Bowing and walking assisting exoskeleton

Abstract

The invention belongs to the technical field of power-assisted exoskeletons, and particularly relates to a bowing and walking power-assisted exoskeleton which comprises an upper body wearing unit, a bowing energy storage unit, a waist lever force transmission unit, a back power-assisted unit, thigh units, knee joint units, shank units, knee joint power-assisted units and a waistband. The stooping energy storage unit is located on the front side of the upper body wearing unit, the back power assisting unit is located on the rear side of the upper body wearing unit, the two sides of the back power assisting unit are connected with the two sides of the stooping energy storage unit through the waist lever force transmission unit respectively, and the thigh units are arranged on the two sides of the waistband respectively. The lower ends of the two thigh units are connected with the corresponding shank units through the knee joint units respectively, and the two knee joint assisting units are connected with the corresponding thigh units and the corresponding shank units respectively. In the process that the human body stoops and stands up, the upper body of the human body is supported through the stooping energy storage unit and the back power assisting unit, so that stress on the waist is reduced; in the process that the human body bends knees, squats and stands up, the knee joint springs do not assist under small-angle rotation and assist under large-angle rotation, and the waist burden can be relieved.

Description

Technical Field

[0001] The invention belongs to the technical field of exoskeletons, in particular to an exoskeleton that assists bending and walking. Background Art

[0002] The human waist bears the pressure of the entire upper body trunk, and it is a very important part. Long-term work and exercise will put a great burden on the waist, which can easily cause various waist diseases, especially in the logistics and transportation, construction and manufacturing industries. Workers who bend over for a long time and repeatedly carry heavy objects can easily cause lumbar muscle strain, lumbar disc herniation and other diseases. The waist-assisted exoskeleton is a device that assists and enhances human movement through a mechanical structure. Especially in the process of bending over to carry heavy objects, it can bear part of the load to reduce the stress on the human waist. Most of the existing waist-assisted exoskeletons reduce the strength of the human back muscles by providing torque, and there are very few exoskeletons that provide traction parallel to the human trunk to reduce spinal pressure. Due to the limitations of the structure itself and the driving strength, the traction provided by the exoskeleton is limited, and the spinal decompression ability is poor.

[0003] Since lumbar disease often affects the movement of a person's lower limbs, and when a person bends over to carry heavy objects, not only the waist but also the lower limbs need to exert force, workers with lumbar disease are likely to be affected by the lumbar disease when carrying heavy objects, which affects the movement of the lower limbs and causes falls. In order to solve these problems, the present invention provides a bending and walking assisting exoskeleton. Summary of the invention

[0004] In view of the deficiencies in the prior art, the technical problem that the present invention intends to solve is to provide an exoskeleton that assists bending and walking.

[0005] The present invention solves the technical problem by adopting the following technical solution: A bending and walking assisting exoskeleton, comprising an upper body wearable unit, a thigh unit, a knee joint unit, a calf unit, a waist belt, a bending energy storage unit, a waist lever force transmission unit, a back assisting unit and a knee joint assisting unit; The bending energy storage unit comprises a slide rod connector, a slide rod, an energy storage spring and a guide rail; the middle part of the slide rod connector is connected to the lower end of the front chest armor of the upper body wear unit through a joint ball bearing, and the two ends of the slide rod connector are respectively connected to a slide rod, and the two slide rods are respectively inserted into the corresponding guide rails and can perform reciprocating linear motion along the guide rails; the two energy storage springs are respectively sleeved on the corresponding slide rods and guide rails, and the lower ends of the two guide rails are respectively connected to one end of the two front bending rod support connectors of the waist lever force transmission unit through joint ball bearings; The waist lever force transmission unit includes a left lever force transmission module and a right lever force transmission module, and both modules include a front bending rod support connector, a side body connecting rod, a fulcrum support, a connecting shaft and a load-bearing connecting rod; the front end of the side body connecting rod is connected to the other end of the front bending rod support connector, and the rear end is connected to the back power assist unit through a connecting head; the upper end of the fulcrum support is fixedly connected to the middle part of the side body connecting rod, and the lower end is rotatably connected to the load-bearing connecting rod through a connecting shaft, and the load-bearing connecting rod is also fixedly connected to the middle part of the hip joint rotating member of the thigh unit; The knee joint power-assisting unit includes a rope-driven motor, a reducer, a rope-driven thigh rod, a driving gear, a driven gear, a rope-driven rotating shaft, a rope wheel, a rope-driven connecting piece, a long screw, a torque sensor, a pulley connecting piece, a pulley, a rope-driven calf rod, a steel wire rope and a steel wire rope connecting piece; the rope-driven connecting piece is fixed to the outer side of the lower thigh connecting rod of the thigh unit, the upper part of the rope-driven thigh rod is fixedly connected to the side of the rope-driven connecting piece, the rope-driven motor is fixedly connected to the upper end of the rope-driven thigh rod, and the rope-driven motor is connected to the driving gear through the reducer; one end of the rope-driven rotating shaft is rotatably connected to the rope-driven connecting piece, and the other end is fixedly connected to a driven gear, and the driven gear is meshed with the driving gear; the torque sensor, the lower end of the rope-driven thigh rod, the upper end of the rope-driven calf rod and the pulley The connecting parts are connected together, and the rope-driven thigh rod and the rope-driven calf rod can rotate relative to each other. The two ends of the pulley connecting part are respectively rotatably connected with pulleys, and the lower end of the rope-driven calf rod is fixedly connected to the two wire rope connecting parts; the long screw is connected to the upper part of the rope-driven thigh rod, and the long screw is rotatably connected to the two pulleys; the two rope winding wheels are fixedly connected to the middle part of the rope drive rotating shaft, one end of the wire rope is wound around a rope winding wheel, and the other end is sequentially wound around a pulley on the long screw, a pulley on one side of the pulley connecting part, a groove of a wire rope connecting part, the groove of another wire rope connecting part, a pulley on one side of the pulley connecting part, and another pulley on the long screw, and is wound around the other rope winding wheel, and the winding directions of the wire rope on the two rope winding wheels are opposite.

[0006] Furthermore, the back power-assisting unit includes an elastic belt, a rope connecting piece, a rotating shaft connecting piece, a back power-assisting motor, a back binding piece, a back connecting piece and an electric push rod; the upper part of the back binding piece is fixedly connected to the back armor of the upper body wearable unit, the back connecting piece is located on the back binding piece, and a back power-assisting motor is respectively installed on both sides of the upper part of the back connecting piece, and the output shafts of the two back power-assisting motors are respectively fixedly connected to the lower ends of the corresponding rope bundles through the rotating shaft connecting piece, and the upper ends of the two rope bundles are respectively fixedly connected to the lower ends of the corresponding elastic belts through the rope connecting piece, and the upper ends of the two elastic belts are respectively connected to the two back width adjustment rods of the upper body wearable unit; one end of the two electric push rods are respectively rotatably connected to the two sides of the lower part of the back connecting piece, and the other end is rotatably connected to the rear end of the side connecting rod corresponding to the lever force transmission unit.

[0007] Furthermore, the knee joint unit includes an upper knee joint connector, a knee joint shaft, a knee joint spring, a chuck and a lower knee joint connector; the upper end of the upper knee joint connector is fixedly connected to the lower end of the lower thigh connecting rod of the thigh unit, the lower end of the upper knee joint connector is rotatably connected to the lower knee joint connector through the knee joint shaft, the chuck is rotatably connected to the middle part of the knee joint shaft, the chuck is provided with an upper claw and a lower claw, when the human body stands upright, the upper claw of the chuck contacts with the limiting protrusion of the lower knee joint connector; one end of the knee joint spring is fixedly connected to the chuck, and the other end is fixedly connected to the upper knee joint connector, during the rotation of the upper knee joint connector around the lower knee joint connector, when the lower claw of the chuck contacts with the limiting protrusion of the lower knee joint connector, the knee joint spring is stretched to store energy.

[0008] Furthermore, the thigh unit includes a hip joint connecting part, a hip joint spring, a hip joint axis, a hip joint rotating part, an upper thigh connecting rod, an upper thigh binding part, a lower thigh connecting rod and a lower thigh binding part; the hip joint connecting part is connected to the side of the waist belt, the hip joint rotating part is rotatably connected to the hip joint connecting part through the hip joint axis, one end of the hip joint spring is fixedly connected to the hip joint connecting part, and the other end is fixedly connected to the hip joint rotating part; the upper end of the upper thigh connecting rod is connected to the lower end of the hip joint rotating part, the lower end of the upper thigh connecting rod is connected to the upper end of the lower thigh connecting rod, the upper thigh binding part is fixedly connected to the middle part of the upper thigh connecting rod, and the lower thigh binding part is fixedly connected to the lower part of the lower thigh connecting rod.

[0009] Furthermore, the calf unit includes an upper calf connecting rod, an upper calf binding, a lower calf connecting rod, a lower calf binding, an ankle joint module and a foot plate; the upper end of the upper calf connecting rod is fixedly connected to the lower end of the lower knee connecting rod of the knee joint unit, the lower end of the upper calf connecting rod is fixedly connected to the upper end of the lower calf connecting rod, and the lower end of the lower calf connecting rod is rotatably connected to the foot plate through the ankle joint module; the upper calf binding is fixedly connected to the upper calf connecting rod, and the lower calf binding is fixedly connected to the lower calf connecting rod.

[0010] Furthermore, the ankle joint module includes an upper ankle joint connector, a torsion spring and a lower ankle joint connector; the upper end of the upper ankle joint connector is fixedly connected to the lower end of the lower calf connecting rod, the lower end of the upper ankle joint connector and the upper end of the lower ankle joint connector are rotatably connected to each other, and the lower end of the lower ankle joint connector is fixedly connected to the foot plate; one end of the torsion spring is connected to the upper ankle joint connector, and the other end is connected to the lower ankle joint connector.

[0011] Furthermore, the upper body wearable unit includes a front chest armor, a rear back armor, an elastic connecting belt, a back width adjustment rod and a telescopic adjustment plate; the front chest armor and the rear back armor are connected by an elastic connecting belt, the telescopic adjustment plate is fixedly connected to the rear side of the rear back armor, and two back width adjustment rods are symmetrically embedded on both sides of the telescopic adjustment plate, and the connection position of the back width adjustment rod and the telescopic adjustment plate is adjustable.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. When a person bends down, the upper end of the energy storage spring of the bending energy storage unit generates an upward traction force parallel to the human torso, and the lower end of the energy storage spring generates a downward reaction force, which is transmitted to the back through the waist lever force transmission unit, providing an upward traction force for the back of the human body, and lifting the upper body of the human body through the front and rear traction forces to reduce the pressure on the waist. When a person bends down and stands up, the energy storage spring releases energy, and the back assist motor of the back assist unit drives the rope bundle to twist, providing a downward traction force for the human body, thereby providing assistance for the human body to bend down and stand up.

[0013] Therefore, the function of providing double traction force under a single drive is realized through the waist lever force transmission unit. On the one hand, the double traction force can increase the range of traction force output by the exoskeleton under the same driving strength, and enhance the performance of the exoskeleton in reducing lumbar pressure. On the other hand, compared with the existing exoskeleton that only provides chest traction force, the front and rear traction forces are used to assist in the process of bending and standing up, which is similar to the purpose of traction of the lumbar spine to reduce intervertebral disc pressure. Compared with the single traction force, the double traction force greatly reduces the risk of intervertebral disc herniation caused by excessive spinal pressure. The traction force provided by the exoskeleton can not only play the role of traction of the lumbar spine to reduce intervertebral disc pressure, but also provide extension torque to resist part of the flexion torque of the lumbar spine caused by the body's own weight and external load, thereby reducing the torque on the waist and reducing the risk of lumbar injury. It is also possible to flexibly adjust the extension torque output by the exoskeleton through double traction force to adapt to the torque requirements of the human trunk at different flexion angles, avoiding the problem of excessive intervention of the trunk bending movement due to excessive extension torque output by the exoskeleton.

[0014] 2. When the human body bends the knees and squats, due to the limitation of the chuck, the knee joint spring does not provide assistance when the knee joint rotates at a small angle, but provides assistance when the knee joint rotates at a large angle. This provides assistance when the human body bends the knees and carries heavy objects to stand up, thereby improving the carrying efficiency, reducing the burden on the human waist, and does not affect the flexibility of normal walking. Compared with the existing waist exoskeleton, it has a wider range of applications and better effects.

[0015] 3. During walking, the knee joint assist unit drives the wire rope to contract and extend through the rope drive motor to provide assistance for the knee joint movement. Since the knee joint spring of the knee joint unit does not assist at a small angle, it provides conditions for the knee joint assist unit to not interfere with each other, thereby improving movement efficiency and flexibility.

[0016] 4. Springs are used to store energy at the hip, knee and ankle joints to provide assistance when the human body stands up, reducing the pressure on the lower limb muscles, and providing assistance through rope drive when the person walks, thereby improving the wearer's movement efficiency and flexibility, further reducing the overall burden on the waist, and further reducing the risk of lumbar spine injury, thereby improving work efficiency, reducing physical burden and improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 is a side view of the present invention; Figure 3 It is a structural schematic diagram of the upper body wearable unit of the present invention; Figure 4 It is a structural schematic diagram of the bending energy storage unit of the present invention; Figure 5 It is a structural schematic diagram of the waist lever force transmission unit of the present invention; Figure 6 It is a structural schematic diagram of the back power-assisting unit of the present invention; Figure 7 It is a schematic structural diagram of the thigh unit of the present invention; Figure 8 is a schematic structural diagram of a knee joint unit of the present invention; Fig. 9 is a schematic structural diagram of a calf unit of the present invention; Fig.10 is a schematic structural diagram of the ankle joint module of the present invention; Fig.11 It is a structural schematic diagram of the knee joint power-assisting unit of the present invention; Description of reference numerals: 1-upper body wearable unit; 2-bending energy storage unit; 3-waist lever force transmission unit; 4-back power-assisting unit; 5-thigh unit; 6-knee joint unit; 7-calf unit; 8-knee joint power-assisting unit; 9-waist belt; 101-front chest armor; 102-back back armor; 103-elastic connecting belt; 104-soft cushion; 105-back width adjustment rod; 106-telescopic adjustment plate; 201-upper joint ball bearing; 202-sliding rod connecting piece; 203-locking retaining ring; 204-sliding rod; 205-energy storage spring; 206-guide rail; 207-lower joint ball bearing; 208-hinge support; 301-front side bending rod support connecting piece; 302-side long connecting rod; 303-fulcrum support; 304 -connecting shaft; 305-load-bearing connector; 306-connecting head; 401-elastic belt; 402-cord connector; 403-rotating shaft connector; 404-back assist motor; 405-back binding; 406-back connector; 407-electric push rod; 408-hooke hinge; 501-hip joint connector; 502-hip joint spring; 503-hip joint shaft; 504-hip joint rotating member; 505-upper thigh connecting rod; 506-upper thigh binding ; 507-lower thigh connecting rod; 508-lower thigh binding piece; 601-upper knee joint connecting piece; 602-knee joint shaft; 603-knee joint spring; 604-chuck; 605-lower knee joint connecting piece; 701-upper calf connecting rod; 702-upper calf binding piece; 703-lower calf connecting rod; 704-lower calf binding piece; 705-ankle joint module; 706-foot plate; 705-1, upper ankle joint connecting piece; 705-2, torsion spring; 70 5-3, lower ankle joint connector; 801-rope-driven motor; 802-reducer; 803-rope-driven thigh rod; 804-driving gear; 805-driven gear; 806-rope-driven rotating shaft; 807-rope winding wheel; 808-rope-driven connector; 809-long screw rod; 810-front cover; 811-torque sensor; 812-pulley connector; 813-rear cover; 814-pulley; 815-rope-driven calf rod; 816-wire rope; 817-wire rope connector. DETAILED DESCRIPTION

[0018] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present invention in detail and are not intended to limit the protection scope of the present application.

[0019] The present invention provides a bending and walking assistance exoskeleton (hereinafter referred to as exoskeleton, see Figures 1 to 11), including an upper body wearable unit 1, a bending energy storage unit 2, a waist lever force transmission unit 3, a back assisting unit 4, a thigh unit 5, a knee joint unit 6, a calf unit 7, a knee joint assisting unit 8 and a waist belt 9; the bending energy storage unit 2 is located on the front side of the upper body wearable unit 1, the back assisting unit 4 is located on the back side of the upper body wearable unit 1, the two sides of the back assisting unit 4 are respectively connected to the two sides of the bending energy storage unit 2 through the waist lever force transmission unit 3, the two sides of the waist belt 9 are respectively provided with thigh units 5, the lower ends of the two thigh units 5 are respectively connected to the corresponding calf units 7 through the knee joint units 6, and the two knee joint assisting units 8 are respectively connected to the corresponding thigh units 5 and calf units 7.

[0020] The upper body wearing unit 1 includes a front breastplate 101, a back armor 102, an elastic connecting belt 103, a back width adjustment rod 105 and a telescopic adjustment plate 106; the front breastplate 101 is connected to the back armor 102 by an elastic connecting belt 103, the telescopic adjustment plate 106 is fixedly connected to the rear side of the back armor 102, two back width adjustment rods 105 are symmetrically embedded on both sides of the telescopic adjustment plate 106, and are fastened to the telescopic adjustment plate 106 with bolts, and the connection position of the back width adjustment rod 105 and the telescopic adjustment plate 106 is adjustable to accommodate users with different back widths. The inner sides of the front breastplate 101 and the back armor 102 are both provided with a soft pad 104, and after wearing, the soft pad 104 fits the front chest and back of the user, increasing flexibility.

[0021] The bending energy storage unit 2 includes an upper joint ball bearing 201, a slide rod connector 202, a locking ring 203, a slide rod 204, an energy storage spring 205, a guide rail 206, a lower joint ball bearing 207 and a hinge support 208; the rotating end of the upper joint ball bearing 201 is connected to the middle of the lower end of the front breastplate 101 through a pin, the fixed end of the upper joint ball bearing 201 is fixedly connected to the middle of the slide rod connector 202, and the two ends of the slide rod connector 202 are respectively connected to a slide rod 204, and the two slide rods 204 are respectively inserted in the corresponding guide rails 206, and the slide rods 204 can move along the guide rails 206. Do reciprocating linear motion; the upper ends of the two slide bars 204 are respectively fitted with a locking retaining ring 203, and the two energy storage springs 205 are respectively fitted on the corresponding slide bars 204 and the guide rails 206, the upper ends of the energy storage springs 205 are in close contact with the corresponding locking retaining rings 203, and the lower ends of the energy storage springs 205 are in close contact with the shaft shoulders at the lower ends of the guide rails 206; the lower ends of the two guide rails 206 are respectively connected to the fixed ends of the corresponding lower joint ball bearings 207, and the rotating ends of the two lower joint ball bearings 207 are respectively connected to the front side bending rod support connectors 301 of the left and right lever force transmission modules through hinge supports 208. When the human body bends, the slide bar 204 is pushed to move downward along the guide rails 206, and the energy storage springs 205 are compressed at their upper ends to generate an upward traction force, which lifts the human chest upward; when the human body bends and stands up, the energy storage springs 205 release elastic potential energy and generate an upward traction force to help bend and stand up.

[0022] The waist lever force transmission unit 3 includes left and right lever force transmission modules, and both modules include a front curved rod support connector 301, a side body connecting rod 302, a fulcrum support 303, a connecting shaft 304, a load-bearing connector 305 and a connecting head 306; wherein, the front end of the side body connecting rod 302 is connected to one end of the front curved rod support connector 301, and the rear end is fixedly connected to the lower end of the Hook's hinge 408 of the back power assist unit 4 through the connecting head 306; the upper end of the fulcrum support 303 is fixedly connected to the middle part of the side body connecting rod 302, and the lower end is rotatably connected to the load-bearing connector 305 through the connecting shaft 304, and the load-bearing connector 305 is also fixedly connected to the middle part of the hip joint rotating member 504 of the thigh unit 5. When the human body bends, the lower end of the energy storage spring 205 of the bending energy storage unit 2 generates a downward reaction force and acts on the front bending rod support connector 301, causing the side body connecting rod 302 to rotate around the connecting shaft 304 and lift the rear end of the side body connecting rod 302 upward.

[0023] The back assist unit 4 comprises an elastic belt 401, a belt rope connector 402, a rotating shaft connector 403, a back assist motor 404, a back binding member 405, a back connector 406, an electric push rod 407 and a Hook hinge 408; wherein the upper portion of the back binding member 405 is fixedly connected to the back armor 102, and the lower portion is connected to the back of the human body by binding; the back connector 406 is fixed to the back binding member 405, and a back assist motor 404 is respectively installed on both sides of the upper portion of the back connector 406, and the output shafts of the two back assist motors 404 are respectively fixedly connected to the lower ends of the corresponding rope bundles through the rotating shaft connector 403. The upper ends of the two rope bundles are respectively connected to the lower ends of the corresponding elastic bands 401 through the rope connector 402, and the upper ends of the two elastic bands 401 are respectively connected to the ends of the back width adjustment rods 105 corresponding to the upper body wear unit 1; when the human body bends and stands up, the back power-assisting motor 404 rotates to twist the rope bundles together, so that the length of the rope bundles becomes shorter, driving the elastic band 401 to stretch and lengthen, thereby providing a traction force along the elastic band 401 and pointing to the back power-assisting motor 404 for the back of the human body, providing assistance for the human body to bend and stand up; when the human body stands up, the back power-assisting motor 404 rotates in the opposite direction to reset the rope bundle and restore the initial length. One end of the two electric push rods 407 is respectively connected to the two sides of the lower part of the back connector 406 through the Hooke hinge 408, and the other end of the two electric push rods 407 is respectively connected to the rear end of the side connecting rod 302 corresponding to the lever force transmission unit 3 through the Hooke hinge 408. When the human body bends, the rear end of the side connecting rod 302 of the waist lever force transmission unit 3 is lifted upward, pushing the electric push rod 407 to contract, providing an upward traction force for the back of the human body, and then working together with the bending energy storage unit 2 to lift the upper body of the human body, thereby reducing the pressure on the human waist; when the human body bends and stands up, the electric push rod 407 extends, allowing the side connecting rod 302 to restore its initial balance state.

[0024] The thigh unit 5 includes a hip joint connector 501, a hip joint spring 502, a hip joint shaft 503, a hip joint rotating member 504, an upper thigh connecting rod 505, an upper thigh binding member 506, a lower thigh connecting rod 507 and a lower thigh binding member 508; wherein the hip joint connector 501 is connected to the side of the waist belt 9, the hip joint rotating member 504 is rotatably connected to the hip joint connector 501 through the hip joint shaft 503, and one end of the hip joint spring 502 is connected to the hip joint connector 505. The connecting piece 501 is fixedly connected, and the other end is fixedly connected to the hip joint rotating piece 504. The hip joint spring 502 is used to reset the hip joint rotating piece 504. The upper end of the upper thigh connecting rod 505 is connected to the lower end of the hip joint rotating piece 504, the lower end of the upper thigh connecting rod 505 is connected to the upper end of the lower thigh connecting rod 507, the upper thigh binding piece 506 is fixedly connected to the middle part of the upper thigh connecting rod 505, and the lower thigh binding piece 508 is fixedly connected to the lower part of the lower thigh connecting rod 507.

[0025] The knee joint unit 6 includes an upper knee joint connector 601, a knee joint shaft 602, a knee joint spring 603, a chuck 604 and a lower knee joint connector 605; wherein, the upper end of the upper knee joint connector 601 is fixedly connected to the lower end of the lower thigh connecting rod 507, the lower end of the upper knee joint connector 601 is rotatably connected to the lower knee joint connector 607 through the knee joint shaft 602, bearings are provided between the knee joint shaft 602 and the upper knee joint connector 601 and the lower knee joint connector 607, the chuck 604 is rotatably connected to the middle part of the knee joint shaft 602, and when the human body stands upright, the upper claw of the chuck 604 contacts the limiting protrusion of the lower knee joint connector 605; one end of the knee joint spring 603 is fixedly connected to the chuck 604, and the other end is fixedly connected to the upper knee joint connector 601. During the squatting process, the upper connector 601 of the knee joint rotates around the lower connector 605 of the knee joint, driving the knee joint spring 603 to rotate, and the knee joint spring 603 drives the chuck 604 to rotate. Before the lower claw of the chuck 604 contacts the limiting protrusion of the lower connector 605 of the knee joint, the knee joint spring 603 will not be deformed. Only when the lower claw of the chuck 604 contacts the limiting protrusion of the lower connector 605 of the knee joint, the upper connector 601 of the knee joint continues to rotate, and the knee joint spring 603 is stretched to store energy. During the squatting and standing up process, the knee joint spring 603 releases energy to provide assistance for the movement of the human knee joint. The relative rotation angle between the upper connector 601 of the knee joint and the lower connector 605 of the knee joint is smaller than the angle between the upper claw and the lower claw of the chuck 604. The restriction of the chuck 604 realizes that the knee joint unit 6 does not provide assistance during squatting at a small angle, but provides assistance during squatting at a large angle. When a person walks, the lower knee joint connector 605 rotates around the upper knee joint connector 601, while the knee joint spring 603 does not deform and thus does not affect normal walking.

[0026] The calf unit 7 includes an upper calf connecting rod 701, an upper calf binding 702, a lower calf connecting rod 703, a lower calf binding 704, an ankle joint module 705 and a foot plate 706; wherein, the upper end of the upper calf connecting rod 701 is fixedly connected to the lower end of the lower knee joint connecting rod 605, the lower end of the upper calf connecting rod 701 is fixedly connected to the upper end of the lower calf connecting rod 703, and the lower end of the lower calf connecting rod 703 is rotatably connected to the foot plate 706 through the ankle joint module 705; the upper calf binding 702 is fixedly connected to the upper calf connecting rod 701, and the lower calf binding 704 is fixedly connected to the lower calf connecting rod 703. The ankle joint module 705 includes an upper ankle joint connector 705-1, a torsion spring 705-2 and a lower ankle joint connector 705-3; the upper end of the upper ankle joint connector 705-1 is fixedly connected to the lower end of the lower calf connecting rod 703, the lower end of the upper ankle joint connector 705-1 and the upper end of the lower ankle joint connector 705-3 are rotatably connected to each other, and the lower end of the lower ankle joint connector 705-3 is fixedly connected to the foot plate 706; one end of the torsion spring 705-2 is connected to the upper ankle joint connector 705-1, and the other end is connected to the lower ankle joint connector 705-3, which is used for resetting the lower ankle joint connector 705-3; during the human body squatting process, the upper ankle joint connector 705-1 rotates around the lower ankle joint connector 705-3, and the torsion spring 705-2 is compressed to store energy; during the human body squatting and standing up process, the torsion spring 705-2 releases energy to provide assistance for the rotation of the human ankle joint.

[0027] The knee joint assist unit 8 includes a rope-driven motor 801, a reducer 802, a rope-driven thigh rod 803, a driving gear 804, a driven gear 805, a rope-driven rotating shaft 806, a rope-winding wheel 807, a rope-driven connecting piece 808, a long screw 809, a front cover 810, a torque sensor 811, a pulley connecting piece 812, a rear cover 813, a pulley 814, a rope-driven calf rod 815, a steel wire rope 816 and a steel wire rope connecting piece 817; wherein the rope-driven connecting piece 808 is fixed to the outer side of the lower thigh connecting rod 507, the upper part of the rope-driven thigh rod 803 is fixedly connected to the side of the rope-driven connecting piece 808, and the rope-driven motor 801 is fixedly connected to the upper part of the rope-driven thigh rod 803. The output shaft of the rope-driven motor 801 is connected to the input shaft of the reducer 802, and the output shaft of the reducer 802 is fixedly connected with a driving gear 804; one end of the rope-driven rotating shaft 806 is rotatably connected to the rope-driven connecting piece 808 through a bearing, and the other end is fixedly connected with a driven gear 805, and the driven gear 805 is meshed with the driving gear 804, and the rope-driven rotating shaft 806 is driven to rotate by the rope-driven motor 801; the torque sensor 811, the lower end of the rope-driven thigh rod 803, the upper end of the rope-driven calf rod 815 and the pulley connecting piece 812 are connected together through the front cover 810 and the rear cover 813, and the rope-driven thigh rod 803 and the rope-driven calf rod 815 can be connected. Relative rotation, the torque sensor 811 is used to detect the torque at the human knee joint, and the two ends of the pulley connector 812 are rotatably connected to pulleys 814 respectively; the lower end of the rope-driven calf rod 815 is fixedly connected to two wire rope connectors 817, and the other ends of the two wire rope connectors 817 are fixedly connected to the calf upper connecting rod 701; one end of the long screw 809 is fixedly connected to the upper part of the rope-driven thigh rod 803, and the other end is fixedly connected to the lower thigh connecting rod 507. The long screw 809 is rotatably connected to two pulleys 814, and a shaft sleeve is provided between the two pulleys 814; two rope wheels 807 are fixedly connected to the middle part of the rope-driven rotating shaft 806, and one end of the wire rope 816 is wound around The wire rope 816 is wound around a rope winding wheel 807, and the other end is passed through a pulley 814 on the long screw 809, a pulley 814 on one side of the pulley connector 812, a groove of a wire rope connector 817, a groove of another wire rope connector 817, a pulley 814 on one side of the pulley connector 812, and another pulley 814 on the long screw 809 in sequence, and is wound around another rope winding wheel 807, and the winding directions of the wire rope 816 on the two rope winding wheels 807 are opposite. When the rope drive rotating shaft 806 rotates, the wire rope on one rope winding wheel 807 extends, and the wire rope on the other rope winding wheel 807 contracts, driving the rope drive calf rod 815 to rotate around the rope drive thigh rod 803.The knee joint assist unit 8 mainly provides assistance for the human knee joint movement during walking. When the knee joint moves, the torque sensor 811 detects the torque at the human knee joint, and the rope-driven motor 801 drives the rope-driven rotating shaft 806 to rotate, and drives the rope-driven calf rod 815 to rotate around the rope-driven thigh rod 803 through the steel wire rope 816, providing assistance for the calf extension and flexion movement.

[0028] The working principle and workflow of the present invention are: The front chest armor 101, the back armor 102, the back binding 405 and the belt 9 are worn on the human body, the upper thigh binding 506 and the lower thigh binding 508 are connected to the human thigh, the upper calf binding 702 and the lower calf binding 704 are connected to the human calf, and then the exoskeleton is worn on the human body.

[0029] When the human body bends, the human chest squeezes the chest armor 101, pushing the slide bar 204 to move downward along the guide rail 206, and the energy storage spring 205 is compressed at its upper end to generate an upward traction force parallel to the human torso, while the lower end of the energy storage spring 205 generates a downward reaction force, which provides a downward thrust for the front bending rod support connector 301, causing the side body connecting rod 302 to rotate around the connecting shaft 304, lifting the rear end of the side body connecting rod 302 upward, and then pushing the electric push rod 407 of the back power assist unit 4 to contract, providing an upward traction force for the back of the human body, and working together with the traction force provided by the energy storage spring 205 to lift the upper body of the human body, so as to reduce the pressure on the human waist and achieve power assistance during the human body bending process. When the human body bends and stands up, the energy storage spring 205 releases elastic potential energy to generate an upward traction force, and the electric push rod 407 of the back assist unit 4 extends, so that the side connecting rod 302 returns to its initial equilibrium state; at the same time, the back assist motor 404 of the back assist unit 4 rotates, twists the rope bundle together, shortens the length of the rope bundle, and drives the elastic belt 401 to stretch and lengthen, thereby providing a traction force along the elastic belt 401 and pointing to the back assist motor 404 for the back of the human body, providing assistance for the human body to bend and stand up; when the human body stands up, the back assist motor 404 rotates in the opposite direction to reset the rope bundle and restore its initial length. Therefore, when the human body bends and stands up, assistance is provided by the traction force on the front chest side and the traction force on the back side, so as to achieve the purpose of traction on the lumbar vertebrae to reduce the pressure on the intervertebral disc. Compared with the single traction force, the double traction force greatly reduces the risk of intervertebral disc herniation caused by excessive pressure on the spine.

[0030] During the squatting process, the hip joint rotating part 504 rotates around the hip joint connecting part 501 and the hip joint spring 502 is stretched to store energy, the upper knee joint connecting part 601 rotates around the lower knee joint connecting part 607 and the knee joint spring 603 is stretched to store energy, and the upper ankle joint connecting part 705-1 rotates around the lower ankle joint connecting part 705-3 and the torsion spring 705-2 is compressed to store energy; during the squatting and standing up process, the hip joint spring 502, the knee joint spring 603 and the torsion spring 705-2 release energy to provide assistance for the movement of the hip joint, knee joint and ankle joint, reduce the load-bearing pressure of the lower limbs of the human body, and reduce local muscle stress.

[0031] When a person walks, the torque sensor 811 detects the torque at the knee joint of the person, which reflects the movement trend of the knee joint. The controller controls the rope-driven motor 801 to rotate according to the torque to drive the rope-driven rotating shaft 806 to rotate, and drives the rope-driven calf rod 815 to rotate around the rope-driven thigh rod 803 through the steel wire rope 816, thereby providing assistance for the calf extension and flexion movements.

[0032] Any matters not described in the present invention are applicable to the prior art.

Claims

1. A bending and walking assisting exoskeleton, comprising an upper body wearable unit, a thigh unit, a knee joint unit, a calf unit and a waist belt, wherein the thigh unit is connected to the waist belt, and the calf unit is connected to the thigh unit via the knee joint unit; characterized in that: It also includes a bending energy storage unit, a waist lever force transmission unit, a back power assist unit and a knee joint power assist unit; The bending energy storage unit comprises a slide rod connector, a slide rod, an energy storage spring and a guide rail; the middle part of the slide rod connector is connected to the lower end of the front chest armor of the upper body wear unit through a joint ball bearing, and the two ends of the slide rod connector are respectively connected to a slide rod, and the two slide rods are respectively inserted into the corresponding guide rails and can perform reciprocating linear motion along the guide rails; the two energy storage springs are respectively sleeved on the corresponding slide rods and guide rails, and the lower ends of the two guide rails are respectively connected to one end of the two front bending rod support connectors of the waist lever force transmission unit through joint ball bearings; The waist lever force transmission unit includes a left lever force transmission module and a right lever force transmission module, and both modules include a front bending rod support connector, a side body connecting rod, a fulcrum support, a connecting shaft and a load-bearing connecting rod; the front end of the side body connecting rod is connected to the other end of the front bending rod support connector, and the rear end is connected to the back power assist unit through a connecting head; the upper end of the fulcrum support is fixedly connected to the middle part of the side body connecting rod, and the lower end is rotatably connected to the load-bearing connecting rod through a connecting shaft, and the load-bearing connecting rod is also fixedly connected to the middle part of the hip joint rotating member of the thigh unit; The knee joint power-assisting unit includes a rope-driven motor, a reducer, a rope-driven thigh rod, a driving gear, a driven gear, a rope-driven rotating shaft, a rope wheel, a rope-driven connecting piece, a long screw, a torque sensor, a pulley connecting piece, a pulley, a rope-driven calf rod, a steel wire rope and a steel wire rope connecting piece; the rope-driven connecting piece is fixed to the outer side of the lower thigh connecting rod of the thigh unit, the upper part of the rope-driven thigh rod is fixedly connected to the side of the rope-driven connecting piece, the rope-driven motor is fixedly connected to the upper end of the rope-driven thigh rod, and the rope-driven motor is connected to the driving gear through the reducer; one end of the rope-driven rotating shaft is rotatably connected to the rope-driven connecting piece, and the other end is fixedly connected to a driven gear, and the driven gear is meshed with the driving gear; the torque sensor, the lower end of the rope-driven thigh rod, the upper end of the rope-driven calf rod and the pulley The connecting parts are connected together, and the rope-driven thigh rod and the rope-driven calf rod can rotate relative to each other. The two ends of the pulley connecting part are respectively rotatably connected with pulleys, and the lower end of the rope-driven calf rod is fixedly connected to the two wire rope connecting parts; the long screw is connected to the upper part of the rope-driven thigh rod, and the long screw is rotatably connected to the two pulleys; the two rope winding wheels are fixedly connected to the middle part of the rope drive rotating shaft, one end of the wire rope is wound around a rope winding wheel, and the other end is sequentially wound around a pulley on the long screw, a pulley on one side of the pulley connecting part, a groove of a wire rope connecting part, the groove of another wire rope connecting part, a pulley on one side of the pulley connecting part, and another pulley on the long screw, and is wound around the other rope winding wheel, and the winding directions of the wire rope on the two rope winding wheels are opposite.

2. The bending and walking assisting exoskeleton according to claim 1, characterized in that: The back power-assisting unit comprises an elastic belt, a rope connecting piece, a rotating shaft connecting piece, a back power-assisting motor, a back binding piece, a back connecting piece and an electric push rod; the upper part of the back binding piece is fixedly connected to the back armor of the upper body wearing unit, the back connecting piece is located on the back binding piece, and a back power-assisting motor is respectively installed on both sides of the upper part of the back connecting piece, and the output shafts of the two back power-assisting motors are respectively fixedly connected to the lower ends of the corresponding rope bundles through the rotating shaft connecting piece, and the upper ends of the two rope bundles are respectively fixedly connected to the lower ends of the corresponding elastic belts through the rope connecting piece, and the upper ends of the two elastic belts are respectively connected to the two back width adjustment rods of the upper body wearing unit; one end of the two electric push rods are respectively rotatably connected to the two sides of the lower part of the back connecting piece, and the other end is rotatably connected to the rear end of the side connecting rod corresponding to the lever force transmission unit.

3. The bending and walking assisting exoskeleton according to claim 1 or 2, characterized in that: The knee joint unit includes an upper knee joint connector, a knee joint shaft, a knee joint spring, a chuck and a lower knee joint connector; the upper end of the upper knee joint connector is fixedly connected to the lower end of the lower thigh connecting rod of the thigh unit, the lower end of the upper knee joint connector is rotationally connected to the lower knee joint connector through the knee joint shaft, the chuck is rotationally connected to the middle part of the knee joint shaft, the chuck is provided with an upper claw and a lower claw, when the human body stands upright, the upper claw of the chuck contacts with the limiting protrusion of the lower knee joint connector; one end of the knee joint spring is fixedly connected to the chuck, and the other end is fixedly connected to the upper knee joint connector, during the rotation of the upper knee joint connector around the lower knee joint connector, when the lower claw of the chuck contacts with the limiting protrusion of the lower knee joint connector, the knee joint spring is stretched to store energy.

4. The bending and walking assisting exoskeleton according to claim 1, characterized in that: The thigh unit includes a hip joint connecting part, a hip joint spring, a hip joint axis, a hip joint rotating part, an upper thigh connecting rod, an upper thigh binding part, a lower thigh connecting rod and a lower thigh binding part; the hip joint connecting part is connected to the side of the waist belt, the hip joint rotating part is rotatably connected to the hip joint connecting part through the hip joint axis, one end of the hip joint spring is fixedly connected to the hip joint connecting part, and the other end is fixedly connected to the hip joint rotating part; the upper end of the upper thigh connecting rod is connected to the lower end of the hip joint rotating part, the lower end of the upper thigh connecting rod is connected to the upper end of the lower thigh connecting rod, the upper thigh binding part is fixedly connected to the middle part of the upper thigh connecting rod, and the lower thigh binding part is fixedly connected to the lower part of the lower thigh connecting rod.

5. The bending and walking assisting exoskeleton according to claim 1 or 4, characterized in that: The calf unit includes an upper calf connecting rod, an upper calf binding, a lower calf connecting rod, a lower calf binding, an ankle joint module and a foot plate; the upper end of the upper calf connecting rod is fixedly connected to the lower end of the lower knee connecting rod of the knee joint unit, the lower end of the upper calf connecting rod is fixedly connected to the upper end of the lower calf connecting rod, and the lower end of the lower calf connecting rod is rotatably connected to the foot plate through the ankle joint module; the upper calf binding is fixedly connected to the upper calf connecting rod, and the lower calf binding is fixedly connected to the lower calf connecting rod.

6. The bending and walking assisting exoskeleton according to claim 5, characterized in that: The ankle joint module includes an upper ankle joint connector, a torsion spring and a lower ankle joint connector; the upper end of the upper ankle joint connector is fixedly connected to the lower end of the lower calf connecting rod, the lower end of the upper ankle joint connector is rotatably connected to the upper end of the lower ankle joint connector, and the lower end of the lower ankle joint connector is fixedly connected to the foot plate; one end of the torsion spring is connected to the upper ankle joint connector, and the other end is connected to the lower ankle joint connector.

7. The bending and walking assisting exoskeleton according to claim 1, characterized in that: The upper body wearing unit includes a front chest armor, a rear back armor, an elastic connecting belt, a back width adjustment rod and a telescopic adjustment plate; the front chest armor is connected to the rear back armor by an elastic connecting belt, the telescopic adjustment plate is fixedly connected to the rear side of the rear back armor, two back width adjustment rods are symmetrically embedded on both sides of the telescopic adjustment plate, and the connection position of the back width adjustment rod and the telescopic adjustment plate is adjustable.

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