A power exoskeleton that works in conjunction with the waist and lower limbs

Abstract

This invention discloses a assisted exoskeleton for coordinated use of the waist and lower limbs, comprising a positioning belt, two mounting blocks on both sides of the positioning belt, and a central axis assist module mounted on the two mounting blocks. The central axis assist module includes two slide rails fixed to the tops of the two mounting blocks, sliders inside the slide rails, a transmission bracket positioned on the opposite surfaces of the two sliders and used to assist the wearer in switching between bending and standing positions, a lower limb energy storage module, and a collaborative assist mechanism between the central axis assist module and the lower limb energy storage module. This invention achieves a combined structural and functional approach between the central axis assist module and the lower limb energy storage module, enabling coordinated assistance of the central axis and lower limb movements based on changes in human posture. This design achieves energy saving while ensuring the device's assistive effect.

Description

Technical Field

[0001] This invention relates to the field of assistive exoskeleton technology, specifically an assistive exoskeleton for coordinated use of the waist and lower limbs. Background Technology

[0002] Assisted exoskeletons are worn by users to assist them in moving and holding objects through mechanical energy, enhancing their strength and conserving their energy. However, most existing assisted exoskeletons focus on assisting a single joint, especially for lumbar dysfunction caused by diseases of the lumbar spine and lumbar muscles. They assist in bending and standing up by using lumbar exoskeleton devices. However, lumbar dysfunction often affects the lower limbs, and assistance to a single part has limited effectiveness in assisting daily activities and has a limited scope of application. Therefore, a assisted exoskeleton that can be used in conjunction with the lower limbs is proposed. Summary of the Invention

[0003] The purpose of this invention is to provide an assistive exoskeleton that works in conjunction with the waist and lower limbs. This exoskeleton achieves a combination of structure and function through the central axis assist module and the lower limb energy storage module, so as to realize the linkage assist process of waist and lower limb movement based on changes in human posture. This design achieves energy saving, expands the application range, and ensures the assistive effect of the exoskeleton.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a assisted exoskeleton for coordinated use of the waist and lower limbs, comprising: a positioning belt, two mounting blocks disposed on both sides of the positioning belt, and a central axis assist module disposed on the two mounting blocks; the central axis assist module includes two slide rails, which are respectively fixed to the top of the two mounting blocks, and sliders disposed inside the slide rails; it also includes a transmission bracket, which is disposed on the opposite side of the two sliders and is used to assist the wearer in switching between bending and standing positions; a first spring is also connected between each slider and the top of the slide rail, and the first spring is used for the slider to reset; and a lower limb energy storage module; it also includes a collaborative assist mechanism disposed between the central axis assist module and the lower limb energy storage module, wherein when the central axis assist module drives the thoracolumbar segment to complete the bending or straightening action, the collaborative assist mechanism further drives the lower limb energy storage module to operate, so that the lower limb energy storage module synchronously completes the switching between squatting and standing actions.

[0005] Preferably, the transmission bracket comprises two sets of transmission rod assemblies, and a first support member and a second support member between the two sets of transmission rod assemblies; each set of transmission rod assemblies includes a first pin, which is fixed on a corresponding slider, and a first support rod rotatably connected to the first pin, with a second pin rotatably connected to the end of the first support rod away from the first pin, and a second support rod fixed on the second pin; it also includes a first support member and a second support member respectively disposed between the two first support rods and the two second support rods, and the first support member and the second support member are respectively used to support the wearer's chest and waist; a first strap and a second strap are also respectively disposed on the two first support rods and the two second support rods; and a mounting bracket disposed on the top of the slide rail, including a motor disposed on the mounting bracket, with a drive rod fixed at the output end of the motor rotatably connected to the inner end of the second pin; a meshing transmission assembly is also disposed between the second pin and the first pin, and when the motor drives the drive rod to deflect, the drive rod, while driving the first support rod to bend and extend, can further drive the second support rod to bend and extend through the action of the meshing transmission assembly.

[0006] Preferably, both the first support member and the second support member are provided with two layers and are made of elastic material.

[0007] Preferably, the meshing transmission assembly includes a transmission tooth fixed to one end of the second pin away from the drive rod, and an incomplete gear fixed to the first pin, wherein the incomplete gear meshes with the transmission tooth.

[0008] Preferably, the lower limb energy storage module includes two sets of support rod assemblies. Each set of support rod assemblies includes two mounting rods. Each mounting rod is rotatably connected to a first connecting rod via a first mounting shaft at its top. A third strap is provided on the opposite sides of the two first connecting rods for binding the wearer's lower leg. A first shaft and a second shaft are rotatably connected to the upper and lower ends of the two first connecting rods. A first transmission wheel and a second transmission wheel are respectively provided in the middle of the first shaft and a transmission belt is sleeved on their exterior. The module also includes two second connecting rods fixedly connected to both ends of the first shaft. A fourth strap is provided on the opposite sides of the two second connecting rods for binding the wearer's thigh. A third connecting rod is rotatably connected to the opposite ends of the second shaft. A transmission frame is provided on each mounting rod. The transmission frame is rotatably connected to the end of the corresponding third connecting rod away from the second shaft via a second mounting shaft on its side wall. The module also includes a transmission rail provided on the side of the transmission frame away from the second mounting shaft. An extension block and an extension frame are respectively provided on the lower part of the transmission rail and the lower part of the mounting rod. A second spring connects the extension block and the extension frame.

[0009] Preferably, the outer walls of the first and second transmission wheels are provided with a first toothed groove and a second toothed groove is provided on the inner wall of the transmission belt, and the first toothed groove and the second toothed groove mesh with each other for transmission.

[0010] Preferably, the lower part of the two mounting rods is also provided with a limiting band.

[0011] Preferably, the collaborative assist mechanism is provided in two sets. Each set of collaborative assist mechanism includes a transmission block slidably mounted on the transmission rail and a locking assembly provided on the transmission block; it also includes a transmission rod, one end of which passes through a through hole opened at the bottom of the slide rail and is fixed to the slider, and the other end is connected to the top of the transmission block through a universal joint provided at the end.

[0012] Preferably, the locking assembly includes a mounting groove formed in the side wall of the transmission block, and a mounting plate disposed inside the mounting groove, wherein a third spring is connected between the mounting plate and the mounting groove; it also includes two insert rods fixed at both ends of the mounting plate, wherein the end of each insert rod away from the mounting plate extends into the mounting groove, passes through a through groove formed in the side wall of the transmission block, and mates with an insertion hole formed on the transmission rail; the transmission block is also provided with a vertically slidable limiting strip, which is used to limit the mounting plate.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] This invention utilizes a structurally independent and functionally separate central axis assist module and lower limb energy storage module to meet the assistance needs of daily movements such as squatting and standing up, bending over and standing upright. Under the action of the collaborative assist mechanism, the two not only achieve linkage in structure but also cooperate synchronously in function. This allows the wearer to complete the bending over and squatting and straightening up process by coordinating the central axis torso and lower limbs. This design achieves energy saving while ensuring the assist effect of the device. Attached Figure Description

[0015] Figure 1 This is a first-view three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a second-view three-dimensional structural diagram of the present invention;

[0017] Figure 3 This is a schematic diagram of the third-view three-dimensional structure of the present invention;

[0018] Figure 4 This is a schematic diagram of the fourth-view three-dimensional structure of the present invention;

[0019] Figure 5 This is a schematic diagram of the fifth perspective three-dimensional structure of the present invention;

[0020] Figure 6 This is a side view of the structure of the present invention;

[0021] Figure 7 This is a schematic diagram of the rear view structure of the present invention;

[0022] Figure 8 for Figure 3 A partially enlarged structural diagram;

[0023] Figure 9 for Figure 1 A partially enlarged structural diagram;

[0024] Figure 10 This is a schematic diagram of Example 5.

[0025] In the diagram: 1. Positioning strip; 2. Mounting block; 3. Slide rail; 4. Slider; 5. Second pin; 6. Second support rod; 7. First support rod; 8. First support member; 9. Second support member; 10. Incomplete gear; 11. Transmission gear; 12. First binding strap; 13. Second binding strap; 14. First spring; 15. Drive rod; 16. Motor; 17. Mounting bracket; 18. Mounting rod; 19. First connecting rod; 20. First shaft; 21. Second connecting rod; 22. Fourth... 23. Strap; 24. First drive wheel; 25. Second shaft; 26. Second drive wheel; 27. Drive belt; 28. Third strap; 29. ​​Drive frame; 30. Third connecting rod; 31. Limiting belt; 32. Drive rod; 33. Universal joint; 34. Drive rail; 35. Drive block; 36. Mounting slot; 37. Mounting plate; 38. Insert rod; 39. Third spring; 40. Limiting strip; 41. Extension frame; 42. Second spring; 43. Extension block; 44. Protective cover. Detailed Implementation

[0026] In the description of this invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. The various embodiments of this invention are described in detail below with reference to the accompanying drawings. Example

[0027] Please see Figures 1 to 10The present invention preferably provides the following technical solution: a assisted exoskeleton for coordinated use of the waist and lower limbs, comprising: a positioning belt 1, two mounting blocks 2 disposed on both sides of the positioning belt 1, and a central axis assist module disposed on the two mounting blocks 2; the central axis assist module includes two slide rails 3, which are respectively fixed to the top of the two mounting blocks 2, and sliders 4 disposed inside the slide rails 3, and also includes a transmission bracket disposed on the opposite side of the two sliders 4 and used to assist the wearer in switching between bending or standing positions; a first spring 14 is also connected between each slider 4 and the top of the slide rail 3, and the first spring 14 is used for resetting the slider 4; and a lower limb energy storage module; and also includes a collaborative assist mechanism disposed between the central axis assist module and the lower limb energy storage module, wherein when the central axis assist module drives the thoracolumbar segment to complete the bending or straightening action, the collaborative assist mechanism further drives the lower limb energy storage module to operate, so that the lower limb energy storage module synchronously completes the switching between squatting or standing actions.

[0028] The central axis assist module and lower limb energy storage module provided in this application, such as Figure 1-7 As shown, the two structures are independent and their functions are separate. They can be tied to the wearer's waist and lower limbs respectively, and meet the wearer's needs for assistance in daily actions such as squatting and standing up, bending over and standing up.

[0029] With the help of collaborative support organizations, the structures of the two can be linked and their functions can be coordinated, specifically as follows: Figure 1 As shown, the transmission bracket containing the central axis assist module is located on opposite sides of the two sliders 4, while the collaborative assist mechanism is located between the sliders 4 and the lower limb energy storage module. Therefore, when the transmission bracket drives the wearer to complete the bending or straightening motion, the sliders 4 can run inside the slide rail 3. In conjunction with the collaborative assist mechanism, the lower limb energy storage module is further driven to complete the bending or straightening motion of the lower limbs. This allows the wearer's central axis trunk (thoracolumbar region) and lower limbs to work together to complete the bending and squatting motion and the straightening and standing motion. This design, through the structurally independent and functionally separated central axis assist module and lower limb energy storage module, can meet the assistance needs for daily actions such as squatting and standing up, bending and straightening. It is suitable for patients with isolated lumbar dysfunction and lower limb dysfunction. Under the action of the collaborative assist mechanism, the two not only achieve linkage in structure but also cooperate synchronously in function. This allows the wearer to work together with the central axis trunk and lower limbs to complete the bending and squatting motion and the straightening and standing motion. This design achieves energy saving while ensuring the assist effect of the device, and is further suitable for patients with lumbar injury accompanied by lower limb dysfunction. Example

[0030] In another embodiment of the present invention, the transmission bracket comprises two sets of transmission rod assemblies, and a first support member 8 and a second support member 9 between the two sets of transmission rod assemblies; each set of transmission rod assemblies includes a first pin, which is fixed on a corresponding slider 4, and a first support rod 7 rotatably connected to the first pin, wherein a second pin 5 is rotatably connected to the end of the first support rod 7 away from the first pin, and a second support rod 6 is fixed on the second pin 5; the bracket also includes a first support member 8 and a second support member 9 respectively disposed between the two first support rods 7 and the two second support rods 6, and the first support member 8 and the second support member 9 are respectively used for... It supports the wearer's chest and waist; the two first support rods 7 and the two second support rods 6 are respectively provided with a first strap 12 and a second strap 13; and a mounting bracket 17 is provided on the top of the slide rail 3. It also includes a motor 16 provided on the mounting bracket 17, and the drive rod 15 fixed at the output end of the motor 16 is rotatably connected to the inner end of the second pin 5; a meshing transmission assembly is also provided between the second pin 5 and the first pin. When the motor 16 drives the drive rod 15 to deflect, the drive rod 15 drives the first support rod 7 to bend and extend, and through the action of the meshing transmission assembly, it can further drive the second support rod 6 to bend and extend.

[0031] like Figure 1 , 2 3, 8. Here, the two transmission rod assemblies are respectively set on opposite sides of the two sliders 4. Each transmission rod assembly consists of a first pin, a first support rod 7 rotatably connected to the first pin, a second pin 5 rotatably connected to the first support rod 7, and a second support rod 6 fixed to the second pin 5. Here, the first support member 8 and the second support member 9 are respectively set between the two first support rods 7 and the two second support rods 6. Together with the first strap 12 and the second strap 13, they can realize the support and binding process of the wearer's chest and waist. At the same time, one end of the second pin 5 is connected to the motor 16 through the drive rod 15, and the other end is connected to the first pin through the meshing transmission assembly. Therefore, when the motor 16 runs, the drive rod 15 is moved to... Figure 6 When the state deflects clockwise or counterclockwise, it can drive the slider 4 to move closer to or further away from the motor 16 inside the slide rail 3, specifically as follows: Figure 2 , 8 As shown, when slider 4 moves closer to or further away from motor 16, as... Figure 2 , 8 As shown, the first support rod 7 can bend forward or extend backward around the first pin. At the same time, under the action of the meshing transmission assembly, the second support rod 6 can bend forward or extend backward around the second pin 5, thereby completing the process of assisting the wearer's central torso to bend or straighten.

[0032] Furthermore, both the first support member 8 and the second support member 9 are provided with two layers and are made of elastic material to improve the wearer's comfort, such as... Figure 2 As shown.

[0033] Furthermore, the meshing transmission assembly includes a transmission tooth 11 fixed to one end of the second pin 5 away from the drive rod 15, and an incomplete gear 10 fixed to the first pin, wherein the incomplete gear 10 meshes with the transmission tooth 11.

[0034] Here, the incomplete gear 10 meshes with the transmission gear 11, and the incomplete gear 10 is fixed to the second pin 5. The transmission gear 11 is fixed to the first pin, and the first pin is fixed to the slider 4, while being rotatably connected to the first support rod 7. The first support rod 7 is also rotatably connected to the second pin 5, and the second pin 5 is fixed to the second support rod 6. Therefore, when the drive rod 15... Figure 8 When the state rotates clockwise, it can drive the slider 4 to move closer to the motor 16, and at the same time drive the first support rod 7 to rotate counterclockwise around the first pin shaft as the axis, that is, to bend forward. Simultaneously with this process, the transmission gear 11 can rotate counterclockwise around the incomplete gear 10, thereby driving the second pin shaft 5, which is fixedly connected to the transmission gear 11, and the second support rod 6, which is fixed to the second pin shaft 5, to rotate counterclockwise, that is, the second support rod 6 to bend forward, thus completing the bending action of the thoracolumbar segment, that is, the central axis of the torso. Similarly, by running in the opposite direction, the uprighting process of the thoracolumbar segment can be realized. Example

[0035] In another embodiment of the present invention, the lower limb energy storage module includes two sets of support rod assemblies. Each set of support rod assemblies includes two mounting rods 18. Each mounting rod 18 is rotatably connected to a first connecting rod 19 via a first mounting shaft at its top. A third strap 27 is provided on the opposite sides of the two first connecting rods 19 for binding the wearer's lower leg. A first shaft 20 and a second shaft 24 are rotatably connected to the upper and lower ends of the two first connecting rods 19, and a first transmission wheel 23 and a second transmission wheel 25 are respectively provided in the middle of the first shaft 20 and the second shaft 24, with a transmission belt 26 sleeved on their exterior. It also includes two... The second connecting rod 21, and the fourth strap 22 provided on the opposite sides of the two second connecting rods 21 for binding the wearer's thigh section; the opposite ends of the second shaft 24 are also rotatably connected to the third connecting rod 29; and the transmission frame 28 provided on each mounting rod 18, and the transmission frame 28 is rotatably connected to the end of the corresponding third connecting rod 29 away from the second shaft 24 through the second mounting shaft provided on its side wall; it also includes a transmission rail 32 provided on the side of the transmission frame 28 away from the second mounting shaft, and the lower part of the transmission rail 32 and the lower part of the mounting rod 18 are respectively provided with an extension block 42 and an extension frame 40, and a second spring 41 is connected between the extension block 42 and the extension frame 40.

[0036] like Figure 1 , 9As shown, two first connecting rods 19 are rotatably connected to the top ends of two mounting rods 18, and a third strap 27 on their opposite sides is used to fix the wearer's lower leg. The top end of the third strap 27 is fixedly connected to a second connecting rod 21 via a first shaft 20. A fourth strap 22 on the opposite side of the second connecting rod 21 is used to fix the wearer's thigh. At the same time, the upper and lower ends of the two first connecting rods 19 are rotatably connected to the first shaft 20 and the second shaft 24, respectively. The two shafts are connected by a first transmission wheel 23 and a second transmission wheel 25 fixed on them, and a transmission belt 26 covering the first transmission wheel 23 and the second transmission wheel 25. The second shaft 24 is connected to the transmission frame 28 via a third connecting rod 29. The transmission frame 28 is connected to the extension block 42 on its outer wall, and the second spring 41 on the extension block 42 is connected to the extension frame 40.

[0037] like Figure 1 , 9 As shown, when the wearer squats, the direction here is as follows: Figure 6 As shown, this causes the included angle between the right rear side of the first shaft 20 and the first connecting rod 19 to decrease, meaning the first connecting rod 19 rotates counterclockwise, while the second connecting rod 21 moves down and deflects clockwise. Simultaneously, through the action of the first transmission wheel 23, the second transmission wheel 25, and the transmission belt 26, since the first transmission wheel 23 is fixed to the second connecting rod 21 via the first shaft 20, the first transmission wheel 23 and the second transmission wheel 25 rotate clockwise. This further causes the second shaft 24, which is fixed to the second transmission wheel 25, to rotate clockwise. The second shaft 24 is then connected to the third connecting rod 29. Therefore, when the second shaft 24 is raised and rotates clockwise, it simultaneously drives the third connecting rod 29 to move upward and rotate clockwise around the second mounting shaft. That is, the angle between the third connecting rod 29 and the left front side of the first connecting rod 19 becomes smaller. As the transmission frame 28 moves upward in this process, the second spring 41 is stretched and stores elastic potential energy. When the wearer needs to stand upright, that is, when the above process is reversed, the elastic potential energy of the second spring 41 can drive the transmission frame 28 to descend, thereby providing assistance for the second connecting rod 21 and the first connecting rod 19 to switch to the upright state.

[0038] Furthermore, the outer walls of the first transmission wheel 23 and the second transmission wheel 25 are provided with first toothed grooves, and the inner walls of the transmission belt 26 are provided with second toothed grooves, and the first toothed grooves and the second toothed grooves mesh with each other for transmission. This design improves the connection stability between the transmission belt 26 and the first transmission wheel 23 and the second transmission wheel 25, such as... Figure 5 , 6 As shown. Example

[0039] As another embodiment of the present invention, the collaborative assist mechanism is provided in two sets. Each set of collaborative assist mechanism includes a transmission block 33 slidably mounted on the transmission rail 32, and a locking assembly provided on the transmission block 33; it also includes a transmission rod 31, one end of which passes through a through hole opened at the bottom of the slide rail 3 and is fixed to the slider 4, and the other end is connected to the top of the transmission block 33 through a universal joint 311 provided at the end.

[0040] This combination Figure 1 , 2 As shown in Figures 6 and 9, the transmission rod 31 is used to connect the slider 4 and the transmission block 33. The transmission block 33 can slide on the transmission rail 32. Under the action of the universal joint 311, the transmission rod 31 can have multi-directional torsional characteristics. Therefore, when the transmission block 33 and the transmission rail 32 are connected by the locking assembly, when the central shaft assist module drives the slider 4 to move closer to or away from the motor 16, it drives the transmission rod 31 to move up or down synchronously, thereby causing the transmission frame 28 to rise or fall. This design realizes the joint movement of the transmission frame 28 and the slider 4. Specifically, when the slider 4 moves closer to the motor 16, realizing the bending of the central shaft torso, it drives the transmission frame 28 to move up, so that the front angle between the first connecting rod 19 and the third connecting rod 29 becomes smaller, and the rear angle between the first connecting rod 19 and the second connecting rod 21 becomes larger, so as to realize the bending action of the lower limbs, thereby completing the bending and squatting action of the limbs. Similarly, the reverse operation can realize the straightening action of the limbs.

[0041] Furthermore, the locking assembly includes a mounting groove 35 formed on the side wall of the transmission block 33, and a mounting plate 36 disposed inside the mounting groove 35. A third spring 38 is connected between the mounting plate 36 and the mounting groove 35. It also includes two insert rods 37 fixed at both ends of the mounting plate 36, and the end of each insert rod 37 away from the mounting plate 36 extends into the mounting groove 35, passes through a through groove formed on the side wall of the transmission block 33, and mates with an insertion hole formed on the transmission rail 32. A slidable limiting strip 39 is also vertically provided on the transmission block 33, and the limiting strip 39 is used to limit the mounting plate 36.

[0042] like Figure 9 As shown, the mounting plate 36 where the locking assembly is located has three straps 27 at both ends that can pass through the through slots opened on the side wall of the transmission block 33 and connect with the insertion holes opened on the transmission rail 32. With the limit strip 39 limiting the mounting plate 36, when the transmission rod 31 drives the transmission block 33 to slide longitudinally, the transmission connection process between the transmission block 33 and the transmission rail 32 and the transmission frame 28 can be realized.

[0043] Furthermore, the lower part of the two mounting rods 18 is also provided with a limiting band 30, which is preferably made of elastic material and is used to limit the ankle of the wearer. Example

[0044] In another embodiment of the present invention, a protective cover 43 is also installed on the front side of each slide rail 3. The protective cover 43 is used to cover the meshing transmission components. This design improves the safety of the device while also enhancing its aesthetics. Figure 1 , 10 As shown.

[0045] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Detachable installation can take many forms, such as through a combination of plug-in and snap-fit ​​connections, or through bolted connections, etc.

[0046] The foregoing, in conjunction with embodiments and accompanying drawings, has clearly and completely described the concept, specific structure, and resulting technical effects of the present invention, so as to fully understand the purpose, features, and effects of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are all within the scope of protection of the present invention. Furthermore, all connections / linkages mentioned herein do not simply refer to direct contact between components, but rather to the possibility of forming a better connection structure by adding or reducing connecting accessories, depending on the specific implementation.

[0047] The above embodiments, which describe the specific features of the present invention, are only used to further illustrate the present invention and should not be construed as limiting the scope of protection of the present invention. Any non-essential improvements and adjustments made to the present invention by those skilled in the art based on the above description of the invention shall fall within the scope of protection of the present invention.

Claims

1. A power-assisted exoskeleton for the waist and lower limbs, characterized by, include: Positioning belt (1), two mounting blocks (2) on both sides of the positioning belt (1), and a central shaft assist module on the two mounting blocks (2); The central axis assist module includes two slide rails (3), which are respectively fixed on the top of the two mounting blocks (2), and a slider (4) disposed inside the slide rails (3). It also includes a transmission bracket, which is disposed on the opposite side of the two sliders (4) and is used to assist the wearer in switching between bending or standing positions. Each slider (4) is also connected to the top of the slide rail (3) by a first spring (14), which is used to reset the slider (4); And lower limb energy storage modules; It also includes a collaborative assist mechanism set between the central axis assist module and the lower limb energy storage module. When the central axis assist module drives the thoracolumbar segment to complete the bending or straightening motion, the collaborative assist mechanism further drives the lower limb energy storage module to operate, so that the lower limb energy storage module can simultaneously complete the switching between squatting or standing motions. The lower limb energy storage module includes two sets of support rod assemblies. Each set of support rod assemblies includes two mounting rods (18). Each mounting rod (18) is rotatably connected to a first connecting rod (19) through a first mounting shaft set at its top. The third straps (27) set on opposite sides of the two first connecting rods (19) are used to bind the wearer's lower leg segment. And a first shaft (20) and a second shaft (24) rotatably connected to the upper and lower ends of the two first connecting rods (19), and a first transmission wheel (23) and a second transmission wheel (25) respectively provided in the middle of the first shaft (20) and the second shaft (24), and a transmission belt (26) is sleeved on the outside of them; It also includes two second connecting rods (21) fixedly connected to both ends of the first shaft (20), and a fourth strap (22) provided on the opposite sides of the two second connecting rods (21) for binding the wearer's thigh section; The second shaft (24) is also rotatably connected to the opposite ends of the shaft (29); And a transmission frame (28) is provided on each of the mounting rods (18), and the transmission frame (28) is rotatably connected to the end of the corresponding third connecting rod (29) away from the second shaft (24) via a second mounting shaft provided on its side wall; It also includes a transmission rail (32) disposed on the side of the transmission frame (28) away from the second mounting shaft, and an extension block (42) and an extension frame (40) are respectively disposed on the lower part of the transmission rail (32) and the lower part of the mounting rod (18), and a second spring (41) is connected between the extension block (42) and the extension frame (40). The collaborative assist mechanism is provided in two sets. Each set of collaborative assist mechanism includes a transmission block (33) that is slidably mounted on the transmission rail (32), and a locking component provided on the transmission block (33). It also includes a transmission rod (31), one end of which passes through a through hole at the bottom of the slide rail (3) and is fixed to the slider (4), and the other end is connected to the top of the transmission block (33) through a universal joint (311) provided at the end.

2. The assistive exoskeleton for coordinated use of the waist and lower limbs according to claim 1, characterized in that: The transmission support consists of two sets of transmission rod assemblies, and a first support member (8) and a second support member (9) between the two sets of transmission rod assemblies; Each transmission rod assembly includes a first pin, which is fixed on the corresponding slider (4), and a first support rod (7) rotatably connected to the first pin. The end of the first support rod (7) away from the first pin is rotatably connected to a second pin (5). A second support rod (6) is fixed on the second pin (5). It also includes a first support member (8) and a second support member (9) respectively disposed between the two first support rods (7) and the two second support rods (6). The first support member (8) and the second support member (9) are respectively used to support the chest and waist of the wearer. The two first support rods (7) and the two second support rods (6) are also respectively provided with a first strap (12) and a second strap (13); The mounting bracket (17) is provided on the top of the slide rail (3), and the motor (16) is provided on the mounting bracket (17), and the drive rod (15) fixed at the output end of the motor (16) is rotatably connected to the inner end of the second pin (5). A meshing transmission assembly is also provided between the second pin (5) and the first pin. When the motor (16) drives the drive rod (15) to deflect, the drive rod (15) drives the first support rod (7) to bend and extend, and through the action of the meshing transmission assembly, it can further drive the second support rod (6) to bend and extend.

3. The assistive exoskeleton for coordinated use of the waist and lower limbs according to claim 2, characterized in that: Both the first support member (8) and the second support member (9) are provided with two layers and are made of elastic material.

4. The assistive exoskeleton for coordinated use of the waist and lower limbs according to claim 2, characterized in that: The meshing transmission assembly includes a transmission tooth (11) fixed at one end of the second pin (5) away from the drive rod (15), and an incomplete gear (10) fixed to the first pin, wherein the incomplete gear (10) meshes with the transmission tooth (11).

5. The assistive exoskeleton for coordinated use of the waist and lower limbs according to claim 1, characterized in that: The first transmission wheel (23) and the second transmission wheel (25) have a first tooth groove on their outer walls and a second tooth groove on the inner wall of the transmission belt (26), and the first tooth groove and the second tooth groove mesh with each other for transmission.

6. The assistive exoskeleton for coordinated use of the waist and lower limbs according to claim 5, characterized in that: The two mounting rods (18) are also provided with a limit band (30) at the bottom.

7. The assistive exoskeleton for coordinated use of the waist and lower limbs according to claim 1, characterized in that: The locking assembly includes a mounting groove (35) formed in the side wall of the transmission block (33) and a mounting plate (36) disposed inside the mounting groove (35), wherein a third spring (38) is connected between the mounting plate (36) and the mounting groove (35). It also includes two insert rods (37) fixed at both ends of the mounting plate (36), and the end of each insert rod (37) away from the mounting plate (36) extends into the mounting groove (35), passes through the through groove opened on the side wall of the transmission block (33), and connects with the insertion hole opened on the transmission rail (32). The transmission block (33) is also vertically provided with a sliding limit strip (39), which is used to limit the mounting plate (36).

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