A wearable, sit-to-stand exoskeleton assistive device

Abstract

This invention provides a feasible and sedentary exoskeleton assistive device, relating to the field of exoskeleton equipment. It includes a waist belt for covering the waist area; two sets of walking assist mechanisms symmetrically arranged on both sides of the waist belt and connected to it, used to cover and drive the thighs to swing, providing assistance to the lower limbs; and a sitting support mechanism including two sets of sitting support units, one end of which is elastically connected to the waist belt, and the other end of which is drively connected to the two sets of walking assist mechanisms. When the two sets of walking assist mechanisms are in a walking posture, the sitting support mechanism is in a closed state and moves with the walking assist mechanisms. When the two sets of walking assist mechanisms drive the thighs to swing to a preset position to switch to a sitting posture, the sitting support mechanism is simultaneously driven to switch from a closed state to an open state, and is positioned corresponding to the buttocks of the human body, providing support for the buttocks in a sitting posture, thus achieving assistance while walking and support while sitting.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton equipment, and more particularly to a feasible and seatable exoskeleton assistive device. Background Technology

[0002] Exoskeletons, as wearable mechanical assistive devices, are primarily used to enhance human mobility and reduce limb load. They are widely applied in various scenarios such as rehabilitation medicine, industrial operations, and outdoor exploration. Their core requirement is to provide stable assistance without affecting the flexibility of human movement. Lower limb assistive robots, as a core branch of exoskeletons, can be used to meet lower limb assistance needs in different scenarios. Human daily activities include not only walking but also sitting and maintaining a seated posture. However, existing lower limb assistive robots mostly focus on walking assistance and lack adaptation designs for seated states. They can usually only provide hip and knee joint flexion and extension assistance when the human is upright and walking, making it difficult to achieve the effect of "assistance while walking and support while sitting".

[0003] Therefore, there is an urgent need for a feasible and sitable exoskeleton assistive device that can both assist the human body in walking and provide support when the human body is sitting. Summary of the Invention

[0004] The purpose of this invention is to address the above problems by providing a feasible and sitable exoskeleton assistive device that can assist the human body in walking and provide support when the human body is sitting.

[0005] This invention provides a feasible and seatable exoskeleton assistive device, comprising: a waist belt, the waist belt being used to cover the periphery of the human waist; Two sets of walking assistance mechanisms are symmetrically arranged on both sides of the waist belt and connected to the waist belt, used to cover and drive the thigh to swing to provide assistance to the human lower limbs. A sitting support mechanism, comprising two sets of sitting support units, one end of each set of sitting support units being elastically connected to the waist belt, and the other end being transmissionally connected to the two sets of walking assistance mechanisms. When the two sets of walking assistance mechanisms are in a walking posture, the sitting support mechanism is in a closed state and moves with the walking assistance mechanisms; when the two sets of walking assistance mechanisms drive the thighs to swing to a preset position to switch to a sitting posture, the sitting support mechanism is simultaneously driven to switch from a closed state to an open state and is positioned corresponding to the human buttocks to support the human buttocks in the sitting posture.

[0006] According to the technical solutions provided in certain embodiments of the present invention, the walking assistance mechanism includes: A hip joint connector, which is fixedly connected to the waist belt; An elastic assist mechanism is connected to the hip joint connector. A thigh support assembly, wherein the thigh support assembly is connected to the elastic assist mechanism via a transmission connection; A transmission connector is disposed on the thigh covering assembly and is transmissionally connected to the sitting posture support unit; The elastic assist mechanism is in a compressed state when the thigh falls and switches to a released state when the thigh is lifted. It also pushes the thigh-covering component to rotate through elastic restoring force to provide assistance for human walking.

[0007] According to the technical solutions provided in certain embodiments of the present invention, the elastic assist mechanism includes: A power-assisting shell, which is fixedly connected to the hip joint connector and is hollow inside; An elastic assist component is disposed inside the assist shell, with one end of the elastic assist component rotatably connected to the assist shell and the other end fixedly connected to the thigh wrapping component.

[0008] According to the technical solutions provided by certain embodiments of the present invention, a cam guide rail is provided circumferentially inside the power-assisting housing, and the distance between the cam guide rail and the center of the power-assisting housing is the power-assisting engagement distance, which gradually increases from the side closer to the human buttocks to the side farther away from the human buttocks.

[0009] According to certain embodiments of the present invention, the elastic assist component includes: A hip connection assembly, which is rotatably connected to the center of the assist housing; A leg connector, which is fixedly connected to the thigh covering assembly; A rolling element is provided through the leg connector, and the outer wall of the rolling element is in contact with the cam guide rail for rolling along the cam guide rail; An elastic element is disposed between the hip connection assembly and the leg connection assembly and is connected to the hip connection assembly and the leg connection assembly respectively; When the thigh is lowered, the rolling element rolls on the cam guide rail from the side away from the buttocks to the side closer to the buttocks, shortening the assisting distance and compressing the elastic element. When the thigh is raised, the rolling element rolls on the cam guide rail from the side closer to the buttocks to the side away from the buttocks, increasing the assisting distance and releasing the elastic element. The elastic element then pushes the leg connector and thigh covering assembly to rotate through elastic restoring force, providing assistance for walking.

[0010] According to certain embodiments of the present invention, the sitting support unit includes: a first support component and a second support component arranged crosswise and rotatably connected, the first support component being rotatably connected to the transmission connector, and an elastic support belt connecting the first support component and the second support component, the elastic support belt being used to support the human buttocks when the sitting support mechanism is in the unfolded state.

[0011] According to the technical solutions provided in some embodiments of the present invention, the first support component includes: A first support rod is rotatably connected to the transmission connector. The second support rod is slidably sleeved inside the first support rod; The first locking element passes through the first support rod and the second support rod, and is used to fix the relative position of the two.

[0012] According to the technical solutions provided in certain embodiments of the present invention, the second support component includes: The third support rod is arranged to cross the first support rod and is rotatably connected by a pivot. The third support rod is open at both ends and hollow inside. The fourth support rod is slidably sleeved on one end of the third support rod; The fifth support rod is slidably sleeved on the other end of the third support rod; The second locking member passes through the third support rod and the fourth support rod to fix their relative positions; The third locking element passes through the third support rod and the fifth support rod in sequence to fix their relative positions.

[0013] According to certain embodiments of the present invention, the fifth support rod has a first connecting end and a second connecting end, the first connecting end being connected to the first support rod via an elastic support belt; the second connecting end being connected to the transmission connector via an elastic support belt, and the first connecting end and the second connecting end being located on the side of the first support rod that is relatively closer to the human buttocks.

[0014] According to the technical solutions provided by certain embodiments of the present invention, the pivot passes through the third support rod and the first support rod, and extends out of the third support rod and the first support rod at both ends respectively. The two ends of the pivot are respectively provided with a back strap connector; the two sides of the back strap connector are provided with a first elastic back strap, and one end of the first elastic back strap is connected to the corresponding elastic support strap, and the other end is connected to the waist belt through a back strap adapter.

[0015] This invention provides a feasible and seatable exoskeleton assistive device, comprising: a waist belt for covering the waist area of ​​a human body; two sets of walking assist mechanisms symmetrically arranged on both sides of the waist belt and connected to it, for covering and driving the thighs to swing to provide assistance to the lower limbs; and a sitting support mechanism comprising two sets of sitting support units, one end of each set of sitting support units being elastically connected to the waist belt, and the other end being drively connected to the two sets of walking assist mechanisms; when the two sets of walking assist mechanisms are in a walking posture, the sitting support mechanism is in a closed state and moves with the walking assist mechanisms; when the two sets of walking assist mechanisms drive the thighs to swing to a preset position to switch to a sitting posture, the sitting support mechanism is simultaneously driven to switch from a closed state to an open state and is positioned corresponding to the buttocks of the human body to support the buttocks in the sitting posture. This invention achieves coordinated linkage between walking assistance and sitting support by using two sets of walking assistance mechanisms symmetrically arranged on both sides of a waist belt and connected to the waist belt, and a sitting support mechanism with one end elastically connected to the waist belt and the other end drivingly connected to the walking assistance mechanisms. When the two sets of walking assistance mechanisms are in a walking posture, the sitting support mechanism is simultaneously in a closed state and moves with the walking assistance mechanisms, thereby providing assistance for the lower limbs during walking, effectively reducing the load on the lower limbs during walking, enhancing the body's motor ability, and ensuring the flexibility and smoothness of the walking process, meeting the body's daily walking assistance needs. When the walking assistance mechanism drives the thigh to swing to a preset sitting position, it simultaneously drives the sitting support mechanism to switch from a closed state to an open state. After opening, it corresponds to the body's buttocks position, providing support for the body in a sitting position, ultimately achieving the effect of "assistance while walking and support while sitting," effectively solving the problem that existing devices cannot simultaneously provide walking assistance and sitting support.

[0016] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this invention do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the walking posture of the walking assistance mechanism provided in an embodiment of the present invention; Figure 2 A schematic diagram of the sitting posture of the walking assistance mechanism provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the walking assistance mechanism provided in an embodiment of the present invention; Figure 4 A schematic diagram of the elastic assist mechanism provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of the hip connection assembly provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the elastic element provided in an embodiment of the present invention; Figure 7 A schematic diagram of the structure of the first support component provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the second support component provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the sitting posture support unit provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the structure of the shoulder strap adapter provided in an embodiment of the present invention.

[0019] The text labels in the image represent: 1. Waist belt; 2. Walking assistance mechanism; 3. Seating support unit; 4. Elastic support belt; 5. Rotary shaft; 7. Limiting component; 22. Hip joint connector; 24. Elastic assist mechanism; 25. Thigh wrap assembly; 251. Thigh wrap assembly; 252. Thigh bar; 26. Transmission connector; 27. Cam guide rail; 31. First support assembly; 32. Second support assembly; 61. Back strap connector; 62. First elastic back strap; 63. Back strap adapter; 631. Adapter base; 632. Second elastic back strap; 241. Assist shell; 2411. Through groove; 2412. Fixing component; 242. Elastic assist assembly; 242 1. Hip connection assembly; 24211. First connector; 24212. Second connector; 2422. Leg connector; 2423. Roller; 2424. Elastic element; 24241. Upper guide post; 24242. Spring; 24243. Lower guide post; 2425. Clamp; 312. First support rod; 3121. Connecting part; 3122. Adjusting part; 313. Second support rod; 314. First locking element; 321. Third support rod; 322. Fourth support rod; 323. Fifth support rod; 324. Second locking element; 325. Third locking element; a. First connecting end; b. Second connecting end. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. This description is merely illustrative and explanatory, and should not be construed as limiting the scope of protection of the present invention in any way. Specifically, the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0022] As mentioned in the background section, in view of the problems in the prior art, this embodiment provides a feasible and seatable exoskeleton assistive device, including: Waist belt 1, waist belt 1 is used to cover the outer part of the waist of the human body; Two sets of walking assistance mechanisms 2 are symmetrically arranged on both sides of the waist belt 1 and connected to the waist belt 1. They are used to cover and drive the thighs to swing to provide assistance to the human lower limbs. The sitting support mechanism includes two sets of sitting support units 3. One end of each set of sitting support units 3 is elastically connected to the waist belt 1, and the other end is transmittedly connected to two sets of walking assistance mechanisms 2. When the two sets of walking assistance mechanisms 2 are in a walking posture, the sitting support mechanism is in a closed state and moves with the walking assistance mechanism 2; when the two sets of walking assistance mechanisms 2 drive the thighs to swing to a preset position to switch to a sitting posture, the sitting support mechanism is simultaneously driven to switch from a closed state to an open state and is positioned corresponding to the human buttocks to support the human buttocks in a sitting posture.

[0023] For details, please refer to Figure 1 and Figure 2 The feasible and seatable exoskeleton assistive device provided in this embodiment includes a waist belt 1, two sets of walking assist mechanisms 2, and a sitting support mechanism. The waist belt 1 covers the waist area and features a multi-position opening and quick-adjustable buckle design, allowing its size to be adjusted to fit different user waist sizes and ensure a comfortable and stable fit. Two sets of walking assist mechanisms 2 are symmetrically arranged on both sides of the waist belt 1 to cover and drive the thighs, providing assistance to the lower limbs. The sitting support mechanism includes two sets of sitting support units 3, one end of which is elastically connected to the waist belt 1, and the other end is drively connected to the two sets of walking assist mechanisms 2. When the two sets of walking assist mechanisms 2 are in a walking posture, the sitting support mechanism is in a closed state and moves synchronously with the walking assist mechanisms 2. At this time, the sitting support mechanism does not affect the walking gait or lower limb movement, and the walking assist mechanisms 2 continuously provide assistance to the lower limbs. When the two sets of walking assistance mechanisms 2 swing the thighs to a preset position (the position when the human thighs are nearly horizontal) to switch to a sitting posture, since the walking assistance mechanism 2 is connected to the sitting support unit 3, it can synchronously drive the sitting support mechanism from a closed state to an open state, causing the sitting support unit 3 to move to a position corresponding to the human buttocks, thereby supporting the human buttocks in the sitting posture. Similarly, when the two sets of walking assistance mechanisms 2 switch back to the walking posture, they will drive the sitting support mechanism to retract, achieving the linkage switching between walking assistance and sitting support without additional manual operation.

[0024] The feasible and sedentary exoskeleton assistive device provided by this invention achieves coordinated linkage between walking assistance and sedentary support through walking assistance mechanisms 2 on both sides of the waist belt 1 and a sitting support mechanism that is driven to the walking assistance mechanisms 2. When the two sets of walking assistance mechanisms 2 are in a walking posture, the sitting support mechanism closes and moves accordingly, at which time the exoskeleton assistive device provides assistance for human walking; when the two sets of walking assistance mechanisms 2 switch to a sitting posture, the sitting support mechanism unfolds to below the buttocks to provide sitting support, realizing the integrated effect of "walking assistance and sitting support", solving the problem that traditional exoskeletons cannot simultaneously provide walking assistance and sitting support.

[0025] In a preferred embodiment, the walking assistance mechanism 2 includes: Hip joint connector 22, which is fixedly connected to waist belt 1; Elastic assist mechanism 24, which is connected to hip joint connector 22; Thigh-covering component 25, which is connected to the elastic assist mechanism 24 via a transmission. Transmission connector 26 is disposed on thigh covering assembly 25 and is transmissionally connected to sitting support unit 3; The elastic assist mechanism 24 is in a compressed state when the thigh is lowered and switches to a released state when the thigh is raised. It also pushes the thigh covering component 25 to rotate through elastic restoring force to provide assistance for human walking.

[0026] Specifically, such as Figure 3As shown, the walking assistance mechanism 2 includes a hip joint connector 22, an elastic assist mechanism 24, a thigh wrapping assembly 25, and a transmission connector 26. The hip joint connector 22 serves as a lumbar support base, fixedly connected to the waist belt 1, providing stable support and a mounting reference for the overall assist structure. The elastic assist mechanism 24 is mounted on the hip joint connector 22, serving as the core power output component for storing and releasing elastic potential energy. The thigh wrapping assembly 25 forms a transmission connection with the elastic assist mechanism 24, conforming to and wrapping the user's thigh area, swinging synchronously with lower limb movement. When the thigh descends during walking, the elastic assist mechanism 24 is in a compressed state to store elastic potential energy; when the thigh is lifted, the elastic assist mechanism 24 switches from a compressed state to a released state, converting the stored elastic potential energy into its own elastic restoring force to drive the thigh wrapping assembly 25 to rotate around the hip joint, providing assistance for the thigh lifting action, thereby reducing the load on the lower limbs during walking and improving walking ease. The thigh support assembly 25 includes a thigh support piece 251 and a thigh rod 252. The thigh rod 252 is connected to the elastic assist mechanism 24. The thigh support piece 251 is mounted on the thigh rod 252 to cover the human thigh. The installation position of the thigh support piece 251 on the thigh rod 252 can be adjusted along the length of the rod to accommodate different users' thigh lengths, improving fit and versatility. A transmission connector 26 is mounted on the thigh support piece 251 and is connected to the sitting support unit 3 to synchronously transmit the swinging motion of the thigh support assembly 25 to the sitting support unit 3, enabling the linkage switching between walking and sitting postures. In addition, a limiter 7, made of rubber, is provided at the end of the thigh support piece 251 near the sitting support mechanism to restrict the unfolding of the sitting support mechanism when the walking assist mechanism 2 is in the walking posture.

[0027] In a preferred embodiment, the elastic assist mechanism 24 includes: The power assist housing 241 is fixedly connected to the hip joint connector 22 and is hollow inside. Elastic assist component 242 is disposed inside the assist housing 241. One end of the elastic assist component 242 is rotatably connected to the assist housing 241, and the other end is fixedly connected to the thigh covering component 25.

[0028] Specifically, such as Figure 4As shown, the elastic assist mechanism 24 includes two parts: an assist housing 241 and an elastic assist component 242. The assist housing 241 is fixedly connected to the hip joint connector 22 by a fastener 2412 to prevent the assist housing 241 from rotating. The assist housing 241 is hollow inside, with an opening at one end away from the waist belt 1. The elastic assist component 242 is disposed inside the assist housing 241. One end of the elastic assist component 242 is rotatably connected to the assist housing 241, and the other end is fixedly connected to the thigh bar 252. The thigh bar 252 extends from the opening away from the waist belt 1, and its free end is provided with a thigh cover 251. The elastic assist component 242 is in a compressed state when the thigh falls and in a released state when the thigh is raised. It pushes the thigh bar 252 and the thigh cover 251 to rotate through elastic restoring force to provide assistance for human walking. In addition, two through slots 2411 are provided on the assist housing 241 to achieve a lightweight design of the elastic assist mechanism 24 without affecting the rigidity of the assist housing 241.

[0029] In a preferred embodiment, a cam guide rail 27 is provided circumferentially inside the power-assisting housing 241. The distance between the cam guide rail 27 and the center of the power-assisting housing 241 is the power-assisting engagement distance, which gradually increases from the side closer to the human buttocks to the side farther away from the human buttocks.

[0030] Specifically, such as Figure 4 As shown, the power-assist housing 241 is a hollow annular shell structure with a cam guide rail 27 arranged circumferentially on its inner wall. The radial distance between the cam guide rail 27 and the center of the power-assist housing 241 is defined as the power-assist engagement distance H. This power-assist engagement distance H is not a constant value, but gradually increases from the side closer to the buttocks to the side farther away from the buttocks, so that the cam guide rail 27 forms an eccentrically gradually changing cam trajectory.

[0031] In a preferred embodiment, the elastic assist component 242 includes: Hip connection assembly 2421, which is rotatably connected to the center of the assist housing 241; Leg connector 2422 is fixedly connected to thigh covering assembly 25; Roller 2423 is provided through the leg connector 2422, and the outer wall of roller 2423 is in contact with cam guide rail 27 for rolling along cam guide rail 27; Elastic element 2424 is disposed between hip connection assembly 2421 and leg connection assembly 2422 and is connected to hip connection assembly 2421 and leg connection assembly 2422 respectively; When the thigh is lowered, the rolling element 2423 rolls on the cam guide 27 from the side away from the human buttocks to the side closer to the human buttocks, shortening the assist engagement distance, and the elastic element 2424 is in a compressed state; when the thigh is raised, the rolling element 2423 rolls on the cam guide 27 from the side closer to the human buttocks to the side away from the human buttocks, increasing the assist engagement distance, and the elastic element 2424 is in a released state and pushes the leg connector 2422 and the thigh covering assembly 25 to rotate through the elastic restoring force, so as to provide assistance for human walking.

[0032] Specifically, such as Figure 4 As shown, the elastic assist component 242 includes a hip connection component 2421, a leg connector 2422, a rolling element 2423, and an elastic element 2424. For example... Figure 5 As shown, the hip connection assembly 2421 includes a first connector 24211 and a second connector 24212. The first connector 24211 is rotatably connected to the center of the assist housing 241, forming a stable support base. The second connector 24212 is slidably connected to the first connector 24211, and its end is connected to the elastic member 2424. A clamp 2425 is provided on the outer side of the first connector 24211. The clamp 2425 is engaged with the first connector 24211 and connected to the side of the second connector 24212 away from the elastic member 2424. The clamp 2425 can move along the length of the first connector 24211, thereby driving the second connector 24212 to slide, so as to adjust the pre-tightening pressure of the second connector 24212 on the elastic member 2424, thereby adjusting the assist level to suit the assist needs of different users. The leg connector 2422 is fixedly connected to the thigh covering assembly 25 and is used to transfer elastic potential energy to the thigh area. A rolling element 2423 is mounted through the leg connector 2422, its outer wall fitting against the cam guide 27, allowing it to roll circumferentially along the cam guide 27. An elastic element 2424 is located between the hip connector 2421 and the leg connector 2422, abutting against both, to store elastic potential energy during deformation and provide elastic restoring force during recovery. Figure 6As shown, in this embodiment, the elastic elements 2424 are in two sets and arranged in parallel. Each set of elastic elements 2424 includes an upper guide post 24241, a spring 24242, and a lower guide post 24243. The upper guide post 24241 and the lower guide post 24243 are coaxially arranged. One end of the upper guide post 24241, away from the lower guide post 24243, passes through a mounting hole on the bottom surface of the hip connection assembly 2421. One end of the lower guide post 24243, away from the upper guide post 24241, passes through a mounting hole on the bottom surface of the leg connection assembly 2422. The other end of the lower guide post 24243 passes inside the upper guide post 24241 and can slide along the length of the upper guide post 24241. The spring 24242 is sleeved between the upper guide post 24241 and the lower guide post 24243, with both ends abutting against the end faces of the upper guide post 24241 and the lower guide post 24243, respectively. The upper guide post 24241 and the lower guide post 24243 can radially limit the spring 24242 to prevent the spring 24242 from deflecting, becoming unstable or shifting laterally during compression and release, ensuring that the elastic element 2424 is subjected to uniform force and improving the stability and reliability of the power assist output.

[0033] When the thigh descends during walking, the rolling element 2423 rolls along the cam guide 27 from the side away from the buttocks to the side closer to the buttocks, gradually shortening the assisting distance H. The distance between the upper guide post 24241 and the lower guide post 24243 also shortens, forcing the spring 24242 to be compressed and store energy. When the thigh is lifted, the rolling element 2423 rolls along the cam guide 27 from the side closer to the buttocks to the side away from the buttocks, gradually increasing the assisting distance H. The distance between the upper guide post 24241 and the lower guide post 24243 also increases, and the spring 24242 switches from the compressed state to the released state. Through elastic restoring force, it pushes the leg connector 2422 and the thigh covering assembly 25 to rotate, providing assistance for lifting the thigh and making walking easier and less strenuous.

[0034] In a preferred embodiment, the sitting support unit 3 includes a first support component 31 and a second support component 32 that are arranged crosswise and rotatably connected. The first support component 31 is rotatably connected to the transmission connector 26, and an elastic support belt 4 is connected between the first support component 31 and the second support component 32. The elastic support belt 4 is used to support the buttocks of the human body when the sitting support mechanism is in the unfolded state.

[0035] Specifically, such as Figure 1 , Figure 2As shown, the sitting support unit 3 includes a first support component 31 and a second support component 32 that are arranged crosswise and rotatably connected. The first support component 31 is rotatably connected to the transmission connector 26. An elastic support belt 4 connects the first support component 31 and the second support component 32. When the sitting support mechanism is in the closed state, the first support component 31 and the second support component 32 are folded together, and the elastic support belt 4 is stored along with the first support component 31 and the second support component 32 on the outside of the thigh, without affecting the gait. When the sitting support mechanism is in the extended state, the crosswise first support component 31 and the second support component 32 move away from each other until they are subjected to pressure from the buttocks. At this point, the distance between the first support component 31 and the second support component 32 reaches its maximum, and the elastic support belt 4 is stretched, forming a flexible support surface adapted to the buttocks to support part of the body weight, achieving the effect of automatic support upon sitting.

[0036] In a preferred embodiment, the first support component 31 includes: The first support rod 312 is rotatably connected to the transmission connector 26. The second support rod 313 is slidably sleeved inside the first support rod 312; The first locking member 314 passes through the first support rod 312 and the second support rod 313, and is used to fix the relative position of the two.

[0037] Specifically, such as Figure 7 As shown, the first support assembly 31 includes a first support rod 312, a second support rod 313, and a first locking member 314. The first support rod 312 includes a connecting portion 3121 and an adjusting portion 3122 that are perpendicular to each other. The extending direction of the connecting portion 3121 is the same as the extending direction of the transmission connector 26 and is rotatably connected to the transmission connector 26. The adjusting portion 3122 is a hollow rod-shaped structure with an opening at one end away from the transmission connector 26, and a sliding groove extending along its length is formed on the inner wall of the adjusting portion 3122. The size and shape of the second support rod 313 are adapted to the inner wall of the adjusting portion 3122. The second support rod 313 is inserted into the adjusting portion 3122 through the opening and can slide along the sliding groove within the adjusting portion 3122 to change the overall length of the first support assembly 31. The first locking member 314 passes through the first support rod 312 and the second support rod 313 to fix the relative positions of the first support rod 312 and the second support rod 313. In this embodiment, the first locking member 314 is an elastic pin. The radial clamping force of the elastic pin realizes the rapid positioning and locking of the first support rod 312 and the second support rod 313. At the same time, the elastic characteristics of the elastic pin can be used to compensate for the assembly gap between the two, preventing the first support assembly 31 from loosening or shaking when subjected to force, thereby improving the stability and reliability of the seat support mechanism after it is deployed.

[0038] In a preferred embodiment, the second support component 32 includes: The third support rod 321 is arranged to cross the first support rod 312 and is rotatably connected by the rotating shaft 5. The third support rod 321 is open at both ends and hollow inside. The fourth support rod 322 is slidably sleeved on one end of the third support rod 321; The fifth support rod 323 is slidably sleeved on the other end of the third support rod 321; The second locking member 324 passes through the third support rod 321 and the fourth support rod 322 to fix their relative positions. The third locking member 325 passes through the third support rod 321 and the fifth support rod 323 in sequence to fix their relative positions.

[0039] Specifically, such as Figure 8 As shown, the second support assembly 32 includes a third support rod 321, a fourth support rod 322, a fifth support rod 323, a second locking member 324, and a third locking member 325. The third support rod 321 is intersected with the adjusting portion 3122 of the first support rod 312 and rotatably connected via a rotating shaft 5. The third support rod 321 is open at both ends and hollow inside, and a sliding groove extending along its length is formed on its inner wall. The fourth support rod 322 is sized and shaped to fit the inner wall of the third support rod 321, inserts into one end of the third support rod 321, and can slide along the sliding groove within the third support rod 321. The fifth support rod 323 is sized and shaped to fit the inner wall of the third support rod 321, inserts into the other end of the third support rod 321, and can slide along the sliding groove within the third support rod 321. The second locking member 324 passes through the third support rod 321 and the fourth support rod 322 in sequence to fix the relative positions of the third support rod 321 and the fourth support rod 322. The third locking member 325 passes through the third support rod 321 and the fifth support rod 323 in sequence to fix the relative positions of the third support rod 321 and the fifth support rod 323. In this embodiment, the second locking member 324 and the third locking member 325 are elastic pins.

[0040] In a preferred embodiment, the fifth support rod 323 has a first connecting end a and a second connecting end b. The first connecting end a is connected to the first support rod 312 via an elastic support belt 4. The second connecting end b is connected to the transmission connector 26 via the elastic support belt 4. The fifth support rod 323 is located on the side of the first support rod 312 that is relatively close to the human buttocks.

[0041] Specifically, such as Figure 9As shown, the fifth support rod 323 has a first connecting end a and a second connecting end b. The first connecting end a is connected to the first support rod 312 via an elastic support belt 4; the second connecting end b is connected to the transmission connector 26 via the elastic support belt 4. The fifth support rod 323 is located on the side of the first support rod 312 that is relatively closer to the human buttocks. When the sitting support mechanism is in the extended state, the first support assembly 31 and the second support assembly 32 move away from each other, and the fifth support rod 323 and the transmission connector 26, as well as the fifth support rod 323 and the first support rod 312, move away from each other accordingly. The elastic support belt 4 is simultaneously tensioned, forming a flexible support surface under the human buttocks, which can evenly distribute the pressure when the human sits down, improving the comfort and reliability of the support.

[0042] In a preferred embodiment, the pivot 5 passes through the third support rod 321 and the first support rod 312, and extends out of the third support rod 321 and the first support rod 312 at both ends respectively. The pivot 5 is provided with a shoulder strap connector 61 at both ends. The two sides of the shoulder strap connector 61 are provided with a first elastic shoulder strap 62, and one end of the first elastic shoulder strap 62 is connected to the corresponding elastic support belt 4, and the other end is connected to the waist belt 1 through the shoulder strap adapter 63.

[0043] Specifically, such as Figure 1 , Figure 9 and Figure 10 As shown, the pivot 5 serves as the common hinge axis between the first support assembly 31 and the second support assembly 32, passing through the adjustment section 3122 of the third support rod 321 and the first support rod 312. Both ends of the pivot extend outwards and are equipped with shoulder strap connectors 61. The shoulder strap adapter 63 includes an adapter base 631 and a second elastic shoulder strap 632. Both the adapter base 631 and the shoulder strap connector 61 have mounting grooves. The first elastic shoulder strap 62 is annular, with both ends passing through the mounting grooves of the adapter base 631 and the shoulder strap connector 61, respectively. The exterior of the first elastic shoulder strap 62 is connected to the corresponding elastic support belt 4. The second elastic shoulder strap 632 is also annular, with one end fitted onto the adapter base 631 and the other end fitted onto the waist belt 1, creating a stable force transmission path for the entire structure. Both the first elastic shoulder strap 62 and the second elastic shoulder strap 632 are made of elastic material. When the sitting support mechanism switches from the closed state to the unfolded state, the elastic support belt 4 is tensioned and pulls the first elastic shoulder strap 62 to rotate along the mounting groove and be stretched. The second elastic shoulder strap 632 extends synchronously, transferring the support load upward to the waist belt 1, improving the overall wearing stability and support reliability of the device. When the sitting support mechanism returns from the unfolded state to the closed state, the first elastic shoulder strap 62 and the second elastic shoulder strap 632 contract and reset under their own elasticity, causing the support belt 4 to smoothly close, avoiding affecting the normal assisted walking process.

[0044] The feasible and sedentary exoskeleton assistive device provided by this invention achieves integrated coordination of walking assistance and sedentary support through walking assistance mechanisms 2 on both sides of the waist belt 1 and a sitting support mechanism connected to them. When the walking assistance mechanism 2 is in the walking state, the sitting support mechanism is in the closed state and moves synchronously with the walking assistance mechanism 2; when the walking assistance mechanism 2 switches to the sitting posture, the walking assistance mechanism 2 drives the sitting support unit 3 of the sitting support mechanism to unfold under the buttocks, achieving reliable support for the buttocks and achieving the effect of "assistance when walking and support when sitting", effectively solving the technical problem that traditional exoskeletons cannot simultaneously provide walking assistance and sitting support.

[0045] To facilitate understanding by those skilled in the art, the working principle of the feasible and sedentary exoskeleton assistive device provided by the present invention is as follows: When the two sets of walking assistance mechanisms 2 are in a walking posture, the human thigh swings back and forth during walking. The thigh covering component 25 moves synchronously with the thigh. When the thigh falls, the leg connector 2422 drives the rolling component 2423 to roll along the cam guide rail 27 inside the assistance shell 241 from the side away from the human buttocks to the side closer to the human buttocks. The assistance engagement distance gradually shortens, and the elastic component 2424 is compressed and stores elastic potential energy. When the thigh rises, the rolling component 2423 rolls in the opposite direction along the cam guide rail 27. The assistance engagement distance gradually increases, and the elastic component 2424 releases elastic potential energy. Through elastic restoring force, it drives the leg connector 2422 and the thigh covering component 25 to rotate, providing assistance for human walking. At this time, the sitting support mechanism is in a closed state. The first support component 31 and the second support component 32 are folded together. The elastic support strap 4 is stored on the outside of the thigh along with the support components. The first elastic back strap 62 and the second elastic back strap 632 are in a naturally contracted state. The overall structure does not affect the normal walking gait of the human body. When the two sets of walking assistance mechanisms 2 drive the thighs to swing to the preset position and switch to a sitting posture, the walking assistance mechanism 2 synchronously drives the sitting support unit 3 to switch from a closed state to an open state. The first support component 31 and the second support component 32 rotate and unfold around the pivot 5. The first connecting end a and the second connecting end b of the fifth support rod 323 drive the elastic support belt 4 to tighten, forming a flexible support surface located under the buttocks of the human body. The first elastic back strap 62 and the second elastic back strap 632 extend as the elastic support belt 4 unfolds, thereby forming a stable and reliable support for the buttocks of the human body in a sitting posture, achieving the effect of "walking assistance and sitting support", effectively solving the technical problem that traditional exoskeletons cannot take into account both walking assistance and sitting support.

[0046] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A feasible and seatable exoskeleton assistive device, characterized in that, include: Waist belt (1), the waist belt (1) is used to cover the waist of the human body; Two sets of walking assistance mechanisms (2) are symmetrically arranged on both sides of the waist belt (1) and connected to the waist belt (1) to cover and drive the thigh to swing to provide assistance to the lower limbs of the human body. The sitting support mechanism includes two sets of sitting support units (3). One end of each set of sitting support units (3) is elastically connected to the waist belt (1), and the other end is transmittedly connected to the two sets of walking assistance mechanisms (2). When the two sets of walking assistance mechanisms (2) are in a walking posture, the sitting support mechanism is in a closed state and moves with the walking assistance mechanism (2); when the two sets of walking assistance mechanisms (2) drive the thigh to swing to a preset position to switch to a sitting posture, the sitting support mechanism is simultaneously driven to switch from a closed state to an open state and is in a position corresponding to the human buttocks, so as to support the human buttocks in the sitting posture.

2. The feasible and sedentary exoskeleton assistive device according to claim 1, characterized in that, The walking assistance mechanism (2) includes: Hip joint connector (22), which is fixedly connected to the waist belt (1); An elastic assist mechanism (24) is connected to the hip joint connector (22); Thigh wrapping assembly (25), which is connected to the elastic assist mechanism (24) in a transmission manner; Transmission connector (26), which is disposed on the thigh covering assembly (25) and is transmissionally connected to the sitting posture support unit (3); The elastic assist mechanism (24) is in a compressed state when the thigh falls and switches to a released state when the thigh is lifted. It pushes the thigh covering component (25) to rotate through the elastic restoring force to provide assistance for human walking.

3. The feasible and sedentary exoskeleton assistive device according to claim 2, characterized in that, The elastic assist mechanism (24) includes: A power-assisted housing (241) is fixedly connected to the hip joint connector (22) and is hollow inside; Elastic assist component (242) is disposed inside the assist shell (241). One end of the elastic assist component (242) is rotatably connected to the assist shell (241), and the other end is fixedly connected to the thigh covering component (25).

4. The feasible and sedentary exoskeleton assistive device according to claim 3, characterized in that, The assist housing (241) is provided with a cam guide rail (27) in the circumferential direction. The distance between the cam guide rail (27) and the center of the assist housing (241) is the assist engagement distance. The assist engagement distance gradually increases from the side closer to the human buttocks to the side farther away from the human buttocks.

5. The feasible and sedentary exoskeleton assistive device according to claim 4, characterized in that, The elastic assist component (242) includes: A hip connection assembly (2421) is rotatably connected to the center of the assist housing (241); A leg connector (2422) is fixedly connected to the thigh covering assembly (25); A rolling element (2423) is provided through the leg connector (2422), and the outer wall of the rolling element (2423) is in contact with the cam guide rail (27) for rolling along the cam guide rail (27); An elastic element (2424) is disposed between the hip connection assembly (2421) and the leg connection assembly (2422) and is connected to the hip connection assembly (2421) and the leg connection assembly (2422) respectively; When the thigh is lowered, the rolling element (2423) rolls on the cam guide (27) from the side away from the human buttocks to the side closer to the human buttocks, the assisting engagement distance is shortened, and the elastic element (2424) is in a compressed state; when the thigh is raised, the rolling element (2423) rolls on the cam guide (27) from the side closer to the human buttocks to the side away from the human buttocks, the assisting engagement distance is increased, the elastic element (2424) is in a released state and pushes the leg connector (2422) and the thigh covering assembly (25) to rotate through the elastic restoring force, so as to provide assistance for human walking.

6. The feasible and sedentary exoskeleton assistive device according to claim 2, characterized in that, The sitting support unit (3) includes a first support component (31) and a second support component (32) that are arranged crosswise and rotatably connected. The first support component (31) is rotatably connected to the transmission connector (26), and an elastic support belt (4) is connected between the first support component (31) and the second support component (32). The elastic support belt (4) is used to support the human buttocks when the sitting support mechanism is in the unfolded state.

7. The feasible and sedentary exoskeleton assistive device according to claim 6, characterized in that, The first support component (31) includes: The first support rod (312) is rotatably connected to the transmission connector (26); The second support rod (313) is slidably sleeved inside the first support rod (312); The first locking member (314) passes through the first support rod (312) and the second support rod (313) to fix their relative positions.

8. The feasible and sedentary exoskeleton assistive device according to claim 7, characterized in that, The second support component (32) includes: The third support rod (321) is arranged to cross the first support rod (312) and is rotatably connected by a rotating shaft (5). The third support rod (321) is open at both ends and hollow inside. The fourth support rod (322) is slidably sleeved on one end of the third support rod (321); The fifth support rod (323) is slidably sleeved on the other end of the third support rod (321); The second locking member (324) passes through the third support rod (321) and the fourth support rod (322) to fix their relative positions; The third locking member (325) passes through the third support rod (321) and the fifth support rod (323) in sequence to fix their relative positions.

9. The feasible and sedentary exoskeleton assistive device according to claim 8, characterized in that, The fifth support rod (323) has a first connecting end (a) and a second connecting end (b). The first connecting end (a) is connected to the first support rod (312) through an elastic support belt (4). The second connecting end (b) is connected to the transmission connector (26) through an elastic support belt (4). The fifth support rod (323) is located on the side of the first support rod (312) that is relatively close to the human buttocks.

10. The feasible and sedentary exoskeleton assistive device according to claim 9, characterized in that, The pivot (5) passes through the third support rod (321) and the first support rod (312), and extends out of the third support rod (321) and the first support rod (312) at both ends respectively. The pivot (5) is provided with a shoulder strap connector (61) at both ends. The two sides of the shoulder strap connector (61) are provided with a first elastic shoulder strap (62), and one end of the first elastic shoulder strap (62) is connected to the corresponding elastic support belt (4), and the other end is connected to the waist belt (1) through the shoulder strap adapter (63).

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