CN209615493U - Exoskeleton non-slip seat for lower limbs - Google Patents

Abstract

The utility model discloses an anti-skid seat of an exoskeleton for lower limbs. The anti-skid seat of the exoskeleton comprises a waist strap, a left support leg and a right support leg; the waist strap is respectively connected with the left support leg and the right support leg; The left supporting leg and the right supporting leg have the same structure, and are symmetrically installed on both sides of the waist strap, and both include an adjustable non-slip seat part, a thigh frame, a calf frame, a controllable gas spring bearing mechanism, and a load-relieving rod part and foot support; the utility model exoskeleton anti-slip seat fully considers the degree of freedom of the joints of the lower limbs in the structural design, and prevents the problem of sliding through the angle of the seat cushion on the basis of not affecting the normal walking of the human body. The wearer can maintain a stable sitting posture, and the power-assisted effect is significantly improved, which effectively solves the fatigue of workers who have been standing for a long time.

Description

Exoskeleton non-slip seat for lower limbs

technical field

The utility model relates to the technical field of an exoskeleton booster device, in particular to an exoskeleton anti-slip seat for lower limb sitting assistance.

technical background

At this stage, the high load and long hours of labor of factory workers have continuously reduced their work efficiency and affected their health. And because the factory space is small, it is not suitable to place the seats for workers to rest, and it is inconvenient to move. Therefore, standing and working for a long time makes workers feel tired in a short period of time, which affects the comfort and efficiency of workers' work.

The document with the application number 201721030664.8 discloses a lower limb power-assisted exoskeleton based on gravity support, which consists of two mechanical legs distributed on the back of the human legs. The existing problems of the mechanical legs are: when the wearer sits down, the The angle of the seat cushion of the buttocks is not variable, and it is a downward angle, so there is a tendency to slide down, making the exoskeleton unstable, giving the wearer an uncomfortable feeling, and does not have an obvious boosting effect.

Utility model content

Aiming at the deficiencies of the prior art, the utility model provides an exoskeleton non-slip seat for lower limb sitting assistance. The utility model is analyzed and designed according to ergonomics, and satisfies the degrees of freedom of the joints of the lower limbs of the human body in terms of the degree of freedom of the joints, so as not to affect the normal walking of the human body. In the seat part, the utility model can adjust the seat angle under various sitting postures of the human body to prevent the problem of sliding in the prior art, so that the wearer can maintain a stable sitting posture, and the lower limbs assist the exoskeleton to play a better role. Boosting effect. Therefore, the utility model effectively solves the fatigue of workers standing for a long time, and enhances the stability and assisting performance of the lower limb sitting-assisting exoskeleton.

The technical solution of the utility model to solve the above-mentioned problems is to design a lower limbs-assisted exoskeleton anti-skid seat, which includes a waist strap, a left support leg and a right support leg; The support leg is connected with the right support leg; the left support leg and the right support leg have the same structure, are symmetrically installed on both sides of the waist strap, and include an adjustable non-slip seat part, a thigh frame (7), a calf frame (8 ), controllable gas spring bearing mechanism (9), unloading strut part and foot support part (11);

The adjustable non-slip seat part includes a slide table (6), an electric push rod (5), a Y-shaped rocker (4), a seat cushion connector (3), a seat cushion (2), and a pin shaft; the seat There are eight countersunk holes (22) on the cushion (2), which are connected to the seat cushion connector (3) through the countersunk holes (22). In addition, the lower two sides of the seat cushion (2) are provided with leg strap connection columns (24), the two ends of the leg strap (23) are connected to the leg strap connection column (24), and the leg strap (23) is provided with a leg fixing buckle (21); the seat cushion is connected There are eight threaded holes (31) corresponding to the countersunk holes (22) on the upper part of the piece (3), and the seat cushion (2) is fixed on the seat cushion connector (3) through the threaded holes (31); the seat cushion connector The left end of (3) has pendant connecting hole (33), is hinged on the cushion connector (3) by pendulum connecting hole (33) Y-shaped pendant (4); The connecting hole (32) at the top of the push rod is hinged with the hole (51) at the top of the electric push rod; the expansion and contraction of the electric push rod (5) drives the rotation of the seat cushion connector (3) and the seat cushion (2);

The top of the Y-shaped ornament (4) has a seat cushion connector hole (41), through which the seat cushion connector (3) is hinged; its bottom end has an electric push rod tail end connection hole (42), The hole is hinged with the tail end hole (52) of the electric push rod; the top and the tail end of the electric push rod (5) have small holes respectively hinged with the seat cushion connector (3) and the Y-shaped swing piece (4), And the electric push rod tail end hole (52) is hinged with the circular hole (63) at the left end of the slide table (6) through the pin shaft, and the electric push rod top hole (51) is through the pin shaft and the slide table length at the right end of the slide table (6). The bar holes (61) are hinged; there are round holes (63) on both sides of the left end of the sliding table (6), long holes (61) on both sides of the right end, and rectangular holes (64) on the left end of the bottom. One end of the motor (53) of the electric push rod (5) passes through the rectangular hole (64) of the sliding table without interference; the right end of its bottom also has two long holes (62) connecting the thighs, through which the sliding table ( 6) Connect to the thigh skeleton (7);

The upper part of the thigh frame (7) has a rectangular groove (76), in which the sliding table (6) of the adjustable non-slip seat part is installed, and a group of front-end long holes are arranged on both sides of the rectangular groove (76) (71), a group of rear-end elongated holes (72), place the electric push rod tail end hole (52), the electric push rod tail end connection hole (42), and the round hole (63) concentrically hinged with a pin shaft In the rear end elongated hole (72), the electric push rod top connecting hole (32), the electric push rod top end hole (51), and the slide table elongated hole (61) are concentrically hinged with a pin and then placed in the front end elongated hole ( 71), the pin shaft can slide in the front end elongated hole (71) and the rear end elongated hole (72); the left end of the rectangular groove (76) bottom is provided with a thigh rectangular hole (77), so that the electric push rod (5 ) of the motor (53) passes through it without interference; in addition, two sliding table fixing holes (78) are arranged at the bottom right of the rectangular slot (76), which are connected with the two thighs at the bottom of the sliding table (6) The strip holes (62) communicate with each other, and when the wearer adjusts the appropriate leg length, the adjustable non-slip seat part and the thigh frame (7) are fixed by bolts;

And the right side of the lower end of the thigh frame (7) is provided with a strap connection column (73) for connecting with the waist strap, and the left side of the lower end is sequentially provided with a shank connection hole (75) from top to bottom, and a controllable gas spring connection. hole (74); the shank connection hole (75) is connected with the shank frame (8), so that the shank frame (8) rotates around the thigh frame (7), and the controllable gas spring connection hole (74) and the controllable gas spring (92 ) is connected so that the controllable gas spring (92) rotates around the thigh frame (7);

The upper end of the shank frame (8) is connected with the shank connection hole (75) of the thigh frame (7) through a pin shaft, and can rotate around the thigh frame (7); the shank frame (8) is a hollow structure, and the two sides of the middle A straight track (82) is provided, and the controllable gas spring bearing mechanism (9) is arranged in the straight track (82) and can move along it; the lower end of the calf frame (8) has a hole (84) for the unloading pole, and The upper end of force strut (10) is installed in this hole, and the side wall of shank frame (8) has two fastening screw holes (83) that communicate with unloading strut hole (84), in the fastening screw hole (83) inner fastening screw is installed and unloading strut (10) is fixed;

The controllable gas spring bearing mechanism (9) includes a bearing (91), a controllable gas spring (92), and a gas spring hole (93). The upper end of the controllable gas spring (92) is thinner than the lower end, and an air spring The hole (93) is hinged with the controllable gas spring connection hole (74) through the gas spring hole (93); the lower end of the controllable gas spring (92) is provided with a mounting hole for installing the shaft, and the two bearings (91) are installed on Both ends of the shaft; two bearings (91) are respectively arranged in the straight rails (82) on both sides, and can roll along them, driving the lower end of the controllable gas spring (92) to move back and forth along the straight rails (82);

The part of the unloading strut is composed of the unloading strut (10) and the stabilizing pad (104); the upper part of the unloading strut (10) has a small groove (101), and the fastening screw passes through the fastening screw hole ( 83) The top realizes the fixing of the unloading strut (10) and the lower leg frame (8) in the small groove (101); the lower part of the unloading strut (10) has an inner groove (102), and the foot support (11) is set in the inner groove (102) to realize the connection between the unloading strut (10) and the foot support (11), and the foot support (11) can rotate around the unloading strut (10) A ball pair (103) is arranged on the lower part of the unloading strut (10), and the lower end of the ball pair (103) is connected with a stabilizing pad (104), and the stabilizing pad (104) can go around the unloading strut (10) in all directions. turn;

The foot support (11) is partly connected to the unloading pole, and is composed of a foot connector (111), a tripod (112), a foot pad (113), and a foot strap (114); wherein the foot One end of the connector (111) is connected with the unloading pole (10), and the other end is connected with the tripod (112). The foot connector (111) can rotate left and right around the unloading pole (10), and the tripod (112) It can rotate left and right around the foot connector (111); the tripod (112) is an approximate U-shaped structure, and the front end of the tripod (112) has a fixing hole (115) for installing the foot pad (113); The pad (113) has a fixing hole (115) for connecting with the tripod (112), and has a strap strip hole (116) for tying the foot strap (114).

Compared with the prior art, the utility model has the beneficial effects that: the utility model exoskeleton anti-skid seat fully considers the degrees of freedom of the joints of the lower limbs of the human body in structural design, and does not affect the normal walking of the human body. The angle of the seat cushion is used to prevent the problem of sliding, not only can the wearer maintain a stable sitting posture, but also the power-assisted effect is significantly improved, which effectively solves the fatigue of workers who have been standing for a long time.

Description of drawings

Fig. 1 is the overall structure schematic diagram of a kind of embodiment of the utility model;

Fig. 2 is a schematic diagram of the seat cushion structure of an embodiment of the utility model;

Fig. 3 is a schematic structural diagram of a seat cushion connector according to an embodiment of the present invention;

Fig. 4 is a schematic structural diagram of a Y-shaped ornament according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of an electric push rod according to an embodiment of the present invention;

Fig. 6 is a schematic diagram of a slide table of an embodiment of the utility model;

Fig. 7 is a partial structural diagram of an adjustable anti-slip seat according to an embodiment of the present invention;

Fig. 8 is a schematic diagram of the assembly of the adjustable non-slip seat part and the thigh frame according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of the thigh skeleton structure of an embodiment of the utility model;

Fig. 10 is a schematic diagram of the skeleton structure of the calf according to an embodiment of the present invention, wherein Fig. 10(a) is a schematic diagram of a three-dimensional structure from a rear view angle, and Fig. 10(b) is a schematic diagram of a three-dimensional structure from a side view angle;

Fig. 11 is a schematic structural diagram of a controllable gas spring bearing mechanism according to an embodiment of the present invention;

Figure 12 is a schematic diagram of the connection between the thigh frame and the calf frame in an embodiment of the present invention;

Fig. 13 is a schematic diagram of the partial structure of the unloading strut in an embodiment of the utility model;

Fig. 14 is a schematic diagram of the structure of the foot support part of an embodiment of the utility model;

(In the figure: 1a, strap; 1b, fixed buckle; 2, seat cushion; 21, fixed buckle; 22, countersunk hole; 23, leg strap; 24, leg strap connecting post; 3, Seat cushion connector; 31, threaded hole; 32, small electric push rod top connection hole; 33, ornament connection hole; 4, Y-shaped ornament; 41, seat cushion connector hole; 42, electric push rod tail end connection hole; 5. Electric push rod; 51. Top hole of electric push rod; 52. Tail end hole of electric push rod; 53. Motor; Round hole; 64. Sliding table rectangular hole; 7. Thigh skeleton; 71. Front-end long hole; 72. Back-end long hole; 73. Strap connection column; 74. Controllable gas spring connection hole; 75. Leg connection Hole; 76, rectangular groove; 77, rectangular hole of thigh; 78, fixing hole of slide table; 8, lower leg frame; 81, connecting hole of thigh; 82, straight track; 83, fastening screw hole; 84, hole of unloading pole 9, controllable gas spring bearing mechanism; 91, bearing; 92, controllable gas spring; 93, gas spring hole; 10, unloading strut; 101, small groove; Vice; 104, stability pad; 11, foot support; 111, foot connector; 112, tripod; 113, foot pad; 114, foot strap; 115, fixing hole; 116, strap long hole) .

Detailed ways

Provide the specific embodiment of the present utility model below. The specific embodiments are only used to further describe the utility model in detail, and do not limit the protection scope of the claims of the present application.

The utility model provides an exoskeleton anti-slip seat for lower limbs sitting (referred to as an exoskeleton anti-slip seat, see Fig. Supporting legs; the waist straps are respectively connected to the left supporting leg and the right supporting leg; the left supporting leg and the right supporting leg have the same structure, are symmetrically installed on both sides of the waist straps, and both include an adjustable non-slip seat part , thigh frame (7), calf frame (8), controllable gas spring bearing mechanism (9), unloading pole part and foot support part (11);

The waist strap includes a strap (1a) and a waist fixing buckle (1b); the length of the strap (1a) is adjustable, and the upper part of the strap (1a) is an annular belt with a waist fixing buckle (1b), the lower part of the strap (1a) is two connecting straps, which are respectively connected with the left supporting leg and the right supporting leg. The wearer opens the waist fixing buckle (1b), puts on and adjusts the length of the strap, and then locks the waist fixing buckle (1b) to complete the fixing of the strap to the upper body;

The adjustable non-slip seat part includes a slide table (6), an electric push rod (5), a Y-shaped rocker (4), a seat cushion connector (3), a seat cushion (2), and a pin shaft; the seat There are eight countersunk holes (22) on the cushion (2), which are connected to the seat cushion connector (3) through the countersunk holes (22). In addition, the lower two sides of the seat cushion (2) are provided with leg strap connection columns (24), the two ends of the leg strap (23) are connected to the leg strap connecting column (24), and the leg strap (23) is provided with a leg fixing buckle (21); when the wearer wears the exoskeleton During the anti-slip seat, the leg fixing buckle (21) is opened, and after the position is adjusted, the leg fixing buckle (21) is fastened to realize fixing with the leg. There are eight threaded holes (31) corresponding to the countersunk holes (22) on the upper part of the seat cushion connector (3), and the seat cushion (2) is fixed on the seat cushion connector (3) through the threaded holes (31). top; the left end of the seat cushion connector (3) is provided with a decoration connecting hole (33), and the Y-shaped decoration (4) is hinged on the seat cushion connector (3) through the decoration connecting hole (33); the seat cushion connector (3) ) has an electric push rod top connecting hole (32) at the lower end, through which the hole is hinged with the electric push rod top hole (51). The expansion and contraction of the electric push rod (5) drives the rotation of the seat cushion connector (3) and the seat cushion (2).

The top of the Y-shaped ornament (4) has a seat cushion connector hole (41), through which the seat cushion connector (3) is hinged; its bottom end has an electric push rod tail end connection hole (42), Through this hole, it is hinged with the tail end hole (52) of the electric push rod. The top and tail end of the electric push rod (5) have small holes respectively hinged with the seat cushion connector (3) and the Y-shaped swing piece (4), and the tail end hole (52) of the electric push rod passes through the pin shaft and the slide The circular hole (63) at the left end of the platform (6) is hinged, and the hole (51) at the top of the electric push rod is hinged with the slide table elongated hole (61) at the right end of the slide table (6) by a pin. There are circular holes (63) on both sides of the left end of the slide table (6), slotted holes (61) on both sides of the right end, a rectangular hole (64) on the left end of the bottom, and electric push rods (5) One end of the motor (53) passes through the rectangular hole (64) of the slide table without interference; the right end of the bottom also has two long holes (62) connecting the thighs, through which the slide table (6) and the thigh frame (7 ) connected.

The angle adjustment of the adjustable non-slip seat part is through the extension and contraction of the electric push rod (5) to drive the end of the seat cushion connector (3) to slide back and forth in the slide table long hole (61) at the right end of the slide table, so that the seat cushion is connected The swing of the piece (3) and the Y-shaped swing piece (4) plays the role of adjusting the angle of the seat cushion.

The upper part of the thigh frame (7) has a rectangular groove (76), in which the sliding table (6) of the adjustable non-slip seat part is installed, and a group of front-end long holes are arranged on both sides of the rectangular groove (76) (71), a group of rear-end elongated holes (72), place the electric push rod tail end hole (52), the electric push rod tail end connection hole (42), and the round hole (63) concentrically hinged with a pin shaft In the rear end elongated hole (72), the electric push rod top connecting hole (32), the electric push rod top end hole (51), and the slide table elongated hole (61) are concentrically hinged with a pin and then placed in the front end elongated hole ( 71), the pin shaft can slide in the front elongated hole (71) and the rear end elongated hole (72), and drive the adjustable non-slip seat part to move in the rectangular groove (76), thereby realizing the adjustment of the thigh length to apply For different body types of wearers. A thigh rectangular hole (77) is arranged at the left end of the bottom of the rectangular groove (76), so that one end of the motor (53) of the electric push rod (5) passes through it without forming interference; A sliding platform fixing hole (78) communicates with the two thigh connecting elongated holes (62) at the bottom of the sliding platform (6). The thigh frame (7) is fixed.

And the right side of the lower end of the thigh frame (7) is provided with a strap connection column (73) for connecting with the waist strap, and the left side of the lower end is sequentially provided with a shank connection hole (75) from top to bottom, and a controllable gas spring connection. hole (74). The shank connection hole (75) is connected with the shank frame (8), so that the shank frame (8) rotates around the thigh frame (7), and the controllable gas spring connection hole (74) is connected with the controllable gas spring (92), so that the shank frame (8) can be rotated around the thigh frame (7). The air control spring (92) rotates around the thigh frame (7). The two connection holes of the utility model minimize the distance between the two holes without affecting the interference, thereby increasing the compactness of the mechanism.

The upper end of the shank frame (8) is connected with the shank connection hole (75) of the thigh frame (7) through a pin shaft, and can rotate around the thigh frame (7). The calf frame (8) is a hollow structure, with straight rails (82) arranged on both sides of the middle part, and the controllable gas spring bearing mechanism (9) is arranged in the straight rails (82) and can move along it, so that the human body can avoid walking time interference. The lower end of the calf frame (8) has a unloading pole hole (84), the upper end of the unloading pole (10) is installed in this hole, and the side wall of the calf frame (8) is provided with two unloading poles. The fastening screw hole (83) that hole (84) communicates, adjusts the length of mechanical leg shank according to the length of the wearer of different leg lengths (10) in the hole to adjust the mechanical leg shank, after adjusting the suitable length, in A fastening screw is installed in the fastening screw hole (83) to fix the unloading support rod (10).

The controllable gas spring bearing mechanism (9) includes a bearing (91), a controllable gas spring (92), and a gas spring hole (93). The upper end of the controllable gas spring (92) is thinner than the lower end, and an air spring Hole (93), is hinged with controllable gas spring connection hole (74) by gas spring hole (93). The lower end of the controllable gas spring (92) is provided with a mounting hole for mounting the shaft, and two bearings (91) are installed at both ends of the shaft. Two bearings (91) are respectively arranged in the straight rails (82) on both sides, and can roll along them, driving the lower end of the controllable gas spring (92) to move back and forth along the straight rails (82).

The unloading strut part is composed of a unloading strut (10) and a stabilizing pad (104). Wherein there is a small groove (101) on the upper part of the unloading strut (10), and the fastening screw pushes through the fastening screw hole (83) in the small groove (101) to realize the unloading strut (10) and the lower leg frame ( 8) is fixed; the lower part of the unloading strut (10) has an inner groove (102), and the foot support (11) is set in the inner groove (102) to realize the unloading strut (10) The connection with the foot support (11), and the foot support (11) can rotate around the unloading strut (10); the lower part of the unloading strut (10) is provided with a ball pair (103), and the ball pair (103 ) is connected with a stabilizing pad (104), and the stabilizing pad (104) can rotate around the unloading pole (10) in all directions to ensure that the stabilizing pad (104) is in full contact with the ground at any sitting angle to achieve unloading and stability Effect.

Described foot support part (11) is connected with unloading strut part, is made up of foot connector (111), tripod (112), foot pad (113), foot strap (114). One end of the foot connector (111) is connected to the unloading pole (10), and the other end is connected to the tripod (112). The foot connector (111) can rotate around the unloading pole (10), and the tripod (112) can rotate left and right around the foot connector (111), so that the tripod (112) is rotated up and down around the unloading support (10) to ensure the flexibility of the wearer's pin; the tripod (112) is a Approximate U-shaped structure, in which the wearer puts his feet, and has a fixing hole (115) at the front end of the tripod (112) for installing the foot pad (113); the foot pad (113) is a place for the wearer to step on. Have the fixing hole (115) that is used to be connected with tripod (112) on the foot pad (113), and have the strap elongated hole (116) that is used to tie foot strap (114); Foot strap ( 114) is used to fix the human foot and the foot support (11). When the wearer puts on the exoskeleton anti-skid seat, close the fixing buckle to realize the connection between the human foot and the foot support (11).

The core part of the utility model is the controllable knee joint part, which plays the role of adjusting the angle of the thigh frame (7) and the calf frame (8). This part is composed of the thigh frame (7), the calf frame (8), the controllable Gas spring bearing mechanism (9) is formed. When the wearer needs to sit down, first the controllable gas spring bearing mechanism (9) slides down to the bottom along the straight track (82), if the position meets the sitting posture requirements then there is no need to adjust the length of the controllable gas spring (92); if If the sitting posture requirement of the wearer is not met, the length of the controllable gas spring (92) can be adjusted to adjust to the sitting posture required by the wearer. When the wearer needs to stand and walk, he can stand up and walk directly. Because of the design of the straight track (82), the controllable gas spring bearing mechanism (9) can slide in the straight track (82) during the wearer's walking without interfering with the bending of the knee joint.

The unmentioned part of the utility model is applicable to the prior art.

Claims (2)

1. a kind of lower extremity sit-assisted exoskeleton anti-slip seat, it is characterized in that, this exoskeleton anti-slip seat comprises waist strap, left support leg and right support leg; Described waist strap is connected with left support leg and right support leg respectively connection; the left supporting leg and the right supporting leg have the same structure, are symmetrically installed on both sides of the waist strap, and both include an adjustable non-slip seat part, a thigh frame (7), a calf frame (8), and a controllable gas spring Bearing mechanism (9), unloading strut part and foot support part (11); The adjustable non-slip seat part includes a slide table (6), an electric push rod (5), a Y-shaped rocker (4), a seat cushion connector (3), a seat cushion (2), and a pin shaft; the seat There are eight countersunk holes (22) on the cushion (2), which are connected to the seat cushion connector (3) through the countersunk holes (22). In addition, the lower two sides of the seat cushion (2) are provided with leg strap connection columns (24), the two ends of the leg strap (23) are connected to the leg strap connection column (24), and the leg strap (23) is provided with a leg fixing buckle (21); the seat cushion is connected There are eight threaded holes (31) corresponding to the countersunk holes (22) on the upper part of the piece (3), and the seat cushion (2) is fixed on the seat cushion connector (3) through the threaded holes (31); the seat cushion connector The left end of (3) has pendant connecting hole (33), is hinged on the cushion connector (3) by pendulum connecting hole (33) Y-shaped pendant (4); The connecting hole (32) at the top of the push rod is hinged with the top hole (51) of the electric push rod; the expansion and contraction of the electric push rod (5) drives the rotation of the seat cushion connector (3) and the seat cushion (2); The top of the Y-shaped ornament (4) has a seat cushion connector hole (41), through which the seat cushion connector (3) is hinged; its bottom end has an electric push rod tail end connection hole (42), The hole is hinged with the tail end hole (52) of the electric push rod; the top and tail end of the electric push rod (5) have small holes respectively hinged with the seat cushion connector (3) and the Y-shaped swing piece (4), And the electric push rod tail end hole (52) is hinged with the circular hole (63) at the left end of the slide table (6) through the pin shaft, and the electric push rod top hole (51) is through the pin shaft and the slide table length at the right end of the slide table (6). The bar holes (61) are hinged; there are round holes (63) on both sides of the left end of the sliding table (6), long holes (61) on both sides of the right end, and rectangular holes (64) on the left end of the bottom. One end of the motor (53) of the electric push rod (5) passes through the rectangular hole (64) of the slide table without interference; the right end of its bottom also has two long holes (62) connecting the thighs, through which the slide table ( 6) Connect to the thigh frame (7); The upper part of the thigh frame (7) has a rectangular groove (76), in which the sliding table (6) of the adjustable non-slip seat part is installed, and a group of front-end long holes are arranged on both sides of the rectangular groove (76) (71), a group of rear-end elongated holes (72), place the electric push rod tail end hole (52), the electric push rod tail end connection hole (42), and the round hole (63) concentrically hinged with a pin shaft In the rear end elongated hole (72), the electric push rod top connecting hole (32), the electric push rod top end hole (51), and the slide table elongated hole (61) are concentrically hinged with a pin and then placed in the front end elongated hole ( 71), the pin shaft can slide in the front end elongated hole (71) and the rear end elongated hole (72); the left end of the rectangular groove (76) bottom is provided with a thigh rectangular hole (77), so that the electric push rod (5 ) of the motor (53) passes through it without interference; in addition, two sliding table fixing holes (78) are arranged at the right end of the bottom of the rectangular slot (76), which are connected with the two thighs at the bottom of the sliding table (6) The strip holes (62) communicate with each other, and when the wearer adjusts the appropriate leg length, the adjustable non-slip seat part and the thigh frame (7) are fixed by bolts; And the right side of the lower end of the thigh frame (7) is provided with a strap connection column (73) for connecting with the waist strap, and the left side of the lower end is sequentially provided with a shank connection hole (75) from top to bottom, and a controllable gas spring connection. Hole (74); shank connection hole (75) is connected with shank frame (8), makes shank frame (8) rotate around thigh frame (7), controllable air spring connection hole (74) and controllable gas spring (92) ) is connected so that the controllable gas spring (92) rotates around the thigh frame (7); The upper end of the shank frame (8) is connected with the shank connection hole (75) of the thigh frame (7) through a pin shaft, and can rotate around the thigh frame (7); the shank frame (8) is a hollow structure, and the two sides of the middle A straight track (82) is provided, and the controllable gas spring bearing mechanism (9) is arranged in the straight track (82) and can move along it; the lower end of the calf frame (8) has a hole (84) for the unloading pole, and The upper end of force strut (10) is installed in this hole, and the side wall of shank frame (8) has two fastening screw holes (83) that communicate with unloading strut hole (84), in the fastening screw hole (83) inner fastening screw is installed and unloading strut (10) is fixed; The controllable gas spring bearing mechanism (9) includes a bearing (91), a controllable gas spring (92), and a gas spring hole (93). The upper end of the controllable gas spring (92) is thinner than the lower end, and an air spring The hole (93) is hinged with the controllable gas spring connection hole (74) through the gas spring hole (93); the lower end of the controllable gas spring (92) is provided with a mounting hole for installing the shaft, and the two bearings (91) are installed on Both ends of the shaft; two bearings (91) are respectively arranged in the straight rails (82) on both sides, and can roll along them, driving the lower end of the controllable gas spring (92) to move back and forth along the straight rails (82); The part of the unloading strut is composed of the unloading strut (10) and the stabilizing pad (104); the upper part of the unloading strut (10) has a small groove (101), and the fastening screw passes through the fastening screw hole ( 83) The top realizes the fixing of the unloading strut (10) and the calf frame (8) in the small groove (101); the lower part of the unloading strut (10) has an inner groove (102), and the foot support (11) is set in the inner groove (102) to realize the connection between the unloading strut (10) and the foot support (11), and the foot support (11) can rotate around the unloading strut (10) A ball pair (103) is arranged on the lower part of the unloading strut (10), and the lower end of the ball pair (103) is connected with a stabilizing pad (104), and the stabilizing pad (104) can go around the unloading strut (10) in all directions. turn; The foot support (11) is partly connected to the unloading pole, and is composed of a foot connector (111), a tripod (112), a foot pad (113), and a foot strap (114); wherein the foot One end of the connector (111) is connected with the unloading pole (10), and the other end is connected with the tripod (112). The foot connector (111) can rotate left and right around the unloading pole (10), and the tripod (112) It can rotate left and right around the foot connector (111); the tripod (112) is an approximate U-shaped structure, and the front end of the tripod (112) has a fixing hole (115) for installing the foot pad (113); The pad (113) has a fixing hole (115) for connecting with the tripod (112), and has a strap strip hole (116) for tying the foot strap (114). 2. A kind of lower limbs sitting aid exoskeleton non-slip seat according to claim 1, is characterized in that, described waist strap comprises strap (1a) and waist fixing buckle (1b); strap (1a) length Adjustable, the upper part of the strap (1a) is a ring-shaped waist belt, which is provided with a waist fixing buckle (1b), and the lower part of the strap (1a) is two connecting straps, which are respectively connected with the left support leg and the right support leg .