression stroke state, that is, the wearer is in the maximum bending angle state. The upper swing arm assembly and the lower swing arm assembly, the upper contour protrusion surface 40611 and the lower contour protrusion surface 40612 are all centrally symmetrically arranged. When the upper cylinder 404 and the lower cylinder 403 reach the maximum compression stroke, that is, when the wearer is in the maximum bending angle state, the upper swing arm assembly will not pass over the rear end of the cam body 4061, and the lower swing arm assembly will not pass over the front end of the cam body 4061, thereby ensuring the stability of the operation of the cam assembly.

[0068] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18According to the relevant figures, on the basis of the previous technical solution, the lower swing arm assembly includes a triangular lower swing arm body 40621 and a lower spring roller 40622, a lower swing arm shaft 40623 and a cam lower roller 40624 which are respectively detachably rotatably connected to the front, rear and top of the lower swing arm body 40621, the left and right sides of the lower swing arm shaft 40623 are respectively detachably fixed to the housing assembly 401, the top of the cam lower roller 40624 is releasably abutted against the lower edge of the outer periphery of the cam body 4061, and the bottom of the lower spring roller 40622 is releasably abutted against the top of the piston of the lower cylinder 403. In this way, the bottom of the lower spring roller 40622 can be releasably abutted against the top of the piston of the lower cylinder 403, and the top of the cam lower roller 40624 can be releasably abutted against the lower peripheral edge of the cam body 4061, so that the lower swing arm assembly rotates around the lower swing arm shaft 40623 under the push of the cam assembly, and the lower spring roller 40622 is rollingly connected to the piston of the lower cylinder 403, so that the lower spring roller 40622 and the piston of the lower cylinder 403 form a line contact, and the top of the cam lower roller 40624 is rollingly connected to the lower peripheral edge of the cam body 4061, so that the top of the cam lower roller 40624 and the lower peripheral edge of the cam body 4061 form a line contact, thereby reducing the friction between the lower spring roller 40622 and the piston of the lower cylinder 403, and between the cam lower roller 40624 and the cam body 4061. A further preferred technical solution is that the lower swing arm shaft 40623 is interference fit with the lower swing arm body 40621, and the left and right sides of the lower swing arm shaft 40623 are respectively connected to the housing assembly 401 through sleeve bearings to reduce the friction of the rotational connection between the two. A further preferred technical solution is that the upper swing arm assembly includes an upper swing arm body 40631 in an inverted triangle shape and an upper swing arm shaft 40633, an upper spring roller 40632 and a cam upper roller 40634 that are respectively detachably rotatably connected to the front, rear and top of the upper swing arm body 40631, the left and right sides of the upper swing arm shaft 40633 are respectively detachably fixed to the housing assembly 401, the bottom of the cam upper roller 40634 is releasably abutted against the outer peripheral upper edge of the cam body 4061, and the top of the upper spring roller 40632 is releasably abutted against the bottom of the piston of the upper cylinder 404.In this way, the top of the upper spring roller 40632 can be releasably abutted against the bottom of the piston of the upper cylinder 404, and the bottom of the cam upper roller 40634 can be releasably abutted against the outer peripheral upper edge of the cam body 4061, so that the upper swing arm assembly rotates around the upper swing arm shaft 40633 under the push of the cam assembly, and the upper spring roller 40632 is rollingly connected to the piston of the upper cylinder 404, so that the upper spring roller 40632 and the piston of the upper cylinder 404 form a line contact, and the top of the cam upper roller 40634 is rollingly connected to the outer peripheral upper edge of the cam body 4061, so that the top of the cam upper roller 40634 and the outer peripheral upper edge of the cam body 4061 form a line contact, thereby reducing the friction between the upper spring roller 40632 and the piston of the upper cylinder 404, and between the cam upper roller 40634 and the cam body 4061. A further preferred technical solution is that the upper swing arm shaft 40633 is interference fit with the upper swing arm body 40631, and the left and right sides of the upper swing arm shaft 40633 are respectively connected to the housing assembly 401 through sleeve bearings to reduce the friction of the rotational connection between the two.

[0069] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the previous technical scheme, it can also be that: the clutch disk assembly 405 includes a clutch disk body 4051 and a clutch disk support seat 4052 elastically and detachably fixed to the clutch disk body 4051, the lower longitudinal axis 1041 passes through the top of the leg support part 2, the inner side of the shell assembly 401, the center of the cam body, the center of the clutch disk body 4051, the center of the clutch disk support seat 4052 from the inside to the outside and extends to the outside of the shell assembly 401, the clutch disk body 4051 and the clutch disk support seat 4052 are both detachably keyed to the lower longitudinal axis 1041, the clutch disk body 4051 and the cam body 4061 are releasably plugged, the top of the clutch disk body 4051 is releasably abutted against the bottom of the switch assembly, and the inner and outer sides of the shell assembly 401 and the center of the cam body are both detachably rotatably connected to the lower longitudinal axis 1041. In this way, the clutch disc support seat 4052 is elastically and detachably fixed to the clutch disc body 4051, and the clutch disc body 4051 and the clutch disc support seat 4052 are both detachably keyed to the lower longitudinal axis 1041. The clutch disc body 4051 and the clutch disc support seat 4052 also rotate with the lower longitudinal axis 1041 during the rotation of the lower longitudinal axis 1041. The clutch disc support seat 4052 and the clutch disc body 4051 are in a natural state. The clutch disc body 4051 is away from the cam assembly. When the switch assembly is turned on, the switch assembly pushes the clutch disc body 4051 toward the cam assembly, and the clutch disc body 4051 is plugged into the cam assembly. At this time, there is an elastic force between the clutch disc body 4051 and the clutch disc support seat 4052. When the switch assembly is closed, this elastic force pulls the clutch disc body 4051 back to the clutch disc support seat 4052, so that the clutch disc body 4051 is disconnected from the cam assembly.

[0070] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18According to the relevant figures, on the basis of the previous technical solution, the outer side of the cam body 4061 is evenly spaced integrally formed or fixed with clutch disk holes 40613, the inner side of the clutch disk body 4051 is evenly spaced integrally formed or fixed with clutch disk claws 4053, and the cam body 4061 and the clutch disk body 4051 are releasably plugged in by meshing with the clutch disk holes 40613 through the clutch disk claws 4053. In this way, after the energy storage part 4 is turned on and the clutch disk hole 40613 is smoothly engaged with the clutch disk claw 4053, the clutch disk body 4051 rotates the lower longitudinal axis as the wearer bends or straightens up, and the clutch disk body 4051 is key-connected with the lower longitudinal axis 1041, so the clutch disk body 4051 also drives the clutch disk claw 4053 to rotate together, and the clutch disk claw 4053 is inserted into the clutch disk hole 40613, pushing the clutch disk hole 40613 to rotate together, thereby playing a transmission role in circumferential motion.

[0071] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18 In the relevant figures, on the basis of the previous technical solution, the waist support part 1 can also be: the waist support part 1 includes a front waist belt 102, a rear waist adjustment part 103 and two joint bends 105 respectively rotatably connected to the left and right sides of the rear waist adjustment part 103, the left and right sides of the front waist belt 102 are respectively detachably fixed to the left and right joint bends 105, and the top transverse axis 1042 is detachably rotatably connected to the joint bends 105 on the left and right sides of the human body. In this way, the front waist belt 102 fits the front waist of the human body, the joint bends 105 fit the waist of the human body on the left and right sides of the rear waist of the human body, and the rear waist adjustment part 103 is set on the rear waist of the human body. The top transverse axis 1042 is detachably rotatably connected to the joint bends 105 on the left and right sides of the human body, so that the axis of the wearer's leg abduction action and the side bending waist action is parallel to the central axis position of the top transverse axis 1042, reducing the interference between the device and the wearer. A further preferred technical solution is that the joint bend plate 105 includes an abduction-adduction joint block 101 located at the front side of the lower part, the bottom of the joint bend plate 105 and the bottom of the abduction-adduction joint block 101 are respectively integrally formed or fixed with a lug hole 1057, and the front and rear sides of the top transverse shaft 1042 are respectively detachably rotatably connected to the lug hole 1057. In this way, during installation, the rear side of the top transverse shaft 1042 can be first inserted into the lug hole 1057 at the bottom of the joint bend plate 105, and then the lug hole 1057 on the abduction-adduction joint block 101 is inserted into the front side of the top transverse shaft 1042, and finally the abduction-adduction joint block 101 and the joint bend plate 105 are detachably fixed, which facilitates the installation of the T-shaped joint shaft 104.

[0072] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18According to the relevant figures, on the basis of the previous technical solution, it can also be that: the rear waist adjustment part 103 includes an outer slide groove 1031 and an inner slide rail 1032, the left side of the outer slide groove 1031 is detachably rotatably connected to the joint bend plate 105 on the left side, the right side of the inner slide rail 1032 is detachably rotatably connected to the joint bend plate 105 on the right side, and the inner slide rail 1032 is lockably slidably connected to the outer slide groove 1031. In this way, the left side of the outer slide groove 1031 is rotatably connected to the left joint plate 105, and the right side of the inner slide rail 1032 is rotatably connected to the right joint plate 105. Because the joint plate 105 and the rear waist adjustment part 103 are both made of hard materials, when the wearer wears it, the rear waist adjustment part 103 needs to be rotatably connected to the joint plate 105, that is, the outer slide groove 1031 and the inner slide rail 1032 can expand outward or retract inward around the joint plate 105 to adapt to the waist circumference difference caused by the fatness or thinness of the wearer. The inner slide rail 1032 is slidably connected to the inner side of the outer slide groove 1031, and the inner slide rail 1032 and the outer slide groove 1031 can be locked to adapt to different waist circumferences of human bodies. The inner slide rail 1032 is slid along the outer slide groove 1031 to the required waist circumference position, and the inner slide rail 1032 and the outer slide groove 1031 are locked. A further preferred technical solution is that the left and right sides of the rear waist adjustment part 103 are respectively provided with a first rotation joint 1052, and the joint bend plate 105 is provided with a second rotation joint 1051 at a position corresponding to the first rotation joint 1052, the first rotation joint 1052 includes three first connection parts 10521 integrally formed or fixed on the rear waist adjustment part 103, the second rotation joint 1051 includes two second connection parts 10511 integrally formed or fixed on the joint bend plate 105, the first connection parts 10521 and the second connection parts 10511 are alternately arranged and the two are detachably rotatably connected by passing through the first connecting shaft 1053 in sequence. In this way, the first rotating joint 1052 of the coaxial three-hole structure is detachably rotatably connected to the second rotating joint 1051 of the coaxial two-hole structure on the left and right sides, respectively, the first connecting part 10521 is located at the upper, middle and lower positions, respectively, the second connecting part 10511 is clamped between the three first connecting parts 10521, and the first rotating joint 1052 and the joint bend plate 105 are detachably rotatably connected through the first connecting shaft 1053 that passes through the first connecting part 10521, the second connecting part 10511, the first connecting part 10521, the second connecting part 10511 and the first connecting part 10521 from top to bottom in sequence.A further preferred technical solution is that the first connecting shaft 1053 and the first connecting part 10521 have an overlapping portion, and the first connecting shaft 1053 and the first connecting part 10521 are detachably fixed at the corresponding position of the overlapping portion by a first positioning pin 1054. In this way, the first positioning pin 1054 fixes the first connecting shaft 1053 and the first connecting part 10521, and the first connecting part 10521 can be any one of the upper, middle, and lower positions. As long as the first connecting shaft 1053 and the first connecting part 10521 are fixed, that is, the first connecting shaft 1053 and the rear waist adjustment part 103 are fixed, the rear waist adjustment part 103 can be precisely controlled only by the relative rotation displacement between the second connecting part 10511 and the first connecting shaft 1053. A further preferred technical solution is that the first connection part 10521 and the second connection part 10511 have an overlapping part, the first connection part 10521 is provided with a horizontal axial waist groove 1056 at a position corresponding to the overlapping part, and the second connection part 10511 is provided with a rotary positioning pin 1055 at a position corresponding to the overlapping part, and the rotary positioning pin 1055 is detachably connected to the axial waist groove 1056. In this way, the rotary positioning pin 1055 is inserted into the axial waist groove 1056, and the rotary positioning pin 1055 slides in the axial waist groove 1056, and the rotation range of the joint bending plate 105 relative to the rear waist adjustment part 103 is controlled by the slotted angle range of the axial waist groove 1056. A sleeve bearing can also be sandwiched between the first connecting shaft 1053 and the second connecting part 10511 to reduce the friction caused by the rotation connection between the first connecting shaft 1053 and the second connecting part 10511.

[0073] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the previous technical solution, at least two rows of staggered positioning holes are integrally formed or fixed on the rear side wall of the outer slide 1031, and a positioning spring block assembly is elastically and detachably provided on the left side of the inner slide rail 1032, and the positioning spring block assembly elastically and releasably offsets the positioning holes. In this way, the upper and lower staggered distribution of the two rows of positioning holes is conducive to making full use of the space along the direction of the outer slide 1031 and subdividing the adjustable waist width range. The positioning spring block assembly can be elastically and releasably offset with the positioning holes of the upper row alone, and can also be elastically and releasably offset with the positioning holes of the lower row alone. As a result, the rear waist adjustment part 103 achieves the function of adapting to different human waist circumferences while also achieving the increase of the adjustable level, thereby improving the human adaptability of the rear waist adjustment part 103. A further preferred technical solution is that a shock-absorbing spring sheet 1039 is filled in the positioning hole, and the shock-absorbing spring sheet 1039 is made of rubber, and the rear side of the shock-absorbing spring sheet 1039 can be releasably abutted against the front side of the positioning spring block assembly. In this way, the positioning spring block assembly and the inner slide rail 1032 are elastically arranged, and when the positioning spring block assembly is about to abut against the positioning hole, the shock-absorbing spring sheet 1039 is between the positioning spring block assembly and the positioning hole to reduce the impact force of the positioning spring block assembly on the positioning hole.

[0074] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18In the relevant figures, on the basis of the above technical solutions, the positioning spring block assembly can also be: the positioning spring block assembly includes an adjustment block 1034 and four spring block bodies 1038 detachably and elastically connected to the outer periphery of the adjustment block 1034, and the front side of the spring block body 1038 is releasably and elastically abutted against the positioning hole. In this way, two of the spring block bodies 1038 are located at the upper part, and the other two spring block bodies 1038 are located at the lower part, and the distance between the two parallel spring block bodies 1038 is equal to the distance between the two horizontally arranged positioning holes, and the distance between the upper and lower spring block bodies 1038 is equal to the row spacing between the upper and lower rows of positioning holes. When adjusting the waist circumference, only the upper two spring block bodies 1038 will fall into the two adjacent positioning holes in the upper row, or only the lower two spring block bodies 1038 will fall into the two adjacent positioning holes in the lower row, so as to increase the number of adjustment levels. A further preferred technical solution is that the block body 1038 is detachably elastically connected to the adjustment block 1034 through the first guide shaft 1036 and through the elastic component 1037, the front and rear ends of the elastic component 1037 are releasably abutted against the block body 1038 and the inner slide rail 1032 respectively, the front end of the first guide shaft 1036 is integrally formed or fixed with the block body 1038, the first guide shaft 1036 is passed through the elastic component 1037 and its rear end is detachably fixed to the adjustment block 1034. In this way, the spring block body 1038 is against the inner slide rail 1032 through the elastic component 1037, and the elastic component 1037 is always in a slightly compressed state, thereby always pushing the spring block body 1038 to the side of the outer slide groove 1031. When the waist circumference needs to be adjusted, the adjustment block 1034 is pulled backward, and the spring block body 1038 is connected to the adjustment block 1034 through the elastic component 1037, and the spring block body 1038 also moves backward, thereby reducing the distance between the rear part of the spring block body 1038 and the inner slide rail 1032, and the elastic component 1037 is compressed, thereby increasing the thrust of the elastic component 1037 on the spring block body 1038. When the elastic block moves to the required waist circumference position, the elastic block is released, and the elastic force of the elastic component 1037 on the spring block body 1038 causes it to abut against the outer slide groove 1031 to complete the waist circumference adjustment. A further preferred technical solution is that a second guide shaft 1035 is detachably fixed on the inner slide rail 1032, and the front and rear ends of the second guide shaft 1035 are detachably fixed to the center of the inner slide rail 1032 and the adjustment block 1034 respectively, and an adjustment finger handle 1033 for pulling the positioning spring block assembly backwards is detachably fixed at the rear center position of the adjustment block 1034.In this way, the adjusting block is fixed to the inner slide rail 1032 through the second guide shaft 1035, which facilitates pushing the inner slide rail 1032 to slide in the outer slide groove 1031, and the adjusting finger handle 1033 increases the pulling comfort of the adjusting block 1034. Alternatively, the second guide shaft 1035 can be detachably fixed to the inner slide rail 1032 and the adjusting block 1034 respectively by interference fit.

[0075] The present invention is a mechanical passive waist assist exoskeleton, please refer to Figures 2 to 18 In the relevant figures, on the basis of the previous technical solution, it can also be: the leg support part 2 includes a leg strap 202 and a leg support plate 201 which are detachably fixed on the lower longitudinal axis 1041 from top to bottom, the leg strap 202 is detachably fixed to the human thigh, and the leg support plate 201 is releasably abutted against the human thigh near the knee. In this way, the leg support plate 201 is L-shaped or reverse L-shaped, and its lower part is arc-shaped, which contacts the wearer's thigh near the knee to play a supporting role. The leg strap 202 is used to tighten the wearer's thigh to ensure that the power-assisted exoskeleton can be effectively worn on the human body and work.

[0076] The above only describes several specific embodiments of the present invention, but cannot be regarded as the protection scope of the present invention. Any equivalent changes or modifications or proportional enlargement or reduction made according to the design spirit of the present invention should be considered to fall within the protection scope of the present invention.

Claims

1. A mechanical passive waist-assisting exoskeleton, characterized in that: The invention comprises an abdominal support part, a waist support part, a leg support part and an energy storage part, wherein the lower left side and the lower right side of the abdominal support part are respectively detachably fixed to the top left side and the top right side of the waist support part, the inner side of the abdominal support part is releasably abutted against the abdomen or chest of a human body, the front side of the waist support part is releasably abutted against the front waist of a human body, the rear part of the waist support part is adjustably abutted against the rear waist of a human body, the left bottom and the right bottom of the waist support part are respectively provided with a T-shaped joint axis, the T-shaped joint axis comprises a top transverse axis and a lower longitudinal axis which is vertically integrated or fixed at the central position of the top transverse axis, the top transverse axis is detachably rotatably connected to the bottom of the waist support part, the top left side and the top right side of the leg support part are respectively detachably rotatably connected to the lower longitudinal axis on the left and right sides, the lower part of the leg support part is detachably fixed to the legs of a human body, and the energy storage part is detachably key-connected to the lower longitudinal axis at the top outer position of the leg support part; The energy storage part includes a housing assembly, a switch assembly, and a cam assembly, a clutch disk assembly, and a lower cylinder, all of which are arranged inside the housing assembly. The cylinder body of the lower cylinder is detachably fixed to the lower part of the housing assembly, the top of the piston of the lower cylinder is releasably abutted against the lower edge of the cam assembly, the lower longitudinal axis passes through the top of the leg support part, the inner side of the housing assembly, the center of the cam assembly, the center of the clutch disk assembly from the inside to the outside in sequence and extends to the outside of the housing assembly, the clutch disk assembly is detachably key-connected to the lower longitudinal axis, the clutch disk assembly is elastically releasably plugged into the cam assembly, the upper part of the clutch disk assembly is releasably abutted against the bottom of the switch assembly, the switch assembly extends from the upper part of the clutch disk assembly to the outside of the housing assembly, the middle part of the switch assembly is lockably rotatably connected to the housing assembly, and the inner and outer sides of the housing assembly and the center of the cam assembly are detachably rotatably connected to the lower longitudinal axis; The switch assembly comprises a switch handle, a rotating shaft and a cam roller, wherein the rotating shaft is disposed on the housing assembly and is lockably rotatably connected to the housing assembly, the top of the rotating shaft is disposed on the outside of the housing assembly and is detachably fixed to the switch handle, the bottom of the rotating shaft is disposed inside the housing assembly and is detachably fixed to the inner periphery of the cam roller, and the outer periphery of the cam roller is releasably abutted against the top of the clutch disc assembly; The cam assembly includes a cam body located at a central position and a lower swing arm assembly arranged below the cam assembly, the lower longitudinal axis passes through the top of the leg support portion, the inner side of the shell assembly, the center of the cam body, the center of the clutch plate assembly from the inside to the outside and extends to the outside of the shell assembly, a lower contour protrusion surface for the starting position of the lower swing arm assembly is provided at the lower rear edge position of the cam body, the top of the lower swing arm assembly is releasably abutted against the outer peripheral lower edge of the cam body, and the bottom of the lower swing arm assembly is releasably abutted against the top of the piston of the lower cylinder.

2. A mechanical passive waist-assisting exoskeleton according to claim 1, characterized in that: The energy storage unit also includes an upper cylinder, which is centrally symmetrically arranged with respect to the lower cylinder. The cylinder body of the upper cylinder is detachably fixed to the upper part of the housing assembly, and the bottom of the piston of the upper cylinder is releasably abutted against the upper edge of the cam assembly.

3. A mechanical passive waist-assisting exoskeleton according to claim 1, characterized in that: The lower swing arm assembly includes a triangular lower swing arm body and a lower spring roller, a lower swing arm shaft and a cam lower roller which are detachably rotatably connected to the front, rear and top of the lower swing arm body respectively, the left and right sides of the lower swing arm shaft are detachably fixed to the housing assembly respectively, the top of the cam lower roller is releasably abutted against the lower edge of the outer periphery of the cam body, and the bottom of the lower spring roller is releasably abutted against the top of the piston of the lower cylinder.

4. The mechanical passive waist-assisting exoskeleton according to claim 1, characterized in that: The clutch disc assembly includes a clutch disc body and a clutch disc support seat elastically and detachably fixed to the clutch disc body, the lower longitudinal axis passes through the top of the leg support part, the inner side of the shell assembly, the center of the cam body, the center of the clutch disc body, the center of the clutch disc support seat from the inside to the outside and extends to the outside of the shell assembly, the clutch disc body and the clutch disc support seat are both detachably keyed to the lower longitudinal axis, the clutch disc body and the cam body are releasably plugged into the cam body, the top of the clutch disc body is releasably abutted against the bottom of the switch assembly, and the inner and outer sides of the shell assembly and the center of the cam body are both detachably rotatably connected to the lower longitudinal axis.

5. A mechanical passive waist-assisting exoskeleton according to any one of claims 1 to 4, characterized in that: The waist support part includes a front waist belt, a rear waist adjustment part and two joint bend plates rotatably connected to the left and right sides of the rear waist adjustment part respectively. The left and right sides of the front waist belt are detachably fixed to the left and right joint bend plates respectively, and the top transverse axis is detachably rotatably connected to the joint bend plates on the left and right sides of the human body respectively.

6. A mechanical passive waist-assisting exoskeleton according to claim 5, characterized in that: The rear waist adjustment part includes an outer slide groove and an inner slide rail. The left side of the outer slide groove is detachably rotatably connected to the left joint bend plate, the right side of the inner slide rail is detachably rotatably connected to the right joint bend plate, and the inner slide rail is lockably slidably connected to the outer slide groove.

7. A mechanical passive waist-assisting exoskeleton according to claim 6, characterized in that: At least two rows of staggered positioning holes are integrally formed or fixed on the rear side wall of the outer slide groove, and a positioning spring block assembly is elastically and detachably provided on the left side of the inner slide rail, and the positioning spring block assembly is elastically and releasably abutted against the positioning holes.

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