Exoskeleton assistive device

Abstract

The utility model discloses an exoskeleton auxiliary device, including support subassembly, first connecting rope, second connecting rope, first waistband and second waistband, first waistband and second waistband are opposite and set up, and the area surrounded is used for accommodating human body, and support subassembly is located the outside of area, and is connected with first waistband and second waistband. Support subassembly includes pipe structure, first rod and second rod, and one end of first rod and one end of second rod are respectively telescopically inserted in pipe structure, and move towards or away from each other, and the other end of two is corresponding with two waistbands and is connected. One end of first connecting rope is connected with one end of first rod inserted in pipe structure, and the other end is connected with first waistband, and one end of second connecting rope is connected with one end of second rod inserted in pipe structure, and the other end is connected with second waistband. Adopt the device provided by the utility model, in the process of telescopic rod, two waistbands move away from each other or towards each other, so that waistband is adjusted quickly, and user experience is improved.

Description

Technical Field

[0001] This utility model relates to the field of exoskeleton technology, and in particular to an exoskeleton assistive device. Background Technology

[0002] Existing lower limb exoskeletons typically include a rigid lumbar structure (such as a lumbar support bar and lumbar brace) and a flexible, padded structure (such as a lumbar belt and lumbar pad). The flexible, padded structure offers advantages such as lightweight design, comfort, a close fit to the body, and improved wearing experience. Furthermore, the lumbar structure needs to be adjustable to accommodate users with different waist sizes. However, with existing lumbar structures, when a user needs to adjust the size of the lumbar support, they usually need to first adjust the rigid structure to increase or decrease the waist size, and then adjust the flexible, padded structure accordingly to achieve a proper fit. This adjustment method is cumbersome, inconvenient, and provides a poor wearing experience for the user.

[0003] Therefore, improving the ease of adjustment of exoskeleton devices and enhancing the user experience have become pressing problems for those skilled in the art. Utility Model Content

[0004] This invention provides an exoskeleton assistive device that offers convenient adjustment and a superior user experience.

[0005] This utility model provides an exoskeleton assistive device, including a support component, a first connecting rope, a second connecting rope, a first waist belt, and a second waist belt. The first waist belt and the second waist belt are arranged opposite to each other, and the area enclosed by them is used to accommodate a human body. The support component is located outside the area. The support component includes a tube structure, a first rod, and a second rod. One end of the first rod and one end of the second rod are respectively telescopically inserted into the tube structure and can move towards or away from each other. The other ends of the first rod and the second rod are both located outside the tube structure and are respectively connected to the first waist belt and the second waist belt. One end of the first connecting rope and one end of the second connecting rope are respectively connected to the one end of the first rod and one end of the second rod inserted into the tube structure. The other end of the first connecting rope is connected to the first waist belt, and the other end of the second connecting rope is connected to the second waist belt. When the first rod and the second rod telescopically extend or retract along the tube structure, the first waist belt and the second waist belt move towards or away from each other.

[0006] The exoskeleton assistive device provided by this invention, during the process of the first rod extending out of the tube structure, because the end of the first rod connected to the first connecting rope moves towards the end of the tube structure, and the first waist belt is connected to the other end of the first rod located outside the tube structure, the width of the area enclosed by the first waist belt and the second waist belt increases during the process of the first rod extending out of the tube structure; similarly, when the second rod extends out of the tube structure, the width of the area enclosed by the first waist belt and the second waist belt increases. Conversely, during the process of the first and second rods retracting into the tube structure, the width of the area enclosed by the first waist belt and the second waist belt decreases, thereby enabling rapid adjustment of the waist belt to accommodate different users' hip widths. This improves the ease of adjustment and user experience of the exoskeleton assistive device.

[0007] In one possible implementation of this utility model, the sidewall of the tube structure is provided with two first holes, which correspond one-to-one with the first connecting rope and the second connecting rope; one end of the first connecting rope is connected to one end of the first rod inserted into the tube structure through the corresponding first hole; one end of the second connecting rope is connected to one end of the second rod inserted into the tube structure through the corresponding first hole; when one end of the first rod or one end of the second rod retracts into the tube structure, the position of the first rod connected to the first connecting rope moves relative to the corresponding first hole toward the second rod, or the position of the second rod connected to the second connecting rope moves relative to the corresponding first hole toward the first rod.

[0008] In one possible implementation of this utility model, the exoskeleton assistive device further includes a back support assembly, at least a portion of which is located between the first waist belt and the second waist belt to form an area; the back support assembly includes a second hole, and the other ends of the first connecting rope and the second connecting rope are connected to the first waist belt and the second waist belt respectively through the second hole.

[0009] In one possible implementation of this utility model, the tubular structure and the first waist belt are spaced apart along the direction of gravity; the back support assembly also includes two sets of first porous structures, which are mirror-distributed along the central cross-section of the tubular structure and correspond one-to-one with the two first holes; the first porous structure includes a third hole and a fourth hole, which are spaced apart along the direction of gravity and are opposite to the first hole; the fourth hole and the second hole are spaced apart along the extension and retraction direction of the first rod; one end of the first connecting rope and one end of the second connecting rope are connected one-to-one with one end of the first rod and one end of the second rod inserted into the tubular structure through the second hole, and the corresponding fourth hole, third hole and first hole.

[0010] In one possible implementation of this utility model, the exoskeleton assistive device includes two sets of connected wide and narrow sections, wherein one set of connected wide and narrow sections forms a first connecting rope, and the other set of connected wide and narrow sections forms a second connecting rope; the wide section includes a buckle structure and a webbing, the buckle structure being connected to the narrow section; one end of the webbing is connected to the buckle structure through a second hole, and the other end is connected to a first waist belt or a second waist belt.

[0011] In one possible implementation of this utility model, the back support assembly further includes an adapter and a back support. The adapter is provided with a second hole, and the back support is located between the adapter and the tube structure and is connected to the tube structure. The back support includes two fifth holes. Along the extension and retraction direction of the first rod, the second hole is located between the two fifth holes and is spaced apart from the fifth holes. The narrow part is connected to one end of the first rod or one end of the second rod inserted into the tube structure through the corresponding fifth hole and the first hole in sequence.

[0012] In one possible implementation of this utility model, the back support further includes two sets of second porous structures. The two sets of second porous structures are mirror-distributed along the central cross-section of the tube structure and correspond one-to-one with the two first holes. The second porous structure includes a sixth hole and a seventh hole. Along the extension and retraction direction of the first rod, the sixth hole and the seventh hole are spaced apart, and the seventh hole is opposite to the first hole. Along the direction of gravity, the sixth hole and the fifth hole are spaced apart. The narrow part is connected to one end of the first rod or one end of the second rod inserted into the tube structure through the corresponding fifth hole, sixth hole, seventh hole and first hole in sequence.

[0013] In one possible implementation of this utility model, the buckle structure includes an eighth hole, through which one end of the webbing passes and is connected to the webbing body.

[0014] In one possible implementation of this utility model, the first connecting rope includes two wide portions, the second connecting rope includes two wide portions, and the adapter includes two second holes, which are spaced apart along the direction of gravity; the two wide portions of the first connecting rope are connected to the two second holes in a one-to-one correspondence, and the two wide portions of the second connecting rope are also connected to the two second holes in a one-to-one correspondence.

[0015] In one possible implementation of this utility model, the first rod includes a first bend and a second bend connected to each other, the first bend being inserted into the tube structure; at least a portion of the first waistband is located in the area enclosed by the first rod and is connected to the second bend; the second rod includes a third bend and a fourth bend connected to each other, the third bend being inserted into the tube structure; at least a portion of the second waistband is located in the area enclosed by the second rod and is connected to the fourth bend. Attached Figure Description

[0016] Figure 1 An exploded view of a structure of the exoskeleton assistive device provided by this utility model; Figure 2 for Figure 1 A schematic diagram of the assembly state of the provided exoskeleton assistive device; Figure 3 for Figure 1 A schematic diagram of a back support component of the provided exoskeleton assistive device; Figure 4 Another structural schematic diagram of the exoskeleton assistive device provided by this utility model; Figure 5 for Figure 4 A partial schematic diagram of the provided exoskeleton assistive device; Figure 6 for Figure 4 A partial schematic diagram of the provided exoskeleton assistive device; Figure 7 for Figure 4 A partial schematic diagram of the provided exoskeleton assistive device.

[0017] Reference numerals: 1-Support assembly; 11-Tube structure; 111-First port; 112-First hole; 113-Second port; 12-First rod; 121-First bend; 122-Second bend; 123-First connecting end; 13-Second rod; 131-Third bend; 132-Fourth bend; 133-Second connecting end; 2-First connecting rope; 21-Wide section; 211-Buckling structure; 212-Webbing; 213-Eighth hole; 22-Narrow section; 3-First waist belt; 4-Second waist belt; 5-Second connecting rope; 6-Back support assembly; 61-Second hole; 62-First multi-hole structure; 621-Third hole; 622-Fourth hole; 63-Adapter; 64-Back support; 641-Fifth hole; 642-Second multi-hole structure; 6421-Sixth hole; 6422-Seventh hole; 7-Waist support. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings. However, the exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted. The terms expressing position and direction described in the embodiments of this utility model are illustrative based on the accompanying drawings, but changes can be made as needed, and all such changes are included within the protection scope of this utility model. The accompanying drawings of the embodiments of this utility model are only for illustrating relative positional relationships and do not represent actual proportions.

[0019] It should be noted that specific details are set forth in the following description to facilitate understanding of this utility model. However, this utility model can be implemented in many ways other than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0020] Existing lower limb exoskeletons typically include a rigid lumbar structure (such as a lumbar support bar and lumbar brace) and a flexible, padded structure (such as a lumbar belt and lumbar pad). The flexible, padded structure offers advantages such as lightweight design, comfort, a close fit to the body, and improved wearing experience. Furthermore, the lumbar structure needs to be adjustable to accommodate users with different waist sizes. However, with existing lumbar structures, when a user needs to adjust the size of the lumbar support, they usually need to first adjust the rigid structure to increase or decrease the waist size, and then adjust the flexible, padded structure accordingly to achieve a proper fit. This adjustment method is cumbersome, inconvenient, and provides a poor wearing experience for the user.

[0021] In view of this, the exoskeleton assistive device provided by this utility model can achieve simultaneous adjustment of the rigid structure and the flexible soft-pack structure, thereby improving the ease of adjustment and user experience of the exoskeleton device. To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] In one specific embodiment, reference Figure 1 , Figure 1 An exploded view illustrating the structure of an exoskeleton assistive device. The exoskeleton assistive device may include a support component 1, a first connecting rope 2, a first waist belt 3, a second waist belt 4, and a second connecting rope 5. The first waist belt 3 and the second waist belt 4 are positioned opposite each other, and the area they enclose is used to accommodate a human body. It should be noted that the waist belts are generally made of flexible material, and the two waist belts form a loop around each other. In actual use, the two waist belts wrap around the user and conform to the user's waist. Figure 2 As shown, Figure 2 For display Figure 1 A schematic diagram of the assembly state of the provided exoskeleton assistive device. The support component 1 is located outside the area enclosed by the first waist belt 3 and the second waist belt 4, and is connected to the first waist belt 3 and the second waist belt 4.

[0023] Continue to refer to Figure 1 and Figure 2 In the specific configuration of the support component 1, the support component 1 may include a tubular structure 11, a first rod 12, and a second rod 13. One end of the first rod 12 and one end of the second rod 13 are respectively retractable and inserted into the tubular structure 11, and the two can move towards or away from each other. It is understood that the first rod 12 and the second rod 13 can move along... Figure 1The movement is shown in the X-axis direction. It should be noted that the present invention does not limit the shape of the first rod 12 and the second rod 13. For example, the first rod 12 may include a first bent portion 121 and a second bent portion 122 connected together; the second rod 13 may include a third bent portion 131 and a fourth bent portion 132 connected together.

[0024] Meanwhile, the other ends of the first rod 12 and the second rod 13 are located outside the tube structure 11 and are connected to the first belt 3 and the second belt 4 respectively. One end of the first connecting rope 2 is connected to one end of the first rod 12 inserted into the tube structure 11, and the other end of the first connecting rope 2 is connected to the first belt 3. Simultaneously, one end of the second connecting rope 5 is connected to one end of the second rod 13 inserted into the tube structure 11, and the other end is connected to the second belt 4. Furthermore, when the first rod 12 and the second rod 13 extend or retract along the tube structure 11, the first belt 3 and the second belt 4 move away from each other or towards each other. That is, when the first rod 12 extends along the tube structure 11, the position of the first rod 12 used to connect the first connecting rope 2 (hereinafter referred to as the first connecting end 123) moves relative to the second rod 13 toward the opening end of the tube structure 11 used to insert the first rod 12 (hereinafter referred to as the first port 111), while simultaneously driving the first belt 3 to move away from the second belt 4; and when the first rod 12 retracts along the tube structure 11, the first connecting end 123 moves relative to the first port 111 toward the second rod 13.

[0025] Understandably, when the second rod 13 extends along the tube structure 11, the position of the second rod 13 for connecting the second connecting rope 5 (hereinafter referred to as the second connecting end 133) moves relative to the first rod 11 toward the opening end of the tube structure 11 for inserting the second rod 13 (hereinafter referred to as the second port 113), while simultaneously causing the second waist belt 4 to move away from the first waist belt 3; and when the second rod 13 retracts along the tube structure 11, the second connecting end 133 moves relative to the second port 113 toward the first rod 12.

[0026] Using the exoskeleton assistive device provided by this utility model, during the process of the first rod 12 extending out of the tube structure 11, since the end of the first rod 12 connected to the first connecting rope 2 moves toward the first port 111 of the tube structure 11, and the first waist belt 3 is connected to the other end of the first rod 12 located outside the tube structure 11, during the process of the first rod 12 extending out of the tube structure 11, the first rod 12 can directly drive the first waist belt 3 to move along the positive X-axis, thus increasing the width of the area enclosed by the first waist belt 3 and the second waist belt 4; similarly, when the second rod 13 extends out of the tube structure 11, the second rod 13 will also directly drive the second waist belt 4 to move along the negative X-axis. During the process of the first rod 12 and the second rod 13 retracting into the tube structure 11, the first rod 12 can directly drive the first waist belt 3 to move along the negative X-axis, while the second rod 13 can directly drive the second waist belt 4 to move along the positive X-axis. As a result, the width of the area enclosed by the first waist belt 3 and the second waist belt 4 is reduced, thereby realizing the rapid adjustment of the waist belt to adapt to the hip width of different users. This is beneficial to improving the adjustment convenience and user experience of the exoskeleton assistive device.

[0027] It is worth mentioning that when the first rod 12 includes a first bent portion 121 and a second bent portion 122 connected together, a portion of the first bent portion 121 can be inserted into the tube structure 11, and at least a portion of the first waist belt 3 is located in the area enclosed by the first bent portion 121 and the second bent portion 122. At the same time, the first waist belt 3 is connected to the second bent portion 122, so as to simplify the structure of the first rod 12 while enabling the first rod 12 to drive the first waist belt 3 to move synchronously, and to enable the first rod 12 to also support the first waist belt 3.

[0028] In addition, when the second rod 13 includes a third bend 131 and a fourth bend 132 connected together, a portion of the third bend 131 can be inserted into the tube structure 11, and at least a portion of the second waist belt 4 is located in the area enclosed by the third bend 131 and the fourth bend 132. At the same time, the second waist belt 4 is connected to the fourth bend 132, so as to simplify the structure of the second rod 13 while enabling the second rod 13 to drive the second waist belt 4 to move synchronously, and to enable the second rod 13 to also support the second waist belt 4.

[0029] In the specific configuration of the pipe structure 11, two first holes 112 can be provided on the side wall of the pipe structure 11, and the two first holes 112 correspond one-to-one with the first connecting rope 2 and the second connecting rope 5. Specifically, one end of the first connecting rope 2 can be connected to the first connecting end 123 of the first rod 12 inserted into the pipe structure 11 through the corresponding first hole 112, and one end of the second connecting rope 5 can be connected to the second connecting end 133 of the second rod 13 inserted into the pipe structure 11 through the corresponding first hole 112. When the first connecting end 123 of the first rod 12 retracts into the pipe structure 11, the first connecting end 123 of the first rod 12 moves towards the second rod 13 relative to the corresponding first hole 112; similarly, when the second connecting end 133 of the second rod 13 retracts into the pipe structure 11, the second connecting end 133 of the second rod 13 moves towards the first rod 12 relative to the corresponding first hole 112. During the process of the first rod 12 or the second rod 13 extending out of the tube structure 11, that is, during the movement of the first connecting end 123 toward the corresponding first hole 112 and first port 111, or during the movement of the second connecting end 133 toward the corresponding first hole 112 and second port 113, the first belt 3 pulls out the first connecting rope 2 through the corresponding first hole 112, and the second belt 4 pulls out the second connecting rope 5 through the corresponding first hole 112. Understandably, the specific position of the first hole 112 can be limited according to the required movement distance of the belt to increase the adaptability of the device. Furthermore, by setting the first hole 112, the length of the connecting rope can be shortened while meeting the movement distance requirements of the belt, thus reducing costs.

[0030] Continue to refer to Figure 1 In an optional embodiment, the exoskeleton assistive device may further include a back support assembly 6, at least a portion of which is located between a first waist belt 3 and a second waist belt 4. Specifically, the first waist belt 3 is independent of the second waist belt 4, that is, the movement of the first waist belt 3 will not cause the second waist belt 4 to move. Along the X-axis, there is a gap between the first waist belt 3 and the second waist belt 4, at least a portion of which is located in the gap. The first waist belt 3, at least a portion of the back support assembly 6, and the second waist belt 4 form the area for accommodating the human body.

[0031] When configuring the back support component 6, please refer to the following: Figure 1 and Figure 3 , Figure 3 For display Figure 1A schematic diagram of a back support assembly of the provided exoskeleton assistive device is shown. The back support assembly 6 may include a second hole 61. Specifically, the back support assembly 6 may include a plate structure, which may be a biomimetic structure that conforms to the human waist and back, and the second hole 61 is provided on the plate structure. At the same time, one end of the first connecting rope 2 and one end of the second connecting rope 5 both pass through the second hole 61 and are connected to the two waist belts one-to-one. The first connecting rope 2 is connected to the first connecting end 123 of the first rod 12, and the second connecting rope 5 is connected to the second connecting end 133 of the second rod 13.

[0032] It should be noted that the present invention does not limit the specific shape of the tube structure 11. The axis of the tube structure 11 can be an arc shape that fits the back of the human body, and both ends of the tube structure 11 are provided with openings.

[0033] The exoskeleton assistive device provided by this utility model can achieve synchronous movement of the first waist belt 3 and the second waist belt 4 by stretching or contracting the first rod 12 and the second rod 13 respectively, while effectively improving the structural compactness of the exoskeleton assistive device.

[0034] In addition, such as Figure 1 As shown, along the direction of gravity, since the tubular structure 11 is spaced apart from both the first waist belt 3 and the second waist belt 4, there is a height difference between the tubular structure 11 and the two waist belts. Specifically, during the use of the device, the tubular structure 11 supports the user's back, and the waist belts support the user's waist.

[0035] Therefore, refer to them together. Figure 1 and Figure 3 Furthermore, the back support assembly 6 may include two sets of first porous structures 62, the two sets of first porous structures 62 being located along the central cross section of the tube structure 11. Figure 1The locations indicated by the middle arrow A are mirror images of each other and correspond one-to-one with the two first holes 112 mentioned above. Specifically, the first porous structure 62 can include a third hole 621 and a fourth hole 622. Along the direction of gravity, the third hole 621 and the fourth hole 622 are spaced apart, and the third hole 621 is opposite to the first hole 112. That is, along the direction of gravity, the height of the third hole 621 is higher than that of the fourth hole 622. For example, the line connecting the third hole 621 and the fourth hole 622 can be parallel to the direction of gravity. Furthermore, along the extension and retraction direction of the first rod 12, since the second hole 61 is located between the two first holes 112, the fourth hole 622 can be spaced apart from the second hole 61 along the extension and retraction direction of the first rod 12. In this way, when the first connecting rope 2 is connected to the first connecting end 123 of the first rod 12, and the second connecting rope 5 is connected to the second connecting end 133 of the second rod 13, one end of the first connecting rope 2 and one end of the second connecting rope 5 can pass through the second hole 61 in sequence, and the corresponding fourth hole 622, third hole 621 and first hole 112 are connected one-to-one with the first connecting end 123 of the first rod 12 and the second connecting end 133 of the second rod 13. Thus, multiple holes can be used to change the direction of the connecting rope so that the force direction on the front and back sides of the belt is basically the same, thereby further improving the movement stability of the belt and the rod.

[0036] It is worth mentioning that the extension line of the line connecting the second hole 61 and the fourth hole 622 can also be made to coincide with the center line of the belt, so that the connecting rope can finally pull on the belt at the connection point from an angle close to the center line of the belt, thereby further improving the consistency of the force direction.

[0037] In a specific embodiment, such as Figure 4 As shown, Figure 4 This is another structural schematic diagram illustrating the exoskeleton assistive device. The exoskeleton assistive device includes two sets of connected wide sections 21 and narrow sections 22, which are also referred to when specifically setting the first connecting rope 2. Figure 5 and Figure 6 , Figure 5 and Figure 6 All are for display purposes Figure 4The partial structure includes a set of interconnected wide portions 21 and narrow portions 22 forming a first connecting rope 2, and another set of interconnected wide portions 21 and narrow portions 22 forming a second connecting rope 5. Each set of wide portions 21 includes a buckle structure 211 and a webbing 212. The buckle structure 211 is connected to the narrow portion 22, and one end of the webbing 212 passes through a second hole 61 and connects to the buckle structure 211. The other end of the webbing 212 connects to the corresponding first waist belt 3 or second waist belt 4. Understandably, after passing through the second hole 61, the webbing 212 has overlapping portions on both sides of the second hole 61, located between the first waist belt 3 and the second waist belt 4, to form an area to accommodate the human body. Furthermore, since the webbing 212 is wider than the narrow portion 22, it improves user comfort.

[0038] When specifically setting the buckle structure 211, refer to the following: Figure 5 and Figure 7 The buckle structure 211 may include an eighth hole 213. Specifically, the buckle structure 211 can be a long strip structure with its length direction along the direction of gravity, and the long strip structure has an eighth hole 213. One end of the webbing 212 passes through the eighth hole 213 and is connected to the webbing 212 body. For example, one end of the webbing 212 can be passed through the eighth hole 213 and then sewn to the webbing 212 body. In addition, the connection method between the narrow part 22 and the buckle structure 211 can refer to the connection method between the webbing 212 and the buckle structure 211, which will not be repeated here. This simplifies the device structure while meeting the connection requirements of the narrow part 22, the webbing 212, and the second hole 61, and improving user comfort.

[0039] In the specific design of the back support component 6, the back support component 6 may also include an adapter 63 and a back support 64. The adapter 63 has the aforementioned second hole 61, and the back support 64 is located between the adapter 63 and the tube structure 11, and the back support 64 is fixedly connected to the tube structure 11. It should be noted that this utility model does not limit the specific structure of the adapter 63 and the back support 64. The adapter 63 can be a long strip structure with its length direction along the direction of gravity, and the second hole 61 can be a long hole along the direction of gravity to accommodate the passage of the wide webbing 212. The back support 64 can be a plate structure, with the plate surface area larger than the area of ​​a single surface of the long strip structure. Furthermore, the plate structure can be a biomimetic structure that conforms to the human lower back to improve user comfort.

[0040] It is worth mentioning that both the first connecting rope 2 and the second connecting rope 5 can include two wide portions 21, and the adapter 63 includes two second holes 61, which are spaced apart along the direction of gravity. The two wide portions 21 of the first connecting rope 2 and the two wide portions 21 of the second connecting rope 5 correspond one-to-one with the two second holes 61 to further improve the user's comfort.

[0041] Also, please refer to Figure 5 and Figure 7 The back support 64 also includes two fifth holes 641. Along the extension and retraction direction of the first rod 12, the second hole 61 is located between the two fifth holes 641 and is spaced apart from them. Thus, when the first waist belt 3 is connected to the first connecting end 123 of the first rod 12, one end of the corresponding narrow portion 22 facing away from the buckle structure 211 can be connected to the first connecting end 123 of the first rod 12 sequentially through the corresponding fifth hole 641 and the first hole 112. Similarly, when the second waist belt 4 is connected to the second connecting end 133 of the second rod 13, one end of the buckle structure 211 of the corresponding narrow portion 22 can also be connected to the second connecting end 133 of the second rod 13 sequentially through the corresponding fifth hole 641 and the first hole 112, thereby improving the consistency of the force direction on the front and rear sides of the waist belt and effectively improving the movement stability of the waist belt and the rod.

[0042] It is worth mentioning that the back support 64 may also include two sets of second porous structures 642. The two sets of second porous structures 642 are mirror-distributed along the central cross-section of the tube structure 11 and correspond one-to-one with the two first holes 112. Specifically, the second porous structure 642 may include a sixth hole 6421 and a seventh hole 6422. Along the direction of gravity, the sixth hole 6421 and the seventh hole 6422 are spaced apart from the fifth hole 641, that is, along the direction of gravity, the height of the sixth hole 6421 and the seventh hole 6422 is higher than that of the fifth hole 641. Furthermore, along the extension and retraction direction of the first rod 12, the sixth hole 6421 and the seventh hole 6422 are spaced apart. For example, the line connecting the fifth hole 641 and the sixth hole 6421 may be parallel to the direction of gravity, the seventh hole 6422 may be opposite to the first hole 112, and the sixth hole 6421 and the seventh hole 6422 may be located at the same horizontal height. Based on this, along the extension and retraction direction of the first rod 12, and since the fifth hole 641, the sixth hole 6421, and the seventh hole 6422 are all located between the second hole 61 and the port of the tube structure 11, when the first connecting rope 2 is connected to the first connecting end 123 of the tube structure 11, the narrow part 22 of the connecting rope away from the buckle structure 211 can be connected to the first connecting end 123 of the first rod 12 or the second connecting end 133 of the second rod 13 in sequence through the corresponding fifth hole 641, the sixth hole 6421, the seventh hole 6422, and the first hole 112, so as to further improve the consistency of the force direction on the front and rear sides of the belt, thereby further improving the movement stability of the belt and the rod.

[0043] Additionally, optional, such as Figure 4As shown, the exoskeleton assistive device may further include two lumbar supports 7, which are connected one-to-one with the first rod 12 and the second rod 13. The lumbar support 7 connected to the first rod 12 is located between the first rod 12 and the first waist belt 3, and is connected to the first waist belt 3; while the lumbar support 7 connected to the second rod 13 is located between the second rod 13 and the second waist belt 4, and is connected to the second waist belt 4. Understandably, the lumbar supports 7 are made of rigid material, and the waist belt can be fixedly connected to a soft webbing, and the soft webbing is engaged with the limiting structure of the lumbar support 7 to achieve a stable connection between the waist belt and the rod.

[0044] In summary, in the process of the first rod 12 extending out of the tube structure 11, since the end of the first rod 12 connected to the first connecting rope 2 moves toward the first port 111 of the tube structure 11, and the first waist belt 3 is connected to the other end of the first rod 12 located outside the tube structure 11, the first rod 12 can directly drive the first waist belt 3 to move along the positive X-axis during the process of the first rod 12 extending out of the tube structure 11, thus increasing the width of the area enclosed by the first waist belt 3 and the second waist belt 4; similarly, when the second rod 13 extends out of the tube structure 11, the second rod 13 will also directly drive the second waist belt 4 to move along the negative X-axis. During the process of the first rod 12 and the second rod 13 retracting into the tube structure 11, the first rod 12 can directly drive the first waist belt 3 to move along the negative X-axis, while the second rod 13 can directly drive the second waist belt 4 to move along the positive X-axis. As a result, the width of the area enclosed by the first waist belt 3 and the second waist belt 4 is reduced, thereby realizing the rapid adjustment of the waist belt to adapt to the hip width of different users. This is beneficial to improving the adjustment convenience and user experience of the exoskeleton assistive device.

[0045] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. An exoskeleton assistive device, characterized in that, The system includes a support assembly, a first connecting rope, a second connecting rope, a first waist belt, and a second waist belt. The first and second waist belts are arranged opposite to each other, and the area they enclose is used to accommodate a human body. The support assembly is located outside the area. The support assembly includes a tubular structure, a first rod, and a second rod. One end of the first rod and one end of the second rod are retractably inserted into the tubular structure and can move towards or away from each other. The other ends of the first rod and the second rod are located on the outside of the tubular structure and are respectively connected to the first belt and the second belt. One end of the first connecting rope and one end of the second connecting rope are respectively connected to one end of the first rod and one end of the second rod inserted into the tube structure. The other end of the first connecting rope is connected to the first belt, and the other end of the second rope is connected to the second belt. When the first rod and the second rod extend or retract along the tubular structure, the first belt and the second belt move in opposite directions or towards each other.

2. The exoskeleton assistive device according to claim 1, characterized in that, The sidewall of the tube structure is provided with two first holes, and the two first holes correspond one-to-one with the first connecting rope and the second connecting rope; one end of the first connecting rope is connected to one end of the first rod inserted into the tube structure through the corresponding first hole. One end of the second connecting rope is connected to one end of the second rod inserted into the tube structure via the corresponding first hole; When one end of the first rod or one end of the second rod retracts into the tube structure, the position of the first rod connected to the first connecting rope moves relative to the corresponding first hole toward the second rod, or the position of the second rod connected to the second connecting rope moves relative to the corresponding first hole toward the first rod.

3. The exoskeleton assistive device according to claim 2, characterized in that, The exoskeleton assistive device also includes a back support assembly, at least a portion of which is located between the first waist belt and the second waist belt to enclose the area; The back support assembly includes a second hole, through which the other end of the first connecting rope and the other end of the second connecting rope are connected to the first waist belt and the second waist belt respectively.

4. The exoskeleton assistive device according to claim 3, characterized in that, Along the direction of gravity, the tubular structure is spaced apart from the first waist belt; The back support assembly also includes two sets of first porous structures, which are mirror-distributed along the central cross-section of the tube structure and correspond one-to-one with the two first holes. The first porous structure includes a third hole and a fourth hole. Along the direction of gravity, the third hole and the fourth hole are spaced apart, and the third hole is opposite to the first hole. Along the extension and retraction direction of the first rod, the fourth hole and the second hole are spaced apart. One end of the first connecting rope and one end of the second connecting rope are sequentially connected to one end of the first rod and one end of the second rod inserted into the tube structure through the second hole, and the corresponding fourth hole, third hole and first hole.

5. The exoskeleton assistive device according to claim 3, characterized in that, The exoskeleton assistive device includes two sets of connected wide and narrow sections, wherein one set of connected wide and narrow sections forms the first connecting rope, and the other set of connected wide and narrow sections forms the second connecting rope; The wide portion includes a buckle structure and a webbing, the buckle structure being connected to the narrow portion; one end of the webbing is connected to the buckle structure via the second hole, and the other end is connected to the first belt or the second belt.

6. The exoskeleton assistive device according to claim 5, characterized in that, The back support assembly further includes an adapter and a back support. The adapter is provided with the second hole, and the back support is located between the adapter and the tube structure and is connected to the tube structure. The back support includes two fifth holes along the extension and retraction direction of the first rod, and the second hole is located between the two fifth holes and spaced apart from the fifth holes; The narrow section, away from the buckle structure, is connected sequentially to one end of the first rod or one end of the second rod inserted into the tube structure via the corresponding fifth hole and the first hole.

7. The exoskeleton assistive device according to claim 6, characterized in that, The back support also includes two sets of second porous structures, which are mirror-distributed along the central cross-section of the tube structure and correspond one-to-one with the two first holes; The second porous structure includes a sixth hole and a seventh hole. Along the extension and retraction direction of the first rod, the sixth hole and the seventh hole are spaced apart, and the seventh hole is opposite to the first hole. Along the direction of gravity, the sixth hole and the fifth hole are spaced apart; The narrow section, away from the buckle structure, is connected in sequence to one end of the first rod or one end of the second rod inserted into the tube structure via the corresponding fifth hole, sixth hole, seventh hole, and first hole.

8. The exoskeleton assistive device according to claim 6, characterized in that, The buckle structure includes an eighth hole, through which one end of the webbing passes and is connected to the webbing body.

9. The exoskeleton assistive device according to claim 6, characterized in that, The first connecting rope includes two wide portions, the second connecting rope includes two wide portions, and the adapter includes two second holes, which are spaced apart along the direction of gravity; the two wide portions of the first connecting rope are connected to the two second holes in a one-to-one correspondence, and the two wide portions of the second connecting rope are also connected to the two second holes in a one-to-one correspondence.

10. The exoskeleton assistive device according to claim 1, characterized in that, The first rod includes a first bent portion and a second bent portion connected together, and the first bent portion is inserted into the tube structure; At least a portion of the first belt is located in the area enclosed by the first bar and is connected to the second bend. The second rod includes a third bend and a fourth bend connected to each other, the third bend being inserted into the tube structure; At least a portion of the second belt is located in the area enclosed by the second bar and is connected to the fourth bend.

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