An exoskeleton enhanced assist system

Abstract

The present invention is applicable to the field of assisted walking technology and provides an exoskeleton-enhanced assistance system, comprising a waist belt structure, an auxiliary carrying structure, and two leg fixing devices for fixing the legs of a human body. The waist belt structure comprises a waist ring frame and two drive modules respectively arranged at both ends of the waist ring frame. The waist ring frame comprises a back support component and two connecting belts, the two connecting belts being respectively arranged at both ends of the back support component, and each connecting belt being inclined relative to the back support component. The two drive modules are respectively connected to the ends of the two connecting belts; the auxiliary carrying structure is connected to the waist ring frame, and the two leg fixing devices are respectively connected to the corresponding drive modules in a transmission manner. The exoskeleton-enhanced assistance system provided by the present invention can effectively reduce the pressure on the user's back when the back support structure is sufficient to support the user's back, and can also meet the function of providing auxiliary support to the waist when the human body is carrying objects.

Description

Technical Field

[0001] The present invention belongs to the technical field of assisted walking, and in particular relates to an exoskeleton enhanced assistance system. Background Art

[0002] Exoskeleton augmented assistance systems are devices that use external mechanical structures to assist or increase the force applied to a person's walking or other movements. They are often used for mobility improvement or rehabilitation training for patients with hemiplegia or other muscle weakness. However, existing exoskeleton augmented assistance systems on the market often have the following shortcomings:

[0003] First, the exoskeleton-assisted assistance system includes a waist belt structure for securing the human waist. The existing waist belt structure has a small height difference between the waist ring frame and the drive module connected to the end of the waist ring frame, resulting in a short torque of the drive module relative to the waist ring frame. As a result, when a user uses the exoskeleton-assisted assistance system to assist walking, the waist support structure located in the middle of the waist ring frame needs to apply a large force to provide sufficient support for the user's back.

[0004] Secondly, the existing exoskeleton enhanced assistance system can only assist the user to lift the thigh for assisted walking, but cannot meet the needs of the human body for auxiliary support of the waist and other parts when carrying objects.

[0005] Therefore, there is an urgent need for a product that can solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide an exoskeleton enhanced assistance system, which aims to solve the technical problems that the waist belt structure of the existing exoskeleton enhanced assistance system requires a large force to provide sufficient support for the user's back, and the exoskeleton enhanced assistance system cannot assist the human body in carrying objects.

[0007] In order to solve the above technical problems, the present invention provides an exoskeleton enhanced assistance system, which adopts the following technical solutions:

[0008] An exoskeleton enhanced auxiliary system comprises a waist belt structure, an auxiliary carrying structure and two leg fixing devices for fixing the legs of the human body, the waist belt structure comprises a waist ring frame and two drive modules respectively arranged at both ends of the waist ring frame, the waist ring frame comprises a back support component and two connecting belts, the two connecting belts are respectively arranged at both ends of the back support component, and each connecting belt is inclined relative to the back support component, and the two driving modules are respectively connected to the ends of the two connecting belts; the auxiliary carrying structure is connected to the waist ring frame, and the two leg fixing devices are respectively connected to the corresponding driving modules in a transmission manner.

[0009] Specifically, the connecting belt includes a belt body that is arranged obliquely relative to the back support component, one end of the belt body is hinged to the back support component, and / or the other end is connected to the corresponding driving module.

[0010] Furthermore, the connecting belt also includes a first connecting member provided at the end of the back support component and used to enable the corresponding belt body to tilt relative to the back support component, the first connecting member being hinged to one end of the belt body; and a second connecting member provided on the corresponding driving module and hinged to the other end of the belt body.

[0011] Specifically, the waist belt structure also includes a flexible waist belt fixedly connected to the waist ring frame and located on the side of the waist ring frame close to the human body. The flexible waist belt includes a main belt and an elastic component embedded in the main belt and made of a rigid material. The elastic component has rigidity for strengthening the rigidity of the main belt, and the elastic component also has elasticity so that it can bend with the bending of the flexible waist belt; the elastic component includes at least one elastic member extending along the length direction of the main belt.

[0012] Furthermore, the flexible waist belt is fixedly connected to the waist ring frame through an intermediate connecting member, and the intermediate connecting member includes a third connecting member and a fourth connecting member, and the third connecting member and the fourth connecting member are arranged at intervals.

[0013] Specifically, the third connecting member includes a first connecting rib and a second connecting rib arranged at an angle to the first connecting rib, the first connecting rib is fixedly connected to the main belt, and the second connecting rib is fixedly connected to the waist ring frame.

[0014] Furthermore, the fourth connecting member includes a third connecting rib and a fourth connecting rib arranged at an angle to the third connecting rib, the third connecting rib is connected to the main belt, and the fourth connecting rib is fixedly connected to the waist ring frame; the third connecting rib and the fourth connecting rib are located in different planes.

[0015] Furthermore, the auxiliary carrying structure includes a bracket body and a back support unit provided at one end of the bracket body, the other end of the bracket body is connected to the waist ring frame and is bent in a direction away from the back of the human body, one side of the back support unit fits the back of the human body, and the other side opposite thereto is rotatably connected to one end of the bracket body in the direction of the first degree of freedom.

[0016] Specifically, the back support unit includes a backrest, an intermediate plate elastically connected to the backrest, and an outer plate rotatably connected to the intermediate plate. The backrest is arranged toward the back of the human body, and the backrest, intermediate plate and outer plate are stacked.

[0017] Specifically, the back plate and the middle plate are elastically connected via at least one elastic module, wherein the elastic module comprises an elastic member, one end of the elastic member is connected to the back plate, and the other end is embedded in the middle plate.

[0018] Compared with the existing technology, the exoskeleton enhanced assistance system provided by the present invention has the following advantages:

[0019] First, the exoskeleton enhanced assistance system includes a waist belt structure, which includes a waist ring frame and two drive modules respectively arranged at both ends of the waist ring frame. The two connecting belts of the waist ring frame are respectively arranged at both ends of the back support component, and each connecting belt is inclined relative to the back support component. The two drive modules are respectively connected to the ends of the two connecting belts, so that there is a height difference between the middle position of the waist ring frame (i.e., the back support structure) and the two ends of the waist ring frame (i.e., the ends where the two drive modules are connected to the connecting belts). This increases the height difference between the drive module and the middle position of the waist ring frame, that is, increases the torque between the drive module and the middle position of the waist ring frame. When a user uses the exoskeleton enhanced assistance system with the waist belt structure to assist in walking, it can effectively reduce the pressure on the user's back when the back support structure is sufficient to support the user's back, and the user experience is effectively improved; at the same time, the inclined connecting belt can make the output end of the drive module closer to the hip joint, thereby improving the stability and wearing comfort of the exoskeleton enhanced assistance system.

[0020] Secondly, the exoskeleton enhanced assistance system also includes an auxiliary carrying structure, which can assist the user in lifting the thigh to perform assisted walking movements while also providing auxiliary support for the waist and other parts of the body when carrying objects, making it easier and more labor-saving for the human body to carry objects, and achieving higher carrying efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is one of the three-dimensional schematic diagrams of the exoskeleton enhanced assistance system provided by an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 One of the exploded diagrams of the exoskeleton enhanced assistance system;

[0023] Figure 3 yes Figure 1 The second exploded diagram of the exoskeleton enhanced assistance system;

[0024] Figure 4 yes Figure 1 One of the three-dimensional diagrams of the waist belt structure;

[0025] Figure 5 yes Figure 4A three-dimensional diagram of the middle waist ring frame;

[0026] Figure 6 yes Figure 4 A partial enlarged exploded view of point A in the middle;

[0027] Figure 7 yes Figure 1 The second three-dimensional diagram of the waist belt structure;

[0028] Figure 8 yes Figure 7 A three-dimensional schematic diagram of the flexible waist belt;

[0029] Figure 9 yes Figure 7 One of the exploded diagrams of the waist belt structure;

[0030] Figure 10 yes Figure 7 Schematic diagram of the waist belt structure explosion (part 2)

[0031] Figure 11 yes Figure 1 One of the three-dimensional schematic diagrams of the auxiliary handling structure;

[0032] Figure 12 yes Figure 11 One of the exploded diagrams of the auxiliary handling structure;

[0033] Figure 13 yes Figure 11 The second exploded diagram of the auxiliary handling structure;

[0034] Figure 14 yes Figure 1 The second three-dimensional diagram of the auxiliary handling structure;

[0035] Figure 15 This is the second stereoscopic schematic diagram of the exoskeleton enhanced assistance system provided by an embodiment of the present invention.

[0036] The reference numerals in the accompanying drawings are as follows:

[0037] 100. Exoskeleton enhanced assistance system;

[0038] 10. Waist belt structure; 1a. Waist ring frame; 11a. Back support component; 12a. Connecting belt; 121a. Belt body; 1211a. Wire receiving groove; 122a. First connecting member; 123a. Second connecting member; 13a. Reinforcement structure; 131a. Reinforcement member; 132a. Rib; 2a. Drive module;

[0039] 3a, flexible waist belt; 31a, main belt; 32a, elastic component; 321a, elastic member;

[0040] 4a, fixing assembly; 42a, locking member;

[0041] 5a, intermediate connecting member; 51a, third connecting member; 511a, first connecting rib; 512a, second connecting rib; 52a, fourth connecting member; 521a, third connecting rib; 522a, fourth connecting rib; 6a, convex pad;

[0042] 20. Auxiliary handling structure;

[0043] 1b, bracket body; 11b, trunk; 12b, branch; 121b, mounting groove;

[0044] 2b, back support unit; 21b, back plate; 22b, middle plate; 23b, outer plate; 231b, base; 232b, mounting portion; 233b, through hole; 3b, mounting member;

[0045] 4b, elastic module; 41b, elastic member; 42b, connecting rod; 43b, hook; 5b, rotating shaft;

[0046] 30. Leg fixation device;

[0047] 1c, connecting rod; 2c, leg fixing parts. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] It should be noted that when an element is referred to as being “fixed to” or “disposed on” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0050] It should also be noted that the directional terms such as left, right, up, and down in this embodiment are merely relative concepts or are based on the normal use status of the product, and should not be considered as restrictive.

[0051] like Figure 1 and Figure 2As shown, an embodiment of the present invention provides an exoskeleton augmented assistance system 100, comprising a waist belt structure 10, an auxiliary carrying structure 20, and two leg securing devices 30. The waist belt structure 10 comprises a belt-shaped waist ring frame 1a and two drive modules 2a disposed at either end of the waist ring frame 1a. The carrying structure 20 can be located in the middle of the waist ring frame 1a and can be detachably connected to the waist ring frame 1a. The waist ring frame 1a surrounds the waist of the human body to provide rigid support. The waist ring frame 1a can be made of a metal material such as stainless steel. The waist ring frame 1a comprises a back support component 11a, two connecting belts 12a, and two drive modules 2a. The two connecting belts 12a can be disposed at either end of the back support component 11a, and the two drive modules 2a can be connected to the ends of the two connecting belts 12a, respectively. Furthermore, each connecting strap 12a can be tilted relative to the back support member 11a to increase the height difference between each driver module 2a and the back support member 11a, thereby bringing the output end of the driver module 2a closer to the hip joint. Specifically, in this embodiment, based on the user wearing the exoskeleton augmented assistance system 100, the connecting strap 12a is tilted downward at a set angle, such that the connecting strap 12a gradually tilts downward from one end of the connecting strap 12a connected to the back support member 11a to the other end, thereby increasing the height difference between the driver module 2a and the back support member 11a.

[0052] like Figure 13 As shown, the auxiliary carrying structure 20 can be connected to the waist belt structure 10. Specifically, the auxiliary carrying structure 20 can be detachably connected to the waist ring frame 1a of the waist belt structure 10, thereby adding the function of assisting the human body in carrying objects to the exoskeleton-enhanced assistance system 100. As can be understood, when a person carries objects, the waist is the center of gravity of the force, and the upper half of the body also rotates and bends around the hip joint to a certain extent. The auxiliary carrying structure 20 can provide auxiliary support to the waist and back, thereby providing auxiliary support when the person bends over to carry objects. In other words, the auxiliary carrying structure 20 can reduce the pressure on the waist, back, and other parts of the body when the person carries objects, thereby reducing the effort and making the process easier.

[0053] For example Figure 1 As shown, the two leg securing devices 30 can be respectively connected to corresponding drive modules 2a. One leg securing device 30 can be used to secure one of the legs of a person, so that when the drive module 2a drives the leg securing device 30 to rotate, the secured leg can be driven to perform corresponding movements. The other leg securing device 30 is similarly configured and will not be further described here.

[0054] In summary, compared with the prior art, the exoskeleton enhanced assistance system 100 has at least the following beneficial effects:

[0055] First, the waist belt structure 10 includes a waist ring frame 1a, and two connecting belts 12a of the waist ring frame 1a are respectively provided at both ends of the back supporting component 11a, and each connecting belt 12a is relatively larger than the back supporting component 11a. The two driving modules 2a are respectively connected to the ends of the two connecting belts 12a in an inclined setting, so that there is a height difference between the middle position of the waist ring frame 1a (i.e., the back support component 11a) and the two ends of the waist ring frame 1a (i.e., the ends of the two driving modules 2a connected to the connecting belts 12a), that is, the torque between the driving module 2a and the middle position of the waist ring frame 1a is increased, so that when the user uses the exoskeleton enhanced assistance system 100 with the waist belt structure 10 to assist in walking, the pressure on the user's back when the back support component 11a is sufficient to support the user's back can be effectively reduced, and the user experience is effectively improved; at the same time, the inclined connecting belt 12a can make the output end of the driving module 2a closer to the hip joint, thereby improving the overall stability and wearing comfort of the entire exoskeleton enhanced assistance system, and the assistance will also be better.

[0056] Secondly, the auxiliary carrying structure 20 of the exoskeleton enhanced assistance system 100 can enable the exoskeleton enhanced assistance system 100 to assist the user in lifting the thigh to assist in walking, while also providing auxiliary support for the waist and other parts of the human body when carrying objects, making it easier and more labor-saving for the human body to carry objects.

[0057] As a specific implementation, the driving module 2a may include components such as a motor and a gearbox (not shown in the figure), that is, the driving module 2a is mainly a regulating control module driven by a motor and having a gearbox for speed change.

[0058] In some embodiments, the inclination angle of the connecting belt 12a can be set to 15°-25°. It will be appreciated that when the inclination angle A of the connecting belt 12 relative to the back support structure 11a is set to 15°-25°, the relative height difference between the back support structure 11a and the driving module 2a can be within a relatively suitable range. In this case, the driving module 2a will be closer to the hip joint, thereby improving the stability of the entire waist belt structure 10, reducing the pressure on the user's back, and improving wearing comfort.

[0059] Preferably, the inclination angle of the connecting belt 12a is set to 18°. The inclination angle A can reduce the pressure on the back of the user when walking to the greatest extent.

[0060] In some embodiments, as Figure 4 and Figure 5As shown, due to the varying waist widths of different users, the connecting strap 12a includes a strap 121a that is tilted relative to the back support member 11a. Specifically, in this embodiment, based on the user wearing the exoskeleton augmented assistance system 100, the side of the strap 121a closest to the user is tilted downward at a predetermined angle. This gradually tilts downward from one end of the strap 121a connected to the back support member 11a to the other end, thereby increasing the height difference between the drive module 2a and the back support member 11a. One end of the strap 121a can be hinged to the back support member 11a, and / or the other end of the strap 121a can be connected to a corresponding drive module 2a, enabling the waist loop 1a to adaptively adjust according to the user's waist width.

[0061] In some embodiments, as Figure 5 and Figure 6 As shown, the connecting belt 12a also includes a first connecting member 122a provided at the end of the back support component 11a. The first connecting member 122a can be tilted relative to the back support component 11a so that the corresponding belt body 121a can be tilted relative to the back support component 11a. The first connecting member 122a can be hinged to one end of the belt body 121a.

[0062] In some embodiments, as Figure 5 and Figure 6 As shown, the connecting belt 12a further includes a second connecting member 123a provided on the corresponding driving module 2a. The second connecting member 123a can be hinged to the other end of the belt body 121a.

[0063] It can be understood that the two ends of the belt body 121a are respectively hinged to the first connecting member 122a and the second connecting member 123a, that is, the connecting belt 12a and the back support component 11a and the driving module 2a are all hingedly connected, so as to further improve the adaptive adjustment performance of the waist ring frame 1a.

[0064] In some embodiments, as Figure 6 As shown, a wire receiving groove 1211a may be provided on one side of the belt body 121a to accommodate and secure the wire wrapped around the waist ring frame. Specifically, in this embodiment, the wire receiving groove 1211a is located on the side of the belt body 121a closest to the user, so that the wire receiving groove 1211a and the wire placed therein can be hidden, effectively improving the aesthetics of the waist ring frame 1a.

[0065] In some embodiments, as Figure 5 、 Figure 6As shown, a reinforcement structure 13a may be provided within the wire receiving groove 1211a to enhance the rigidity of the belt body 121a. The reinforcement structure 13a includes a reinforcing member 131a and two ribs 132a. The two ribs 132a may be located on opposite sides of the wire receiving groove 1211a, specifically on opposite sides of the wire receiving groove 1211a in the width direction of the belt body 121a. The two ends of the reinforcing member 131a may be connected to the two ribs 132a, specifically by fastening the two ends of the reinforcing member 131a to the two ribs 132a using fasteners such as screws and rivets.

[0066] In some embodiments, as Figure 7 and Figure 8 As shown, the waist belt structure 10 also includes a flexible waist belt 3a. The flexible waist belt 3a is fixedly connected to the waist loop frame 1a and is located on the side of the waist loop frame 1a closest to the body. When worn, the flexible waist belt 3a conforms to the body, and the waist belt structure 10 is secured to the waist by a fixing assembly 4a at the end of the flexible waist belt 3a. The flexible waist belt 3a includes a flexible main belt 31a and an elastic assembly 32a embedded in the main belt 31a. The elastic assembly 32a is a semi-rigid structure and can be made of a rigid metal material.

[0067] It can be understood that, on the one hand, the elastic component 32a has a certain rigidity to strengthen the rigidity of the main belt 31a and provide a certain rigid support for the main belt 31a, so that the main belt 31a is not easily deformed, thereby ensuring the structural stability of the waist belt structure 10 when worn on the human body, making the structure of the waist ring frame 1a relatively more stable, so that the relevant data monitored by the sensor installed on the waist ring frame 1a is more accurate, and can more realistically feedback the changes in angle, distance, etc. brought about by the human body during exercise, and then more accurately issue the next action instruction based on the feedback data; on the other hand, the elastic component 32a has a certain elastic deformation ability and can bend with the bending of the flexible waist belt 3a, thereby meeting the need to adapt to the physiological curve of the human body when worn, and producing corresponding deformation, so that the flexible waist belt 3a can fit the human body more closely, thereby saving more effort during exercise.

[0068] In some embodiments, as Figure 7 、 Figure 8As shown, the fixing assembly 4a includes a buckle and a locking member 42a detachably connected to the buckle. The buckle and locking member 42a are respectively provided at each end of the main belt 31a, so that the flexible waist belt 3a can be detachably worn around the waist of the human body. The buckle and locking member 42a can both be magnetic buckles. After passing through the locking member 42a at one end of the main belt 31a, they are folded back and adhered to the outside of the main belt 31a. By magnetically fastening the two together, the flexible waist belt 3a is secured to the waist. The size of the flexible waist belt 3a can be adjusted by adjusting the length of the folded end of the main belt 31a passing through the locking member 42a, thereby adapting to different waist circumferences (more folds are suitable for smaller waist circumferences, while fewer folds are suitable for larger waist circumferences). After passing through the locking member 42a, the end of the main belt 31a can be attached to the main belt 31a via Velcro. Of course, the buckle and the locking member 42a can also be fixed by other known buckle and locking structures, with the purpose of fixing the flexible waist belt 3a on the waist by the buckle and the locking member 42a.

[0069] In some embodiments, Figure 8 As shown, two sets of elastic components 32a are provided, one at each end of the main belt 31a. The ends of the main belt 31a are suspended relative to the waist frame 1a. The ends are not connected to the waist frame 1a and therefore lack the rigid support of the waist frame 1a. Consequently, the flexible waist belt 3a is more susceptible to deformation when subjected to external forces. Since the flexible waist belt 3a is fixedly connected to the waist frame 1a, the deformed flexible waist belt 3a also causes the waist frame 1a to wobble, resulting in inaccurate data from the sensors on the waist frame 1a. By providing two sets of elastic components 32a at each end of the main belt 31a, both ends of the main belt 31a receive a certain degree of rigid support, thereby improving the overall strength of the flexible waist belt 3a. This prevents it from easily deforming when subjected to external forces, and allows for more accurate feedback of changes in angle, distance, and position of relevant body parts during human movement.

[0070] In some embodiments, Figure 8 As shown, the elastic component 32a includes at least one elastic member 321a, and the elastic member 321a is extended along the length direction of the main belt 31a; in actual use, the waist belt structure 10 is usually connected to components such as the leg fixing device 30 fixed on the thigh for assisting leg lifting. Due to the downward reaction force of the leg fixing device 30, the waist belt structure 10 will pull and drive the flexible waist belt 3a to produce a downward bending deformation trend. The elastic member 321a is extended along the length direction of the main belt 31a. With the help of the rigidity and elastic rebound stress of the elastic member 321a, the main belt 31a can be prevented from generating a large bending deformation, thereby ensuring the stability of the waist ring frame 1a after being worn as a whole.

[0071] Specifically in this embodiment, Figure 8 As shown, two elastic members 321a can be provided, and the two elastic members 321a are arranged side by side. Placing the two elastic members 321a side by side and at intervals further enhances the rigidity of the flexible waistband 3a, ensuring the stability of the waist ring frame 1a. The specific location and number of the elastic members 321a can be determined based on the specific conditions of the main belt 31a and are not intended to be limiting.

[0072] Specifically, in this embodiment, the elastic member 321a can be a fish-scale spring. The fish-scale spring has a certain elastic deformation and can bend with the bending of the flexible belt 3a. Compared with ordinary coil springs, it has better rigidity and can withstand a certain radial pressure, thereby meeting the requirement that the flexible belt 3a maintain semi-rigidity.

[0073] In some embodiments, as Figure 9 and Figure 10 As shown, the flexible waistband 3a and the waist ring frame 1a are fixedly connected via an intermediate connecting member 5a. The intermediate connecting member 5a includes a third connecting member 51a and a fourth connecting member 52a, with the third connecting member 51a and the fourth connecting member 52a being spaced apart. Since the flexible waistband 3a is annular, to ensure the stability of the connection between the flexible waistband 3a and the waist ring frame 1a, two third connecting members 51a are provided on either side of the flexible waistband 3a. Correspondingly, two fourth connecting members 52a are also provided. The two third connecting members 51a and the two fourth connecting members 52a are symmetrically arranged. This not only accommodates the special structures of the annular flexible waistband 3a and the waist ring frame 1a, but also ensures a more stable connection between the two.

[0074] In some embodiments, as Figure 9 and Figure 10 As shown, the third connecting member 51a includes a first connecting rib 511a and a second connecting rib 512a arranged at an angle to the first connecting rib 511a. The first connecting rib 511a is fixedly connected to the main belt 31a in the vertical direction, and the second connecting rib 512a is fixedly connected to the inner side of the waist ring frame 1a. When the first connecting rib 511a and the second connecting rib 512a are connected to the flexible waist belt 3a and the waist ring frame 1a, they can be connected by setting a plurality of rivets arranged side by side and at intervals; the first connecting rib 511a and the second connecting rib 512a are both strip-shaped. Compared with the planar connection structure, they can reduce the connection contact area and better adapt to the annular flexible waist belt 3a and the waist ring frame 1a. At the same time, the first connecting rib 511a and the second connecting rib 512a are arranged in a structural form with an angle, which can avoid the situation where the stress is too concentrated due to the one-way connection and the connection failure occurs.

[0075] In some embodiments, as Figure 9 and Figure 10 As shown, the angle between the first connecting rib 511a and the second connecting rib 512a can be greater than 90 degrees. Because the flexible waist belt 3a tends to be pulled downward during actual use, and the first connecting rib 511a is arranged vertically, the angle between the first connecting rib 511a and the second connecting rib 512a can be set to an obtuse angle greater than 90 degrees. Compared with a right angle or an acute angle between the first connecting rib 511a and the second connecting rib 512a, the stress on the second connecting rib 512a can be reduced accordingly.

[0076] In some embodiments, as Figure 9 and Figure 10 As shown, the fourth connecting member 52a includes a third connecting rib 521a and a fourth connecting rib 522a arranged at an angle to the third connecting rib 521a. The third connecting rib 521a is connected to the main belt 31a, and the fourth connecting rib 522a is fixedly connected to the waist ring frame 1a. The third connecting rib 521a and the fourth connecting rib 522a are located in different planes. Because the human waist curve is not a straight line, to better adapt to the physiological curve of the human waist and ensure that the flexible waist belt 3a and the waist ring frame 1a are as close as possible, the third connecting rib 521a connected to the main belt 31a and the fourth connecting rib 522a connected to the waist ring frame 1a can be arranged in different planes, thereby achieving both stable connection and good fit.

[0077] In some embodiments, the second connecting rib 512a and the fourth connecting rib 522a are arranged at an angle, so that the second connecting rib 512a and the fourth connecting rib 522a are offset at an angle, which can compensate for each other with the third connecting member 51a and the fourth connecting member 52a as a whole, thereby making the connection between the flexible waist belt 3a and the waist ring frame 1a more stable. In addition, a plurality of convex pads 6a can be provided on the side of the main belt 31a facing the waist of the human body. The convex pads 6a are spaced apart and can be made of the same material as the main belt 31a. The convex pads 6a can be attached to the flexible waist belt 3a using Velcro. The convex pads 6a not only provide a cushioning effect but also provide a certain degree of isolation. Because the convex pads 6a are easily removable, users can remove the convex pads 6a from the flexible waist belt 3a for cleaning after a period of use, thereby avoiding the problem of the flexible waist belt 3a being directly in contact with the waist for a long time and becoming dirty and inconvenient to clean. At the same time, there are certain gaps between the convex pads 6a to facilitate air circulation and meet heat dissipation requirements.

[0078] In some embodiments, as Figure 11 and Figure 12As shown, the auxiliary carrying structure 20 includes a bracket body 1b and a back support unit 2b. The bracket body 1b is bent in a direction away from the back of the human body, so that when the human body bends and arches the back, the bent bracket body 1b can avoid interfering with the back, thereby giving the human back enough room to move; as an embodiment, a mounting member 3b can be provided at the end of the bracket body 1b for mounting the bracket body 1b, that is, one end of the bracket body 1b (i.e., the "upper end") is connected to the back support unit 2b, and the other end of the bracket body 1b (i.e., the "lower end") is fixedly connected to the mounting member 3b, one end of the mounting member 3b is fixedly connected to the bracket body 1b, and the other end is a free end, which can be detachably connected to the waist belt structure 10 Therefore, when auxiliary carrying is required, the auxiliary carrying structure 20 provided by the present invention can be installed on the waist belt structure 10 through the mounting member 3b. When auxiliary carrying is not required, the auxiliary carrying structure 20 provided by this embodiment can be removed from the waist belt structure 10, and the user can use it selectively. Of course, as another embodiment, the aforementioned mounting member 3b can also be removed, and a connecting member can be directly provided at the other end of the bracket body 1b (i.e., the "lower end") to connect it to the waist belt structure 10, that is, the connecting member is a part of the bracket body 1b and is integrally formed with the bracket body 1b, which can also achieve the purpose of connecting the bracket body 1b to the waist belt structure 10.

[0079] like Figure 13 As shown, one side of the back support unit 2b fits against the back of the human body, and the other side opposite thereto is rotatably connected to one end of the bracket body 1b (i.e., the "upper end") in the first degree of freedom direction A. It can be understood that the first degree of freedom direction A here is basically the same direction as the bending direction of the back of the human body when bending over. Since the bracket body 1b is rotatably connected to the back support unit 2b, when the human body bends over for carrying, the back support unit 2b can also be rotated relative to the bracket body 1b, thereby fitting as closely as possible to the back of the human body.

[0080] It can be understood that the auxiliary carrying structure 20 of the exoskeleton enhanced assistance system 100 is achieved by setting a bracket body 1b and a back support unit 2b rotatably connected to the bracket body 1b, so that the back support unit 2b can rotate accordingly with the bending of the human body's waist when the human body is carried, and the back support unit 2b can fit the human body's back as much as possible. By the back support unit 2b fitting against the human body, the shoulders, back, spine, waist and other parts of the human body can obtain rigid support from the back support unit 2b and the bracket body 1b, thereby reducing the pressure on the spine, waist muscles and other parts of the body, making carrying easier, thus saving more effort and increasing the carrying efficiency.

[0081] In some embodiments, Figure 11 and Figure 12As shown, the back support unit 2b includes a backrest plate 21b, an intermediate plate 22b elastically connected to the backrest plate 21b, and an outer plate 23b rotatably connected to the intermediate plate 22b. The backrest plate 21b is arranged toward the back of the human body, and the intermediate plate 22b is arranged between the backrest plate 21b and the outer plate 23b. The backrest plate 21b, the intermediate plate 22b, and the outer plate 23b are arranged in parallel and stacked. The backrest plate 21b is arranged to be elastically connected to the intermediate plate 22b, so that the backrest plate 21b that directly fits the back of the human body can have a certain elastic activity space relative to the intermediate plate 22b and the outer plate 23b. In this way, the backrest plate 21b can be fine-tuned in multiple directions relative to the back of the human body, thereby better adapting to the shape of the human back when performing different postures such as bending forward and bending sideways. For example, when the waist and back of the human body bend to one side, the backrest plate 21b is supported by the backrest plate 21b due to the resistance of the human back. The middle plate 22b and outer plate 23b are not completely parallel. The elastic connection between the back plate 21b and the middle plate 22b allows the back plate 21b to tilt slightly accordingly, thereby maintaining a large contact area with the back of the person, allowing the back support unit 2b to maximize its support function. On the other hand, when people carry something, the major joints of the upper body, such as the shoulders, waist, and back, will rotate relative to the hip joints to a certain extent, and their rotational trajectory continuously changes with the movement of the person. The elastic connection between the back plate 21b and the middle plate 22b allows the auxiliary carrying structure to better adapt to this continuous change, allowing the back plate 21b to always remain in close contact with the person during carrying. Compared to a rigid connection, the elastic connection avoids conflicts in freedom, jamming, and auxiliary failure caused by the continuous changes in the movement trajectory of the shoulders, waist, and back during carrying. This allows for better adaptation to these changes in movement trajectory, resulting in better auxiliary carrying effects and more stable performance.

[0082] Specifically in this embodiment, Figure 13 As shown, the bracket body 1b is rotatably connected to the outer plate 23b, and the rotation direction is the first degree of freedom direction A. The outer plate 23b is rotatably connected to the middle plate 22b in the second degree of freedom direction B. In a natural state, the plane where the first degree of freedom direction A is located is perpendicular to the plane where the second degree of freedom direction B is located. It can be understood that the plane where the first degree of freedom direction A is located is basically perpendicular to the direction of the human back, and the plane where the second degree of freedom direction B is located is basically parallel to the direction of the human back.

[0083] Further, if Figure 12As shown, the back plate 21b and the middle plate 22b are elastically connected by at least one elastic module 4b. The elastic module 4b includes an elastic member 41b. One end of the elastic member 41b is connected to the back plate 21b, and the other end is embedded in the middle plate 22b. The middle plate 22b is provided with a receiving cavity for accommodating the elastic member 41b. The elastic member 41b is accommodated in the receiving cavity in the middle plate 22b, which can make space utilization higher and the structure more compact. In some embodiments, as Figure 12 As shown, the elastic module 4b also includes a connecting rod 42b connected to one end of the elastic component 41b and a hook 43b connected to the other end of the elastic component 41b; the connecting rod 42b is fixed to the side of the backrest 21b away from the back of the human body, and the hook 43b is embedded in the side of the middle plate 22b away from the back of the human body. The elastic component 41b can be a coil spring, which has good elasticity and a certain torsion ability, so that it can better meet the fine adjustment of the backrest 21b in multiple directions, so as to achieve multi-degree-of-freedom adjustment.

[0084] Specifically in this embodiment, multiple elastic modules 4b can be provided, and the multiple elastic modules 4b are respectively provided at the corners of the back plate 21b. Figure 13 As shown, four groups are provided, and the four groups of elastic modules 4b are respectively provided at the four corners of the back plate 21b, that is, corresponding to the four corners of the middle plate 22b. In this way, the stress can be evenly dispersed, making the back support unit 2b more stable. At the same time, the back plate 21b can also be better adjusted in micro-angles and multiple directions.

[0085] As a specific embodiment, the middle plate 22b and the outer plate 23b can be rotatably connected through the bearing assembly 24, and the plane where the rotation direction is located is the plane where the second degree of freedom direction B is located.

[0086] In some embodiments, Figure 11 、 Figure 14 and Figure 15 As shown, the bracket body 1b includes a trunk 11b extending obliquely downward from one end connected to the back support unit 2b, and a branch 12b provided at the extended end of the trunk 11b. There are two branches 12b, and the two branches 12b are symmetrically arranged. The arrangement of the two branches 12b and the trunk 11b can make the bracket body 1b as a whole a "triangle" support structure, which is more structurally stable. At the same time, the two branches 12b are respectively detachably connected to the waist belt structure 10, which can also disperse stress relative to the waist belt structure 10, avoid stress concentration and affect the structural stability of the waist belt structure 10; accordingly, there are two mounting parts 3b, which are respectively connected to the two branches 12b. The mounting parts 3b can be clamped on the waist belt structure 10 and then locked and fixed by screws, rivets and other locking parts.

[0087] In some embodiments, as Figure 12 As shown, the end of the branch 12b connected to the mounting member 3b is provided with a mounting groove 121b, and the end of the mounting member 3b is embedded in the mounting groove 121b. After the mounting member 3b is embedded in the groove, it can be locked and fixed by locking members such as screws and rivets.

[0088] In some embodiments, Figure 13 As shown, outer plate 23b includes a plate-shaped base 231b and a mounting portion 232b protruding from base 231b. Bracket body 1b is rotatably connected to mounting portion 232b via a rotating shaft 5b. Mounting portion 232b has a through-hole 233b for rotating shaft 5b to pass through. Rotating shaft 5b allows bracket body 1b to rotate relative to outer plate 23b in a first degree of freedom direction A, thereby assisting the transport structure 20 in achieving multiple degrees of freedom, thereby better facilitating transport.

[0089] In some embodiments, Figure 2 As shown, the leg-fixing device 30 includes a connecting rod 1c drivingly connected to a drive module 2a, and a leg-fixing member 2c connected to the end of the connecting rod 1c. The leg-fixing member 2c is wearable on a person's leg. The connecting rod 1c connects the leg-fixing member 2c to the corresponding drive module 2a. When the drive module 2a is activated, the connecting rod 1c swings. This swinging of the connecting rod 1c drives the leg fixed to the leg-fixing member 2c to perform corresponding movements (such as walking, running, and leg lifting).

[0090] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An exoskeleton enhanced assist system, characterized in that: The invention comprises a waist belt structure, an auxiliary carrying structure and two leg fixing devices for fixing the legs of a human body. The waist belt structure comprises a waist ring frame and two driving modules respectively provided at both ends of the waist ring frame. The waist ring frame comprises a back support component and two connecting belts. The two connecting belts are respectively provided at both ends of the back support component, and each connecting belt is inclined relative to the back support component. The two driving modules are respectively connected to the ends of the two connecting belts. The auxiliary carrying structure is connected to the waist ring frame, and the two leg fixing devices are respectively connected to the corresponding driving modules in a transmission manner. The connecting belt includes a belt body arranged obliquely relative to the back supporting component, a first connecting member provided at an end of the back supporting component and used to enable the corresponding belt body to be inclined relative to the back supporting component, and a second connecting member provided on the corresponding driving module, the first connecting member being hingedly connected to one end of the belt body, and the second connecting member being hingedly connected to the other end of the belt body; The auxiliary carrying structure includes a support body and a back support unit provided at one end of the support body, the other end of the support body is connected to the waist ring frame and is bent in a direction away from the back of the human body, one side of the back support unit is in contact with the back of the human body, and the other side opposite thereto is rotatably connected to the one end of the support body in a first degree of freedom direction; The back support unit includes a back plate, an intermediate plate elastically connected to the back plate, and an outer plate rotatably connected to the intermediate plate, wherein the back plate is arranged toward the back of the human body, and the back plate, the intermediate plate, and the outer plate are stacked; The bracket body is rotatably connected to the outer plate, and its rotation direction is the first degree of freedom direction, and the outer plate and the intermediate plate are rotatably connected in the second degree of freedom direction; In a natural state, the plane in which the first degree of freedom direction lies is perpendicular to the plane in which the second degree of freedom direction lies, the plane in which the first degree of freedom direction lies is substantially perpendicular to the back of the human body, and the plane in which the second degree of freedom direction lies is substantially parallel to the back of the human body; The back plate and the middle plate are elastically connected by at least one elastic module, the elastic module includes an elastic member, one end of the elastic member is connected to the back plate, and the other end is embedded in the middle plate, and the middle plate is provided with a accommodating cavity for accommodating the elastic member, the elastic module also includes a connecting rod connected to one end of the elastic member and a hook connected to the other end of the elastic member; the connecting rod is fixedly arranged on the side of the back plate away from the back of the human body, the hook is embedded in the side of the middle plate away from the back of the human body, and the elastic member is a coil spring.

2. The exoskeleton enhanced assist system according to claim 1, characterized in that: The waist belt structure also includes a flexible waist belt fixedly connected to the waist ring frame and located on the side of the waist ring frame close to the human body. The flexible waist belt includes a main belt and an elastic component embedded in the main belt and made of a rigid material. The elastic component has rigidity for strengthening the rigidity of the main belt and is elastic so that it can bend with the bending of the flexible waist belt. The elastic component includes at least one elastic member extending along the length direction of the main belt.

3. The exoskeleton enhanced assist system according to claim 2, characterized in that The flexible waist belt is fixedly connected to the waist ring frame through an intermediate connecting member, and the intermediate connecting member includes a third connecting member and a fourth connecting member, and the third connecting member and the fourth connecting member are arranged at intervals.

4. The exoskeleton enhanced assist system according to claim 3, characterized in that The third connecting member includes a first connecting rib and a second connecting rib arranged at an angle to the first connecting rib. The first connecting rib is fixedly connected to the main belt, and the second connecting rib is fixedly connected to the waist ring frame.

5. The exoskeleton enhanced assist system according to claim 4, characterized in that The fourth connecting member includes a third connecting rib and a fourth connecting rib arranged at an angle to the third connecting rib. The third connecting rib is connected to the main belt, and the fourth connecting rib is fixedly connected to the waist ring frame. The third connecting rib and the fourth connecting rib are located in different planes.

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