A pure mechanical weight relief walking assist exoskeleton

Abstract

The application relates to the technical field of exoskeletons, and discloses a pure-mechanical load-reducing walking assisting exoskeleton, which comprises a waistband for being worn on the waist of a human body, assisting mechanisms arranged on the left and right sides of the waistband, each of the assisting mechanisms comprising a shell and a hydraulic assisting rod arranged in the shell, leg supporting mechanisms respectively rotationally connected to the assisting mechanisms on the left and right sides and used for contacting thighs of the human body and providing leg lifting assistance, and a load-reducing plate connected to the rear side of the assisting mechanism through an adjustable connecting arm and used for placing a load-reducing backpack. The assisting mechanisms can provide a supporting force for the leg supporting mechanisms, the leg supporting mechanisms can provide assistance to the thighs, and walking is assisted. The rear end of the hydraulic assisting rod is connected with a rack, and the first clamping claw and the second clamping claw are connected with the rack through clamping, so that the assisting mechanisms are started, the whole structure is a pure mechanical structure, no energy is required, the use cost is low, the safety is high, and the structure is simple.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, specifically to a purely mechanical weight-reducing walking assistive exoskeleton, which is particularly suitable for heavy-duty walking scenarios such as military field operations, long-distance outdoor treks, and logistics handling. Background Technology

[0002] In scenarios such as military field operations, long-distance outdoor treks, logistics handling, and daily heavy-duty travel, prolonged walking with heavy loads significantly increases the load on the lower limb and lumbar muscles, easily leading to limb fatigue, joint strain, and even musculoskeletal damage. This not only reduces walking efficiency and work continuity but also causes irreversible negative effects on human health. To alleviate the physical exhaustion caused by heavy-duty walking, various types of lower limb walking exoskeletons have emerged.

[0003] An exoskeleton is a wearable mechanical device that works in conjunction with human joints through sensors, a power system, and other means to enhance strength, assist motor function, or provide medical rehabilitation. It is currently widely used in medical, military, and industrial fields. Existing exoskeletons are mainly divided into three categories: actively powered electric exoskeletons, hydraulically powered exoskeletons, and passively powered mechanical exoskeletons. However, all existing technologies have unavoidable drawbacks, failing to balance practicality, economy, adaptability, and safety, and thus failing to meet the actual needs of daily and high-intensity weight-bearing walking.

[0004] First, most mainstream active power exoskeletons on the market rely on power-driven components such as motors, hydraulic pumps, and batteries. These exoskeletons require a continuous external power supply, which not only results in high operating costs but also limited battery life, failing to meet the needs of extended outdoor use without external power. Furthermore, the complex electrical components and hydraulic piping structures are prone to failure in harsh environments such as dampness, bumps, and dust, leading to poor stability and safety. Maintenance is also difficult and costly, and the overall bulky structure adds extra burden to the wearer, exacerbating limb fatigue and contradicting the core purpose of weight reduction and power assistance.

[0005] Secondly, while some existing passive mechanical exoskeletons have abandoned energy-driven structures, they generally suffer from simplistic assistance logic and unreasonable structural design. Most passive exoskeletons can only provide simple support and cushioning, failing to effectively utilize the weight itself to assist walking. The assistance effect is weak, and its support for leg-lifting movements is extremely limited, making it difficult to fundamentally reduce the force load on the lower limbs. Some mechanical exoskeletons have stiff joint structures with poor adaptability to the movement trajectory of the thigh and leg, interfering with the natural gait during steps. This not only fails to smoothly assist walking but also restricts limb range of motion, affecting walking comfort and even leading to gait abnormalities.

[0006] Furthermore, existing weight-bearing walking exoskeletons generally lack flexible adaptability and adjustment structures. Their overall size is fixed, making it impossible to make targeted adjustments based on the height and leg length of different users. This results in poor fit and difficulty in adapting to people of different body types, leading to extremely poor versatility. At the same time, the weight-bearing structure of existing exoskeletons is poorly designed, with most of them placing the backpack's weight directly on the shoulders or waist. This fails to effectively transfer the weight to the assist mechanism, making it difficult to enhance the assist effect by utilizing the weight. The weight transfer efficiency is low, and the burden reduction effect is greatly reduced.

[0007] In addition, most existing exoskeletons lack a cushioning and support structure for leg-lowering movements. During the process of lowering the legs after they are lifted, the weight of the exoskeleton itself and the load are all applied to the legs, which cannot effectively support the overall load. Instead, it increases the instantaneous pressure on the legs and cannot achieve full-range load reduction assistance. After prolonged use, it will still cause obvious limb fatigue and cannot meet the load reduction needs of continuous weight-bearing walking.

[0008] In summary, existing weight-bearing walking assistive exoskeletons generally suffer from numerous drawbacks, such as reliance on energy, complex structure, poor safety, high maintenance costs, unsatisfactory assistive effects, poor human adaptability, and inability to efficiently utilize weight-bearing gravity. They are difficult to adapt to diverse weight-bearing walking scenarios and cannot achieve low-cost, high-safety, end-to-end, and high-efficiency weight reduction assistance. Summary of the Invention

[0009] To address the technical problems existing in the background art, this application provides a purely mechanical weight-reducing walking assistance exoskeleton, which utilizes the weight of the backpack to generate walking assistance through a purely mechanical structure, without the need for external power source, and has good human adaptability and full-process weight reduction function.

[0010] To achieve the above objectives, this application proposes a purely mechanical, weight-reducing, walking-assistive exoskeleton, comprising:

[0011] A belt is worn around the waist.

[0012] The assist mechanism is located on the left and right sides of the belt, and each assist mechanism includes a housing and a hydraulic assist rod disposed within the housing;

[0013] The leg support mechanism, which is rotatably connected to the assist mechanism on both sides, is used to contact the human thigh and provide assistance in lifting the leg;

[0014] The load-bearing plate, connected to the rear of the assist mechanism via an adjustable connecting arm, is used to hold a load-bearing backpack.

[0015] The leg support components are rotatably connected to the lower sides of the assistive mechanisms on both sides, and are used to provide support for the overall load-bearing of the exoskeleton during walking;

[0016] The hydraulic booster rod is inclined and its rear end is higher than its front end. The cylinder of the hydraulic booster rod is connected to a rack. The housing is provided with a first pawl and a second pawl for engaging and limiting the rack. The housing is provided with a switch for controlling the rotation of the pawl.

[0017] As a further optimization of this application, the assist mechanism includes a housing connected to the waist belt. Inside the housing is a hydraulic assist rod that can move back and forth. The hydraulic assist rod is inclined and its rear end is higher than its front end. The cylinder of the hydraulic assist rod is located on the rear side and a rack is rotatably connected to the rear end of the cylinder. The rack can slide back and forth inside the housing. Inside the housing are a first pawl and a second pawl for limiting the sliding of the rack. The housing is provided with a switch for rotating the first pawl and the second pawl.

[0018] Furthermore, the second chuck is located in front of the first chuck, and the two chucks ensure that the position of the rack is fixed in the working state, thus ensuring the stable operation of the assist mechanism.

[0019] As a further optimization of this application, the leg support mechanism includes a force adjustment component connected to the strut of the hydraulic booster rod, the force adjustment component being able to adjust the maximum length of the strut of the hydraulic booster rod extending out of its cylinder.

[0020] Furthermore, the force adjustment component includes a first slider that is tilted forward and backward. The first slider is slidably disposed within the first rotating arm of the leg support mechanism, and its rear end is lower than its front end. The rear end of the first slider is rotatably connected to a first rotating shaft that is arranged forward and backward. The support rod of the hydraulic assist rod is fixedly connected to the first rotating shaft. The first slider is provided with two adjustment grooves arranged side by side and extending through its lower side. Below the first slider is a second slider that is adapted to the adjustment grooves. The second slider is slidably disposed within the first rotating arm.

[0021] As a further optimization of this application, the leg support mechanism includes a first rotating arm, a second rotating arm, and a support arm. The first rotating arm is rotatably connected to the housing by a second rotating shaft arranged in the left and right directions. The first rotating arm and the second rotating arm are rotatably connected by a third rotating shaft arranged in a forward and backward tilting manner. The second rotating arm and the support arm are fixedly connected. The support arm is arranged in a forward and backward tilting manner, and its lower end is located on the rear side and connected to a support plate for supporting the back of the thigh. The strut of the hydraulic assist rod is rotatably connected to the first rotating arm.

[0022] Furthermore, the first rotating arm is provided with a sliding groove for guiding the sliding of the first slider and the second slider. The first slider is provided with a first lever that passes through the opposite outer side of the first rotating arm, and the second slider is provided with a second lever that passes through the opposite outer side of the first rotating arm.

[0023] As a further optimization of this application, the switch can be pushed back and forth and is connected to a long strip-shaped switch connector. The switch connector is disposed inside the housing. The lower side of the switch connector is connected to two magnets that are respectively configured to cooperate with the first claw and the second claw. The front ends of the first claw and the second claw can be attracted by the corresponding magnets and rotate upward.

[0024] Furthermore, when the two magnets are driven by the switch connector and move to above the front ends of the first and second claws respectively, they can attract the first and second claws and make them rotate upward, so that the front ends of the claws will not get stuck in the tooth grooves of the rack, ensuring that the rack can slide freely back and forth; when the two magnets below the switch connector are misaligned with the first and second claws, the claws rotate downward under their own gravity and get stuck in the tooth grooves of the rack, limiting the rack.

[0025] As a further optimization of this application, the housing is provided with guide rails arranged in front and behind, the rack can slide back and forth along the guide rails, and the housing is provided with a support boss for supporting the rack.

[0026] Furthermore, the guide rail is used to guide the movement of the rack, ensuring that the rack moves smoothly and steadily, and the support boss is used to support the rack, preventing the rack from becoming misaligned and causing the engagement and positioning with the chuck to fail.

[0027] As a further optimization of this application, the adjustable connecting arm includes a first connecting arm connected to the housing, the first connecting arm being connected to a second connecting arm connected to the load-bearing plate, and the connection portion between the second connecting arm and the first connecting arm is provided with an adjustment waist hole.

[0028] Furthermore, the connection segment between the first connecting arm and the housing is a straight segment, the housing is provided with a connecting groove for limiting the straight segment of the first connecting arm, and the housing is provided with a latch for fixing the first connecting arm, the latch including a rotatable pressure plate.

[0029] As a further optimization of this application, the leg support assembly includes an upper support adapted to the thigh and a lower support adapted to the calf. The upper support and the lower support are rotatably connected. A connecting block is connected to the upper end of the upper support. A connecting plate is connected between the connecting block and the housing. The connecting plate is pressed onto the connecting groove. The connecting block and the connecting plate are rotatably connected. The connecting plate is connected to the waist belt, and a protective plate is provided at the connection between the waist belt and the connecting plate.

[0030] Furthermore, the upper support is connected to a first baffle with an arc-shaped structure in the middle, and the first baffle is located on the front side of the thigh. The lower support is connected to two second baffles with arc-shaped structures in the middle, and the two second baffles are arranged correspondingly front and back. A connecting rod is connected between the connecting block and the upper support. Several spring plungers are evenly distributed on the connecting rod along its length. Both the upper support and the connecting block are provided with circular holes that are adapted to the ball heads of the spring plungers.

[0031] Compared with existing technologies, the aforementioned purely mechanical weight-reducing walking assistive exoskeleton has the following beneficial effects:

[0032] 1. This application provides a support force to the leg support mechanism through the assist mechanism, and provides assistance to the thigh through the leg support mechanism to assist walking; by connecting the rack to the rear end of the hydraulic assist rod, and by engaging the rack with the first and second pawls, the assist mechanism is activated. The entire structure is a purely mechanical structure, requiring no energy, with low operating costs and high safety, and a simple structure.

[0033] 2. This application allows for adjustment of the length of the relative assist mechanism via an adjustable connecting arm, enabling it to adapt to wearers of different heights and improving its versatility.

[0034] 3. This application uses a load-bearing plate for placing a load-bearing backpack. The weight of the backpack and the assist mechanism add an upward force to the leg support mechanism. The assist mechanism and the leg support mechanism provide support for the human body to lift the legs while walking, further improving the leg lifting assistance and effectively reducing walking fatigue.

[0035] 4. The leg support component of this application can support the entire load of the walking assist exoskeleton during the process of lifting and lowering the leg, which can effectively reduce the pressure on the legs from the walking assist exoskeleton and the human body, assist walking, and further reduce walking fatigue.

[0036] 5. This walking-assisting exoskeleton has a simple structure, a compact and ingenious design, low manufacturing cost, low operating cost, and is easy to maintain.

[0037] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0038] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0039] Figure 1 This is a schematic diagram of the axial side structure of the purely mechanical weight-reducing walking assistive exoskeleton disclosed in this application from one perspective;

[0040] Figure 2 This is a cross-sectional structural diagram of the purely mechanical weight-reducing walking assistance exoskeleton disclosed in this application;

[0041] Figure 3 This is a schematic diagram of the right-side structure of the purely mechanical weight-reducing walking assistance exoskeleton disclosed in this application;

[0042] Figure 4 This is a schematic diagram of the axial side structure of the purely mechanical weight-reducing walking assistance exoskeleton disclosed in this application, excluding the waist belt;

[0043] Figure 5 This is a partial structural diagram of the assist mechanism and leg support mechanism disclosed in this application;

[0044] Figure 6 This is a partial structural diagram of the shell disclosed in this application.

[0045] Explanation of reference numerals in the attached figures:

[0046] 1. Waist belt; 11. Protective plate;

[0047] 2. Assist mechanism; 21. Housing; 211. Support boss; 212. Connecting groove; 22. Hydraulic assist rod; 23. Rack; 24. First jaw; 25. Second jaw; 26. Switch; 27. Switch connector; 28. Guide rail;

[0048] 3. Leg support mechanism; 31. First rotating arm; 32. Second rotating arm; 321. Binding hole; 33. Support arm; 34. Support plate; 35. Force adjustment assembly; 351. First slider; 3511. Adjustment groove; 3512. First lever; 352. First rotating shaft; 353. Second slider; 3531. Second lever; 36. Second rotating shaft; 37. Third rotating shaft;

[0049] 4. Adjustable connecting arm; 41. First connecting arm; 42. Second connecting arm; 421. Adjustable waist hole;

[0050] 5. Load-bearing plate;

[0051] 6. Leg support assembly; 61. Upper support; 62. Lower support; 63. Connecting block; 64. Connecting rod; 65. Spring plunger; 66. First baffle; 67. Second baffle;

[0052] 7. Connecting plate;

[0053] 8. Lock; 81. Pressure plate. Detailed Implementation

[0054] The embodiments of this application are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar symbols denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0055] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] Unless otherwise specified, the front-back direction in this application refers to the direction of human walking, i.e., longitudinal; the left-right direction refers to the horizontal direction of the human body; and the up-down direction refers to the vertical direction of the human body.

[0057] The following is for reference. Figures 1-6 This application describes a purely mechanical, weight-reducing, walking-assistive exoskeleton according to an embodiment of the present application.

[0058] like Figures 1-3 and Figure 5 As shown, a purely mechanical weight-reducing walking assistive exoskeleton according to one embodiment of this application includes: a waist belt 1, an assistive mechanism 2, a leg support mechanism 3, an adjustable connecting arm 4, a load-bearing plate 5, and a leg support assembly 6.

[0059] First, it should be noted that the walking assist exoskeleton of this application can be worn on the human body to assist the wearer in walking. It provides assistance to the legs during walking and can effectively reduce walking fatigue.

[0060] The waist belt 1 is worn around the waist to enable the walking assist exoskeleton to be worn on the human body. An assist mechanism 2 is located on each of the left and right sides of the waist belt 1. A leg support mechanism 3 is rotatably connected to the front of each of the two assist mechanisms 2. An adjustable connecting arm 4 is connected to the rear of each of the two assist mechanisms 2. The ends of the two adjustable connecting arms 4 furthest from the assist mechanisms 2 are connected to a load-bearing plate 5 for placing a weighted backpack. A leg support component 6 is rotatably connected to the lower side of each of the two assist mechanisms 2.

[0061] Specifically, the assist mechanism 2 is installed on the waist belt 1, and the leg support mechanism 3 is rotatably connected to the assist mechanism 2 and contacts the human thigh. Through the cooperation of the assist mechanism 2 and the leg support mechanism 3, the assist mechanism 2 can provide support to the leg support mechanism 3 and provide assistance to the thigh through the leg support mechanism 3 to assist walking.

[0062] The adjustable connecting arm 4 is connected to the assist mechanism 2 and its length relative to the assist mechanism 2 can be adjusted so that it can be worn by people of different heights. The load plate 5 is set at the rear end of the two adjustable connecting arms 4 and is used to place the load backpack. The weight of the load backpack and the assist mechanism 2 are used to add an upward force to the leg support mechanism 3. The assist mechanism 2 and the leg support mechanism 3 provide support for the human body to lift the legs while walking, further improving the leg lifting assistance and reducing walking fatigue.

[0063] The leg support component 6 provides auxiliary support. When a person's leg is lifted and lowered, the leg support component 6 will change from a bent state to a straight state, which can support the entire load of the walking assist exoskeleton. This can effectively reduce the pressure on the legs from the walking assist exoskeleton and the human body, assist walking, and further reduce walking fatigue.

[0064] Furthermore, the assist mechanism 2 includes a housing 21 connected to the waist belt 1. Inside the housing 21 is a hydraulic assist rod 22 that can move back and forth. The hydraulic assist rod 22 is inclined and its rear end is higher than its front end. The cylinder of the hydraulic assist rod 22 is located on the rear side and a rack 23 is rotatably connected to the rear end of the cylinder. The rack 23 can slide back and forth inside the housing 21. Inside the housing 21 are a first pawl 24 and a second pawl 25 for limiting the sliding of the rack 23. The housing 21 is provided with a switch 26 for rotating the first pawl 24 and the second pawl 25.

[0065] Specifically, the hydraulic power assist rod 22 is a linear actuator based on Pascal's law, using hydraulic oil as a medium to achieve smooth force output and buffering. It is used to support and assist the opening and closing movements of the leg support mechanism 3, that is, to assist the human body in lifting its legs when walking.

[0066] The rack 23 is rotatably connected to the hydraulic booster rod 22 and can move back and forth synchronously with the hydraulic booster rod 22. That is, when the hydraulic booster rod 22 is not working, when the leg support mechanism 3 is rotated, the hydraulic booster rod 22 will move synchronously with the leg support mechanism 3, that is, it can rotate relative to the rack 23 and drive the rack 23 to move back and forth. When the rack 23 moves forward a certain position, the first pawl 24 and the second pawl 25 are controlled by the switch 26 to rotate downward. The first pawl 24 and the second pawl 25 engage with the rack 23 to fix the rack 23, so that the hydraulic booster rod 22 no longer moves back and forth. When the hydraulic booster rod 22 is working, the corresponding leg support mechanism 3 rotates upward and lifts when the support rod of the hydraulic booster rod 22 extends.

[0067] The second pawl 25 is located in front of the first pawl 24. The two pawls can ensure that the rack 23 is fixed in the working state, thus ensuring the stable operation of the power assist mechanism 2.

[0068] Furthermore, the leg support mechanism 3 includes a force adjustment component 35 connected to the front support rod of the hydraulic booster rod 22. The force adjustment component 35 can adjust the maximum length of the support rod of the hydraulic booster rod 22 extending out of its cylinder. When the maximum length of the support rod of the hydraulic booster rod 22 extending out of its cylinder becomes shorter, its supporting force on the leg support mechanism 3 increases accordingly, thus achieving power adjustment.

[0069] like Figures 2-4 As shown, in some embodiments of this application, the leg support mechanism 3 includes a first rotating arm 31, a second rotating arm 32, and a support arm 33. A second rotating shaft 36 arranged left and right is rotatably connected between the first rotating arm 31 and the housing 21. A third rotating shaft 37 arranged front and back is rotatably connected between the first rotating arm 31 and the second rotating arm 32. The second rotating arm 32 and the support arm 33 are fixedly connected. The support arm 33 is arranged front and back with its lower end located on the rear side and connected to a support plate 34 for supporting the back of the thigh. The support rod of the hydraulic assist rod 22 is rotatably connected to the first rotating arm 31.

[0070] Specifically, the first rotating arm 31 is rotatably connected to the housing 21 via a second rotating shaft 36, which is positioned left-right to ensure that the hydraulic assist rod 22 can drive the first rotating arm 31 to rotate up and down. The first rotating arm 31 and the second rotating arm 32 are rotatably connected via a third rotating shaft 37, which is tilted forward and backward so that the second rotating arm 32 can only rotate left-right relative to the first rotating arm 31 around the third rotating shaft 37. This facilitates the wear of the walking assist exoskeleton while ensuring that the second rotating arm 32 can rotate up and down in the forward and backward direction along with the first rotating arm 31. The support arm 33 is fixedly connected to the second rotating arm 32, and when the second rotating arm 32 rotates, it can drive the support arm 33 and the support plate 34 connected to the rear of the support arm 33 to rotate synchronously. When the support rod of the hydraulic booster rod 22 extends, the first rotating arm 31 rotates forward and upward under the action of the hydraulic booster rod 22. In conjunction with the leg-lifting action of the human body, the first rotating arm 31 can drive the second rotating arm 32, the support arm 33 and the support plate 34 to rotate forward and upward simultaneously, supporting the back of the human thigh and lifting it upward, thus providing assistance for walking and leg-lifting.

[0071] like Figure 5As shown, in some embodiments of this application, the force adjustment component 35 includes a first slider 351 that is tilted forward and backward. The first slider 351 is slidably disposed within the first rotating arm 31 and its rear end is lower than its front end. The rear end of the first slider 351 is rotatably connected to a first rotating shaft 352 that is arranged forward and backward. The support rod of the hydraulic booster rod 22 is fixedly connected to the first rotating shaft 352. The first slider 351 is provided with two adjustment grooves 3511 arranged side by side and extending through its lower side. Below the first slider 351 is a second slider 353 that is adapted to the adjustment grooves 3511. The second slider 353 is slidably disposed within the first rotating arm 31.

[0072] Specifically, both the first slider 351 and the second slider 353 can slide within the first rotating arm 31, and the rear end of the first slider 351 is rotatably connected to the first rotating shaft 352. The forward and backward sliding of the first slider 351 drives the first rotating shaft 352 to move forward and backward. This movement of the first rotating shaft 352 adjusts the length of the hydraulic assist rod 22 extending out of the cylinder. This extension length allows for adjustment of the thrust of the hydraulic assist rod 22 on the first rotating shaft 352, thus achieving the assist adjustment of the assist mechanism 2 on the first rotating arm 31. The first slider 351 has two adjusting grooves 3511 arranged front and rear, and the second slider 353 is used to fit into the adjusting grooves 3511. When the second slider 353 is inserted into the adjusting groove 3511, it prevents the first slider 351 from moving, thereby fixing the first slider 351 in place. By inserting the second slider 353 into different adjustment slots 3511, the first slider 351 is fixed at different positions, thereby adjusting the extension length of the hydraulic booster rod 22, and ultimately achieving the assist adjustment of the leg support mechanism 3 by the booster mechanism 2. The first slider 351 is tilted forward and backward, so that when the first rotating arm 31 rotates relative to the second rotating shaft 36, the first rotating shaft 352 rotates synchronously with the first slider 351, while the displacement of the first rotating shaft 352 in the height direction is relatively small. This results in a relatively small rotation angle of the hydraulic booster rod 22, ensuring the reliability and stability of the hydraulic booster rod 22 in the working state.

[0073] Continue to refer to Figure 5As shown, in some embodiments of this application, the first rotating arm 31 is provided with a groove for guiding the sliding of the first slider 351 and the second slider 353, ensuring that the first slider 351 and the second slider 353 move along a set path without deviating, and the groove is used to position and limit the first slider 351 and the second slider 353. The first slider 351 is provided with a first lever 3512 passing through the outer side of the first rotating arm 31, for pushing the first slider 351 to move from the outside of the first rotating arm 31; the second slider 353 is provided with a second lever 3531 passing through the outer side of the first rotating arm 31, for pushing the second slider 353 to move from the outside of the first rotating arm 31. The second rotating arm 32 is provided with a binding hole 321 for a strap to pass through, which can be used to bind the second rotating arm 32 to the human thigh. The binding hole 321 is used to limit the strap and prevent the strap from falling off. Preferably, a first lever 3512 is provided on both the left and right sides of the first slider 351, and a second lever 3531 is provided on both the left and right sides of the second slider 353, so as to facilitate simultaneous force application from both the left and right sides and ensure smooth and stable movement.

[0074] Continue to refer to Figure 5 As shown, in some embodiments of this application, the switch 26 can be pushed back and forth and is connected to a long strip-shaped switch connector 27. The switch connector 27 is disposed inside the housing 21. The lower side of the switch connector 27 is connected to two magnets that are respectively configured to cooperate with the first claw 24 and the second claw 25. The front ends of the first claw 24 and the second claw 25 can be attracted by the corresponding magnets and rotate upward.

[0075] Specifically, switch 26 is connected to switch connector 27. Pushing switch 26 to move back and forth can drive switch connector 27 to move back and forth synchronously. Switch connector 27 is a strip-shaped block structure with front and rear ends, and a magnet is installed in the middle and at the lower rear end. When the two magnets are driven by switch connector 27 and move to above the front ends of the first claw 24 and the second claw 25 respectively, they can attract the first claw 24 and the second claw 25, so that the first claw 24 and the second claw 25 can rotate upwards. This prevents the front ends of the first claw 24 and the second claw 25 from getting stuck in the tooth groove of the rack 23, ensuring that the rack 23 can slide freely back and forth. At this time, the cylinder of hydraulic booster rod 22 can move back and forth with the rotation of the first rotating arm 31, and switch 26 is in the closed state. When the two magnets below the switch connector 27 move with the switch connector 27 and are both misaligned with the first claw 24 and the second claw 25, the front ends of the first claw 24 and the second claw 25 will rotate downward under their own weight and engage in the tooth groove of the rack 23 below them, limiting the rack 23 and preventing it from moving back and forth, thereby fixing the cylinder of the hydraulic booster rod 22. When the first rotating arm 31 rotates, the support rod of the hydraulic booster rod 22 will extend and retract relative to the cylinder, and the hydraulic booster rod 22 will be in the working state. At this time, the switch 26 is in the open state.

[0076] like Figure 5 and Figure 6 As shown, in some embodiments of this application, the housing 21 is provided with guide rails 28 arranged front and rear, and the rack 23 can slide back and forth along the guide rails 28. The housing 21 is provided with a support boss 211 for supporting the rack 23. The guide rails 28 are used to guide the movement of the rack 23, ensuring that the rack 23 moves smoothly and steadily, and will not rotate relative to the housing 21, causing the rack 23 to be stuck. The support boss 211 is used to support the rack 23, preventing the rack 23 from deflecting and causing the engagement and positioning with the first claw 24 and the second claw 25 to fail, while further ensuring that the rack 23 moves smoothly.

[0077] like Figure 2 and Figure 4 As shown, in some embodiments of this application, the adjustable connecting arm 4 includes a first connecting arm 41 connected to the housing 21, and a second connecting arm 42 connected to the load-bearing plate 5. The connection between the second connecting arm 42 and the first connecting arm 41 is provided with an adjustment waist hole 421. Specifically, the front end of the second connecting arm 42 is provided with an adjustment waist hole 421. The first connecting arm 41 and the second connecting arm 42 are fixed by adjusting the waist hole 421, screws, and washers. By adjusting the position of the waist hole 421 relative to the screws, the connection length of the first connecting arm 41 and the second connecting arm 42 can be adjusted. By adjusting the length of the adjustable connecting arm 4, the position of the load-bearing plate 5 can be adapted to people of different heights.

[0078] like Figure 4 and Figure 6 As shown in some embodiments of this application, the connection segment between the first connecting arm 41 and the housing 21 is a straight segment. The housing 21 is provided with a connecting groove 212 for limiting the straight segment of the first connecting arm 41, and a latch 8 for fixing the first connecting arm 41. The latch 8 includes a rotatable pressure plate 81. The connecting groove 212 can limit the front section of the first connecting arm 41 on three sides, ensuring a stable connection between the first connecting arm 41 and the housing 21. At the same time, the first connecting arm 41 can slide back and forth within the connecting groove 212, facilitating the adjustment of the length of the first connecting arm 41 extending out of the housing 21. By rotating the pressure plate 81 to press down the straight segment of the first connecting arm 41, the first connecting arm 41 can be quickly fixed, facilitating the rapid assembly of the adjustable connecting arm 41 and the assist mechanism 2.

[0079] like Figure 1-4 As shown, in some embodiments of this application, the leg support assembly 6 includes an upper support 61 adapted to the thigh and a lower support 62 adapted to the calf. The upper support 61 and the lower support 62 are rotatably connected. A connecting block 63 is connected to the upper end of the upper support 61. A connecting plate 7 is connected between the connecting block 63 and the housing 21. The connecting plate 7 is pressed onto the connecting groove 212. The connecting block 63 and the connecting plate 7 are rotatably connected. The connecting plate 7 is connected to the waist belt 1, and a guard plate 11 is provided at the connection between the waist belt 1 and the connecting plate 7. The upper support 61 and the lower support 62 cooperate to support the thigh and calf. When the upper support 61 and the lower support 62 are in a straight position, they can provide support for the overall weight of the walking assist exoskeleton. The upper end of the connecting plate 7 is pressed onto the connecting groove 212, which can limit the front end of the straight section of the first connecting arm 41 of the adjustable connecting arm 4. The guard plate 11 is located at the connection between the waist belt 1 and the connecting plate 7, and can provide protection for the waist.

[0080] like Figure 1 and Figure 2As shown, in some embodiments of this application, the upper support 61 has a first baffle 66 with an arc-shaped structure connected to its middle section. The first baffle 66 is located on the front side of the thigh. The lower support 62 has two second baffles 67 with arc-shaped structures connected to its middle section. The two second baffles 67 are arranged correspondingly front to back. Both the first baffle 66 and the second baffle 67 are arc-shaped structures, which can adapt to the arc-shaped surfaces of the human thigh and calf. The upper support 61 has a first baffle 66, which allows the upper support 61 to rotate upward with the thigh when the thigh is raised. The lower support 62 has two corresponding second baffles 67, which can clamp the calf from front to back, ensuring that the lower support 62 can move synchronously with the calf. A connecting rod 64 connects the connecting block 63 and the upper support 61. Several spring plungers 65 are evenly distributed along the length of the connecting rod 64. Both the upper support 61 and the connecting block 63 are provided with circular holes that fit the ball heads of the spring plungers 65, which facilitates the connection between the connecting rod 64 and the connecting block 63 and the upper support 61, as well as the adjustment of the connection parts. This allows for adjustment of the overall length of the connecting block 63 and the upper support 61 to accommodate different lengths of human thighs.

[0081] According to the embodiments of this application, the pure mechanical weight-reducing walking assistance exoskeleton, by setting up an assistance mechanism 2, a leg support mechanism 3, an adjustable connecting arm 4, a load-bearing plate 5, and a leg support component 6, has the characteristics of a pure mechanical structure, no need for external power source, strong adaptability, and efficient use of load-bearing gravity to assist walking, effectively solving the problems of energy dependence, poor assistance effect, and poor human adaptability in the prior art.

[0082] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and application concept of this application, should be included within the scope of protection of this application.

Claims

1. A purely mechanical, weight-reducing, walking-assistive exoskeleton, characterized in that: include: A belt is worn around the waist. The assist mechanism is located on the left and right sides of the belt, and each assist mechanism includes a housing and a hydraulic assist rod disposed within the housing; The leg support mechanism, which is rotatably connected to the assist mechanism on both sides, is used to contact the human thigh and provide assistance in lifting the leg; The load-bearing plate, connected to the rear of the assist mechanism via an adjustable connecting arm, is used to hold a load-bearing backpack. The leg support components are rotatably connected to the lower sides of the assistive mechanisms on both sides, and are used to provide support for the overall load of the exoskeleton during walking; The hydraulic booster rod is inclined and its rear end is higher than its front end. The cylinder of the hydraulic booster rod is connected to a rack. The housing is provided with a first pawl and a second pawl for engaging and limiting the rack. The housing is provided with a switch for controlling the rotation of the pawl.

2. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 1, characterized in that, The leg support mechanism includes a force adjustment component connected to the strut of the hydraulic booster rod, the force adjustment component being able to adjust the maximum length of the strut of the hydraulic booster rod extending out of its cylinder.

3. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 2, characterized in that, The force adjustment component includes a first slider that is tilted forward and backward. The first slider is slidably disposed within the first rotating arm of the leg support mechanism, with its rear end being lower than its front end. The rear end of the first slider is rotatably connected to a first rotating shaft that is arranged forward and backward. The support rod of the hydraulic assist rod is fixedly connected to the first rotating shaft. The first slider is provided with two adjustment grooves arranged side by side and extending through its lower side. Below the first slider is a second slider that is adapted to the adjustment grooves. The second slider is slidably disposed within the first rotating arm.

4. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 1, characterized in that, The leg support mechanism includes a first rotating arm, a second rotating arm, and a support arm. The first rotating arm is rotatably connected to the housing by a second rotating shaft arranged in the left and right directions. The first rotating arm and the second rotating arm are rotatably connected by a third rotating shaft arranged in a forward and backward tilting manner. The second rotating arm and the support arm are fixedly connected. The support arm is arranged in a forward and backward tilting manner, and its lower end is located on the rear side and connected to a support plate for supporting the back of the thigh. The support rod of the hydraulic assist rod is rotatably connected to the first rotating arm.

5. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 1, characterized in that, The switch can be pushed back and forth and is connected to a long strip-shaped switch connector. The switch connector is disposed inside the housing. The lower side of the switch connector is connected to two magnets that are respectively configured to cooperate with the first claw and the second claw. The front ends of the first claw and the second claw can be attracted by the corresponding magnets and rotate upward.

6. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 1, characterized in that, The housing is provided with guide rails arranged in front and behind, and the rack can slide back and forth along the guide rails. The housing is also provided with support bosses for supporting the rack.

7. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 1, characterized in that, The adjustable connecting arm includes a first connecting arm connected to the housing, and the first connecting arm is connected to a second connecting arm connected to the load-bearing plate. The connection between the second connecting arm and the first connecting arm is provided with an adjustment waist hole.

8. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 7, characterized in that, The connection segment between the first connecting arm and the housing is a straight segment. The housing is provided with a connecting groove for limiting the straight segment of the first connecting arm. The housing is provided with a latch for fixing the first connecting arm. The latch includes a rotatable pressure plate.

9. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 1, characterized in that, The leg support assembly includes an upper support adapted to the thigh and a lower support adapted to the calf. The upper support and the lower support are rotatably connected. A connecting block is connected to the upper end of the upper support. A connecting plate is connected between the connecting block and the housing. The connecting plate is pressed onto the connecting groove. The connecting block and the connecting plate are rotatably connected. The connecting plate is connected to the waist belt, and a protective plate is provided at the connection between the waist belt and the connecting plate.

10. The purely mechanical weight-reducing walking assistive exoskeleton according to claim 9, characterized in that, The upper support is connected to a first baffle with an arc-shaped structure in the middle, and the first baffle is located on the front side of the thigh. The lower support is connected to two second baffles with arc-shaped structures in the middle, and the two second baffles are arranged correspondingly to each other. A connecting rod is connected between the connecting block and the upper support. Several spring plungers are evenly distributed on the connecting rod along its length. Both the upper support and the connecting block are provided with circular holes that are adapted to the ball heads of the spring plungers.

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