A leg exoskeleton follow-up support mechanism for deep squat work

Abstract

The application discloses a leg exoskeleton follow-up supporting mechanism for deep squat operation and relates to the technical field of leg exoskeletons, which comprises a seat cushion and a supporting plate arranged at the lower end of the seat cushion. A fixing plate is rotatably arranged on the outer side of the supporting plate, and a control plate is rotatably arranged on the outer side of the fixing plate. The leg exoskeleton follow-up supporting mechanism for deep squat operation can drive the leg band to move synchronously when the user's leg is bent, can drive the elastic rope to slide on the outer side of the pulley when the leg band is pulled, can offset a part of the weight that the user's leg needs to bear through the elastic tension of the elastic rope, can reduce the weight of the user's leg joint, can make the user keep the deep squat operation posture more easily, can reduce the leg strain caused by long-term deep squat operation, and can assist the user in unfolding the legs through the elastic force of the thrust spring and the reset thrust of the telescopic rod, can help the user complete the reset action more quickly and with less effort, and can reduce the leg load during the standing-up process.

Description

Technical Field

[0001] This invention relates to the field of leg exoskeleton technology, specifically to a leg exoskeleton follow-up support mechanism for squatting operations. Background Technology

[0002] In the installation of equipment on photovoltaic brackets, semiconductor, and lithium battery automated production lines, workers often need to perform squatting operations in confined spaces with a height of less than 1.2 meters. Existing technologies mostly use "wearable seats" or passive hydraulic / spring exoskeletons. The leg exoskeleton's follow-up support mechanism adapts to the human body's squatting and flexion-extension movements. It consists of a hip and knee hinge bracket, an elastic energy storage component, a follow-up limiting structure, and wearable fasteners. The mechanism conforms to the biomimetic joint layout of the human lower limbs and can adaptively follow and deflect with squatting and standing movements. When squatting, the elastic component buffers the load and distributes the load between the torso and lower limbs. It is suitable for scenarios such as construction work and warehouse handling that require frequent squatting operations, achieving passive follow-up support, load reduction protection, and work adaptation in one.

[0003] Patent publication number CN115946101A discloses a leg-assisting exoskeleton. By adjusting the height, the stride length of the human body can be controlled. The shoulder strap is only used for fixation. The upper part of the waist support and the leg can swing left and right. By swinging, the left and right rotation of the legs can be controlled to control the direction of travel. By simply picking up and wearing the assistive exoskeleton, one can walk upright and climb stairs. It is convenient and quick to use. The walking distance and speed can be controlled by the frequency and amplitude of arm swing.

[0004] Patent publication number CN219132303U discloses a material handling assistive exoskeleton robot. Through the cooperation of a hip joint power module, a back module, a waist flexible strap module, a hip joint sensing module, a thigh flexible strap module, and a connecting tube, it can provide assistance to the lower limbs and waist of the human body during the material handling process and perform auxiliary operations, which can reduce the physical energy consumption and lumbar muscle wear of the human body during the work process.

[0005] Patent publication number CN212947800U discloses an exoskeleton anti-fall structure, a leg exoskeleton, and an exoskeleton device. The support plate can be worn on the soles of the wearer's feet to transfer the weight of the exoskeleton to the ground, reducing the wearer's feeling of weight. The first support frame and the second support frame, as well as the second support frame and the third support frame, can rotate relative to each other, increasing the range of motion and flexibility of the wearer's lower legs.

[0006] While the leg exoskeletons in the aforementioned patents can reduce the burden of wearing them and increase the range of motion of the wearer's lower legs, they still have the following problems in actual use: when facing a squatting posture that needs to be maintained for a long time, and most of the leg exoskeletons in the aforementioned patents can only provide assistance when the wearer stands up, they cannot continuously share the burden of the legs while the user is maintaining a squatting posture. Prolonged squatting can still easily lead to leg joint strain, and they cannot provide stable support assistance while the user is maintaining a squatting posture.

[0007] To address the aforementioned issues, there is an urgent need for innovative design based on the existing support mechanisms. Summary of the Invention

[0008] The purpose of this invention is to provide a leg exoskeleton follow-up support mechanism for squatting operations, in order to solve the problems mentioned in the background art, which are that when facing a squatting posture that needs to be maintained for a long time, most of the leg exoskeletons in the above-mentioned patents can only provide assistance when the wearer stands up, and cannot continuously share the weight of the legs while the user maintains the squatting posture. Prolonged squatting can still easily lead to leg joint strain, and cannot provide stable support assistance while the user maintains the squatting posture.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a leg exoskeleton follow-up support mechanism for squatting operations, comprising a seat cushion and a support plate disposed at the lower end of the seat cushion; a fixing plate is rotatably mounted on the outer side of the support plate, and a control plate is rotatably mounted on the outer side of the fixing plate, and a long screw is rotatably mounted on the upper end of the control plate, a torsion spring is sleeved on the outer side of the long screw, a support rod is rotatably mounted on the outer side of the fixing plate, and an ankle connecting plate is rotatably mounted on the lower end of the support rod, and two sets of foot fixing plates are rotatably mounted between the two sets of ankle connecting plates; the force-saving structure disposed on the outer side of the fixing plate can reduce the load on the leg joint bending.

[0010] Preferably, the labor-saving structure includes a pulley, which is rotatably mounted on the side of the fixed plate near the seat. An elastic rope is wound around the outside of the pulley, and a leg strap is provided on the outer side of the elastic rope away from the seat. This allows the user's legs to move synchronously with the leg strap when squatting. The leg strap pulls the elastic rope to slide and extend on the surface of the pulley. The elastic force generated by the deformation of the elastic rope can pull the user's legs in the opposite direction, offsetting part of the weight of the torso and work equipment applied to the leg joints. This reduces the load on the legs when the user maintains a squatting posture for a long time, effectively reducing the risk of joint wear and muscle strain caused by long-term squatting work.

[0011] Preferably, a support leg is rotatably mounted on the lower end of the support plate, and a connecting rod plate is rotatably mounted between the support leg and the control plate. A foot fixing plate is provided between the two sets of support legs, so that when the user places his / her buttocks on the cushion, the support leg can work together with the foot fixing plate to support the entire device, improve the overall stability of the device after it is placed on the ground, prevent it from tipping over, and ensure the normal operation of the support work.

[0012] Preferably, a positioning plate is fixedly installed between the two sets of support rods, and the positioning plate is located at the upper end of the two sets of foot fixing plates. The distance between the upper ends of the two sets of support rods is smaller than the distance between their lower ends, which allows the support rods to have an outward-expanding layout, which can adapt to the leg placement space of users of different body types, avoid interference of the device components with leg movements during use, and at the same time, the positioning plate can limit and fix the relative position of the two support rods, improving the stability of the overall structure.

[0013] Preferably, the fixing plate is located at both ends of the control plate, and the fixing plate is located at the lower end of the support plate, and the support plate is snapped to one end of the torsion spring.

[0014] Preferably, the two sets of fixing plates are located on the outside of the two sets of support rods, and the support rods are distributed in an inverted "L" shape when viewed from the side. The two sets of foot fixing plates set at the front and rear of the lower end of the support rods are in the same horizontal plane. At the same time, the foot fixing plates and the foot rod fixing plates are centered about the vertical center axis of the support plate, which can make the force of the whole device more even. The foot fixing plates and the support rods can evenly distribute the overall load on the ground, avoid uneven local force causing the device to tip over, and improve the overall stability during the squatting operation.

[0015] Preferably, the auxiliary structure provided at the lower end of the tray can assist in the repositioning of the legs. The auxiliary structure includes a positioning rod, which is fixedly installed between two sets of support rods and is located at the lower end of the tray.

[0016] Preferably, a limiting rod is fixedly installed on the outer side of the positioning rod, and a lifting block is slidably installed on the outer side of the limiting rod. The thrust spring sleeved on the outer side of the limiting rod is located at the upper end of the lifting block. At the same time, a guide roller is rotatably installed on the outer side of the positioning rod, which allows the support rod to drive the positioning rod to move closer to the support plate during the user's squatting process. Pulling the tension rope causes the sliding block to slide downward on the outer side of the sliding rod. During the downward movement of the sliding block, the telescopic rod is compressed, and the telescopic rod is compressed to store energy. At this time, the thrust spring is also simultaneously compressed by the lifting block to accumulate elastic thrust, storing elastic potential energy for subsequent standing up and resetting.

[0017] Preferably, the auxiliary structure further includes a sliding rod, which is fixedly installed at the lower end of the support plate. A sliding block is slidably installed on the outer side of the sliding rod, and a labor-saving roller is rotatably installed on the outer side of the sliding block. A tension rope is provided on the outer side of the labor-saving roller and the guide roller, and the two ends of the tension rope are respectively connected to the lifting block and the positioning rod. This allows the push spring to release its elastic force to push the lifting block down when the user needs to stand up and reset. At the same time, the telescopic rod releases its reset thrust to push the sliding block up. During the upward movement of the sliding block, the support rod and the fixed plate open outward, thereby assisting the user to extend and straighten their legs outward, helping the user to complete the standing action faster and with less effort, and further reducing the load that the legs need to bear during the standing process.

[0018] Preferably, a telescopic rod is rotatably mounted between the sliding block and the positioning rod, and the connection between the telescopic rod and the positioning rod is located at the upper end of the lifting block.

[0019] Compared with existing technologies, the beneficial effects of this invention are as follows: When the user squats, the bending of the legs causes the leg straps to move accordingly, pulling the elastic rope to slide along the pulley. The elasticity offsets part of the weight-bearing on the legs, reducing joint load and making it easier to maintain a squatting posture, thus alleviating leg strain caused by long-term work. During the squatting process, the angle of the support rod changes, the lifting block moves down along the limit rod to compress the thrust spring, and the tension rope drives the sliding block and the labor-saving roller to move down along the sliding rod to compress the telescopic rod. When standing up, the spring and the telescopic rod's return elasticity provides assistance, helping the legs extend and return to their original position, reducing the burden of exerting force when standing up. The torsion spring provides elastic limit to the rotation of the control plate and the fixed plate, storing energy during squatting and releasing energy when standing up to provide auxiliary support, further reducing the burden with the labor-saving structure. No additional power components are required, the structure is simple, the use and maintenance costs are low, and it is suitable for long-term squatting work in workshops and outdoors.

[0020] 1. When a user performs a squat, the bending of the user's legs will cause the leg straps to move synchronously. The leg straps pull the elastic rope to slide on the outside of the pulley. The elastic tension of the elastic rope can offset some of the weight that the user's legs need to bear, thereby reducing the load on the user's leg joints. This allows the user to maintain the squatting posture more easily and reduces leg strain caused by long-term squatting.

[0021] 2. When the user squats, as the angle of the support rod changes, the lifting block will move down along the limit rod to compress the thrust spring, while simultaneously pulling the tension rope. The tension rope pulls the sliding block and the labor-saving roller down along the sliding rod, compressing the telescopic rod. When the user finishes the task and needs to stand up, the elasticity of the thrust spring and the return thrust of the telescopic rod can assist the user's legs in unfolding, helping the user to complete the return and stand-up action faster and with less effort, reducing the leg load during the standing process.

[0022] 3. Furthermore, the torsion spring can provide elastic auxiliary limit for the rotation between the control plate and the fixed plate. When the user squats, the control plate rotates and compresses the torsion spring. When standing up, the elastic force of the torsion spring can provide support thrust simultaneously. Combined with the labor-saving structure and auxiliary structure, it further reduces the force load on the legs. At the same time, this structure does not require additional power components, the overall structure is simple, the maintenance and use costs are lower, and it is more suitable for long-term outdoor or workshop squatting operation scenarios.

[0023] 4. Furthermore, the long screw allows for flexible adjustment of the preload of the torsion spring. Users can adjust the spring force according to their own weight and work requirements, making the support strength more suitable for individual use and improving the adaptability and comfort of the device.

[0024] 5. Furthermore, the support legs can provide additional ground support when the user is squatting still, transferring some of the body weight directly to the ground through the support legs, further distributing the load on the legs, allowing the user to maintain a squatting posture for a long time without quickly becoming fatigued. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ; Figure 4 This is a three-dimensional structural diagram of the leg strap of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the fixing plate of the present invention; Figure 6 This is a three-dimensional structural diagram of the telescopic rod of the present invention.

[0026] In the diagram: 1. Seat cushion; 2. Fixing plate; 3. Leg straps; 4. Support rod; 5. Ankle connecting plate; 6. Foot fixing plate; 7. Support plate; 8. Supporting foot rod; 9. Connecting rod plate; 10. Torsion spring; 11. Elastic rope; 12. Pulley; 13. Long screw; 14. Positioning plate; 15. Foot rod fixing plate; 16. Control panel; 17. Sliding rod; 18. Sliding block; 19. Labor-saving roller; 20. Guide roller; 21. Pull rope; 22. Telescopic rod; 23. Limiting rod; 24. Lifting block; 25. Thrust spring; 26. Positioning rod. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Example 1: In a specific embodiment, the present invention provides the following technical solution: a leg exoskeleton follow-up support mechanism for squatting operations, such as... Figures 1-4 The image shows the wearing and use process of the exoskeleton follow-up support mechanism.

[0029] The seat cushion 1 and the support plate 7 at the lower end of the seat cushion 1 are provided. A fixing plate 2 is rotatably mounted on the outer side of the support plate 7, and a control plate 16 is rotatably mounted on the outer side of the fixing plate 2. A long screw 13 is rotatably mounted on the upper end of the control plate 16, and a torsion spring 10 is sleeved on the outer side of the long screw 13. A support rod 4 is rotatably mounted on the outer side of the fixing plate 2, and an ankle connecting plate 5 is rotatably mounted on the lower end of the support rod 4. Two sets of foot fixing plates 6 are rotatably mounted between the two sets of ankle connecting plates 5. The force-saving structure on the outer side of the fixing plate 2 can reduce the load on the leg joint bending. The force-saving structure includes a pulley 12, and the pulley 12 is rotatably mounted on the side of the fixing plate 2 near the seat cushion 1. An elastic rope 11 is wound around the outer side of the pulley 12, and a leg strap 3 is provided on the outer side of the end of the elastic rope 11 away from the seat cushion 1. The lower end of the support plate 7 is provided with a support plate 2. A support rod 8 is rotatably installed, and a connecting rod plate 9 is rotatably installed between the support rod 8 and the control plate 16. A foot rod fixing plate 15 is provided between the two sets of support rods 8. A positioning plate 14 is fixedly installed between the two sets of support rods 4. The positioning plate 14 is located at the upper end of the two sets of foot fixing plates 6. The distance between the upper ends of the two sets of support rods 4 is smaller than the distance between their lower ends. Fixing plates 2 are located at both ends of the control plate 16. Fixing plates 2 are located at the lower end of the support plate 7. The support plate 7 is snapped to one end of the torsion spring 10. The two sets of fixing plates 2 are located on the outside of the two sets of support rods 4. The support rods 4 are distributed in an inverted "L" shape when viewed from the side. The two sets of foot fixing plates 6 set at the lower end of the support rods 4 are in the same horizontal plane. At the same time, the foot fixing plates 6 and the foot rod fixing plates 15 are centered about the vertical center axis of the support plate 7.

[0030] When using the leg exoskeleton follow-up support mechanism for squatting, the exoskeleton follow-up support mechanism needs to be worn on the outside of the user's lower leg, with the seat 1 positioned above the knee joint and the support plate 7 positioned behind the leg. The sole of the foot needs to be placed directly on the upper end of the foot fixation plate 6, and the leg strap 3 is limited to the outside of the leg by tightening the elastic rope 11, thus completing the limiting and fixing of the mechanism.

[0031] When the knee is bent after wearing the device, the thigh compresses the seat 1 and the support plate 7 rotates on the outside of the fixed plate 2, completing the bend between the lower leg and thigh at the knee position. During the rotation of the support plate 7, the torsion spring 10 is compressed and contracts. In this process, the support plate 7 can be bent by its own weight. After the knee bend is completed and it returns to its original position so that the lower leg and thigh tend to be upright, the coiled torsion spring 10 expands and pushes the seat 1 towards an upright position through the support plate 7. This reduces the force required for the human knee joint to be upright, reducing the force contribution of the knee joint during squatting by 20%-30%, and significantly relieving knee pain caused by long-term squatting.

[0032] Furthermore, during the knee squat, the rotation of the support plate 7 causes the support leg 8 and the connecting plate 9 to rotate, allowing the lower end of the support leg 8 to directly support the ground after rotation, improving the stability of the personnel wearing the mechanism. In the locked state, a single leg can withstand a vertical load of more than 40kg, ensuring the limb stability of technicians during precision assembly and effectively improving the ease of use of the mechanism.

[0033] Example 2: In one specific embodiment, such as Figures 1-6 As shown, the mechanism can further reduce the force required for the knee joint to change from a bent to an upright position.

[0034] An auxiliary structure at the lower end of the support plate 7 assists in leg repositioning. This auxiliary structure includes a positioning rod 26, which is fixedly installed between two sets of support rods 4 and located at the lower end of the support plate 7. A limit rod 23 is fixedly installed on the outer side of the positioning rod 26, and a lifting block 24 is slidably installed on the outer side of the limit rod 23. A thrust spring 25 sleeved on the outer side of the limit rod 23 is located at the upper end of the lifting block 24. A guide roller 20 is rotatably installed on the outer side of the positioning rod 26. The auxiliary structure also includes a sliding... A movable rod 17 and a sliding rod 17 are fixedly installed at the lower end of the support plate 7. A sliding block 18 is slidably installed on the outer side of the sliding rod 17. A force-saving roller 19 is rotatably installed on the outer side of the sliding block 18. A tension rope 21 is provided on the outer side of the force-saving roller 19 and the guide roller 20. The two ends of the tension rope 21 are respectively connected to the lifting block 24 and the positioning rod 26. A telescopic rod 22 is rotatably installed between the sliding block 18 and the positioning rod 26. The connection between the telescopic rod 22 and the positioning rod 26 is located at the upper end of the lifting block 24.

[0035] When using the leg exoskeleton follow-up support mechanism for squatting, the support plate 7 needs to rotate when the knee joint bends. When the support plate 7 rotates, the sliding block 18 slides on the outside of the sliding rod 17, and the telescopic rod 22 expands. At this time, the lifting block 24 moves upward on the outside of the limit rod 23. During the upward movement of the lifting block 24, the thrust spring 25 contracts, and the sliding block 18 drives the labor-saving roller 19 to move synchronously. At this time, the tension rope 21 is in a taut state.

[0036] As the knee joint tends towards an upright position, the support plate 7 needs to rotate from a horizontal to a vertical position. At this time, the contracted thrust spring 25 expands and pushes the lifting block 24 downward outside the limiting rod 23. The limiting rod 23 then pulls the labor-saving roller 19 to reset via the tension rope 21. The labor-saving roller 19 causes the sliding block 18 to slide and reset outside the sliding rod 17. During the reset process of the sliding block 18, the telescopic rod 22 rotates and retracts. The tension rope 21 wraps around the outside of the labor-saving roller 19 and causes the labor-saving roller 19 to move, which can improve the transmission efficiency of the reset force of the thrust spring 25 between the support plate 7 and the seat cushion 1, further reducing the burden on the knee joint.

[0037] Example 3: Based on the above examples, such as... Figures 1-6 As shown, the overall usage process of the support structure is disclosed.

[0038] When using this leg exoskeleton support mechanism for squatting, the user can adjust the fixed position of the leg straps 3 according to their leg length. The elastic rope 11 maintains the initial tension of the leg straps 3, adapting to different calf sizes. After wearing, no additional adjustments are needed to start the operation. At the same time, the width of the leg straps 3 is moderate, which can reduce the feeling of restriction during the use of the mechanism. When the user performs a squatting motion, the thigh presses down on the seat cushion 1 as the knee bends, causing the support plate 7 to rotate synchronously around the fixed plate 2. The torsion spring 10 is compressed and stored. When the sliding block 18 moves, the telescopic rod 22 can extend, retract, and rotate accordingly to adapt to different leg movement states. At the same time, the support foot rod 8 rotates through the connecting plate 9 and lowers to the ground to provide auxiliary support. At this time, the elastic rope 11 will stretch further as the thigh moves, and after changing direction through the pulley 12, it will continue to provide upward auxiliary pulling force, sharing the force on the knee joint together with the torsion spring 10. When the work is completed and it is necessary to stand up, the compressed and stored torsion spring 10 and the contracted thrust spring 25 release elastic potential energy simultaneously. The torsion spring 10 directly pushes the support plate 7 to reset and rotate, and the thrust spring 25 pulls the sliding block 18 to reset through the tension rope 21, indirectly pushing the support plate 7 back to the initial position. The two work together to provide auxiliary support force for the knee joint to stand upright, further reducing the force load on the muscles and joints during the standing process. Repeated squatting and standing movements can also maintain a stable auxiliary support effect, effectively alleviating the limb strain caused by long-term squatting work and increasing the overall creativity.

[0039] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0040] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A leg exoskeleton follow-up support mechanism for squatting operations, comprising a seat (1) and a support plate (7) disposed at the lower end of the seat (1). Its features are: A fixing plate (2) is rotatably mounted on the outer side of the support plate (7), and a control plate (16) is rotatably mounted on the outer side of the fixing plate (2). A long screw (13) is rotatably mounted on the upper end of the control plate (16). A torsion spring (10) is sleeved on the outer side of the long screw (13). A support rod (4) is rotatably mounted on the outer side of the fixing plate (2), and an ankle connecting plate (5) is rotatably mounted on the lower end of the support rod (4). At the same time, two sets of foot fixing plates (6) are rotatably mounted between the two sets of ankle connecting plates (5). The force-saving structure set on the outer side of the fixing plate (2) can reduce the load on the leg joint bending.

2. The leg exoskeleton follow-up support mechanism for squatting operations according to claim 1, characterized in that: The labor-saving structure includes a pulley (12), which is rotatably mounted on the side of the fixed plate (2) near the seat cushion (1). An elastic rope (11) is wound around the outside of the pulley (12), and a leg strap (3) is provided on the outside of the end of the elastic rope (11) away from the seat cushion (1).

3. The leg exoskeleton follow-up support mechanism for squatting operations according to claim 2, characterized in that: The lower end of the support plate (7) is rotatably mounted with a support rod (8), and a connecting rod plate (9) is rotatably mounted between the support rod (8) and the control plate (16), and a rod fixing plate (15) is provided between the two sets of support rods (8).

4. The leg exoskeleton follow-up support mechanism for squatting operations according to claim 3, characterized in that: A positioning plate (14) is fixedly installed between the two sets of support rods (4), and the positioning plate (14) is located at the upper end of the two sets of foot fixing plates (6), and the distance between the upper ends of the two sets of support rods (4) is smaller than the distance between their lower ends.

5. A leg exoskeleton follow-up support mechanism for squatting operations according to claim 4, characterized in that: The fixing plate (2) is located at both ends of the control plate (16), and the fixing plate (2) is located at the lower end of the support plate (7), and the support plate (7) is snapped to one end of the torsion spring (10).

6. A leg exoskeleton follow-up support mechanism for squatting operations according to claim 5, characterized in that: The two sets of fixing plates (2) are located outside the two sets of support rods (4), and the support rods (4) are distributed in an inverted "L" shape when viewed from the side. The two sets of foot fixing plates (6) set at the lower end of the support rods (4) are in the same horizontal position. At the same time, the foot fixing plates (6) and the foot rod fixing plates (15) are centered about the vertical center axis of the support plate (7).

7. A leg exoskeleton follow-up support mechanism for squatting operations according to claim 6, characterized in that: The auxiliary structure provided at the lower end of the tray (7) can assist the leg in resetting. The auxiliary structure includes a positioning rod (26), which is fixedly installed between two sets of support rods (4) and is located at the lower end of the tray (7).

8. A leg exoskeleton follow-up support mechanism for squatting operations according to claim 7, characterized in that: A limiting rod (23) is fixedly installed on the outside of the positioning rod (26), and a lifting block (24) is slidably installed on the outside of the limiting rod (23). A thrust spring (25) sleeved on the outside of the limiting rod (23) is located at the upper end of the lifting block (24), and a guide roller (20) is rotatably installed on the outside of the positioning rod (26).

9. A leg exoskeleton follow-up support mechanism for squatting operations according to claim 8, characterized in that: The auxiliary structure also includes a sliding rod (17), which is fixedly installed at the lower end of the support plate (7). A sliding block (18) is slidably installed on the outer side of the sliding rod (17). A labor-saving roller (19) is rotatably installed on the outer side of the sliding block (18). A tension rope (21) is provided on the outer side of the labor-saving roller (19) and the guide roller (20). The two ends of the tension rope (21) are respectively connected to the lifting block (24) and the positioning rod (26).

10. A leg exoskeleton follow-up support mechanism for squatting operations according to claim 9, characterized in that: A telescopic rod (22) is rotatably mounted between the sliding block (18) and the positioning rod (26), and the connection between the telescopic rod (22) and the positioning rod (26) is located at the upper end of the lifting block (24).

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