An integrated device for supporting the neck of an exoskeleton robot

Abstract

The present invention discloses an exoskeleton robot neck support integrated device, which relates to the technical field of exoskeleton robot wearable devices, in order to solve the problem that exoskeleton robots at home and abroad lack neck support devices for offsetting the weight of helmets. It includes a helmet, a flexible support arm, a shoulder annular seat, a top rotating assembly for rotating the helmet, a support guide rail assembly for the up and down swinging of the helmet, and a shoulder connecting assembly for the front and rear extension of the helmet; the top rotating assembly is installed on the top of the helmet, the two ends of the support guide rail assembly are respectively connected to the top rotating assembly and one end of the flexible support arm, the other end of the flexible support arm is connected to the shoulder connecting assembly, and the shoulder connecting piece is installed on the shoulder annular seat. The above-mentioned neck support integrated device has a simplified structure, realizes standardized and integrated design, improves the reliability and comfort of the device, and has high practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robot wearable devices, and in particular to an exoskeleton robot neck support integrated device. Background Art

[0002] In China, with the needs of the military and civilian fields, exoskeleton robot technology has begun to develop rapidly, but the neck support system of exoskeleton robots has not been developed accordingly. With the new development of modern battlefields, helmets will become necessary system equipment in individual system equipment in modern battlefields and future battlefields. In the new environment, there will be more and more auxiliary equipment on the helmets, which will also cause the weight of the helmets to become heavier. For soldiers, the lighter the helmet, the better. If the weight of the helmet is too heavy, it will directly affect the discomfort and fatigue of the soldier's neck, and seriously affect the soldier's combat capability.

[0003] The neck support integrated device directly supports the human head and neck, which are the parts of the human body with the most types of movements and the highest flexibility requirements, so the neck support structure must have multiple degrees of freedom and be able to highly match various complex head and neck movements. While offsetting the weight of the helmet, it is developed in the direction of lightweight, high reliability and comfort, so that the neck support system is highly compatible with the human head and neck in structure, movement and function.

[0004] The exoskeleton robot's neck support integrated device can effectively offset the weight of the soldier's helmet and relieve the neck fatigue and discomfort caused by the helmet. However, neither domestic nor foreign skeleton robots are designed with a neck support device to offset the weight of the helmet, while tactical helmets are essential in modern and future military applications. Summary of the invention

[0005] The purpose of the present invention is to provide an exoskeleton robot neck support integrated device for offsetting the weight of a soldier's helmet and alleviating the neck fatigue and discomfort caused by the helmet to the soldier.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] Provided is an exoskeleton robot neck support integrated device, comprising a helmet, a flexible support arm, a shoulder annular seat, a top rotating assembly for rotating the helmet, a supporting guide rail assembly for swinging the helmet up and down, and a shoulder connecting assembly for extending the helmet forward and backward;

[0008] The top rotating assembly is installed on the top of the helmet, the two ends of the supporting guide rail assembly are respectively connected to the top rotating assembly and one end of the flexible support arm, the other end of the flexible support arm is connected to the shoulder connecting assembly, and the shoulder connecting member is installed on the shoulder annular seat.

[0009] The exoskeleton robot neck support integrated device of the present invention adopts an integrated design, which effectively combines the helmet with the flexible support arm and the shoulder ring seat through the top rotating assembly, the support guide rail assembly and the shoulder connecting assembly into an integral structure, and the structure is more compact. The flexible support arm adopts a composite material, which reduces its overall weight and improves the flexibility of the neck support device. While ensuring a high degree of coordination with the human head and neck, it plays a good auxiliary role, effectively relieves the soldiers' neck fatigue, and improves the soldiers' combat capabilities. In addition, the neck support integrated device adopts a double support design, combined with a flexible support arm made of fiber composite materials, which has the characteristics of being deformable and highly elastic, realizes the lightweight of the support integrated device, and improves the stability and reliability of the support integrated device. The above-mentioned neck support integrated device has a simplified structure, realizes standardized and integrated design, improves the reliability and comfort of the device, and has high practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0011] Figure 1 Schematic diagram of an exoskeleton robot neck support integrated device in an embodiment of the present invention;

[0012] Figure 2 for Figure 1 A schematic longitudinal section of the top rotating assembly;

[0013] Figure 3 for Figure 1 Schematic diagram of the longitudinal section of the middle support guide rail assembly.

[0014] Reference numerals:

[0015] 1. Helmet, 2. Top rotating assembly, 2-1. Bearing cover, 2-2. Rotating shaft, 2-3. First joint bearing, 2-4. Bearing copper sleeve, 2-5. Bearing base, 2-6. Helmet base, 2-7. Ball plunger, 3. Rotating connecting shaft, 4. Support guide rail, 5. Guide rail assembly, 5-1. Guide rail upper shell, 5-2. Guide wheel connecting shaft, 5-3. Guide rail lower shell, 5-4. Adjusting gasket, 5-5. Bearing gasket, 5-6. Guide wheel, 5-7. Guide wheel bearing, 6. Flexible support arm, 7. Shoulder connecting groove, 8. Shoulder annular seat, 9. Shoulder base, 10. Bearing pin, 11. Second joint bearing. DETAILED DESCRIPTION

[0016] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0018] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The meaning of "several" is one or more, unless otherwise clearly and specifically defined.

[0019] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by the terms "up", "down", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] like Figure 1As shown, the exoskeleton robot neck support integrated device disclosed in the present invention includes a helmet 1, a flexible support arm 6, a shoulder annular seat 8, a top rotating assembly 2 for rotating the helmet 1, a supporting guide rail assembly for the up and down swinging of the helmet 1, and a shoulder connecting assembly for the forward and backward extension of the helmet 1; the top rotating assembly 2 is installed on the top of the helmet 1, the two ends of the supporting guide rail assembly are respectively connected to the top rotating assembly 2 and one end of the flexible support arm 6, the other end of the flexible support arm 6 is connected to the shoulder connecting assembly, and the shoulder connecting piece is installed on the shoulder annular seat 8.

[0022] When implementing:

[0023] The helmet 1 is wearable and can fit closely to the human head. The setting of the top rotating assembly 2 ensures that when the wearer turns his head, it will not affect the flexible support arm 6, etc., and the head turning action is smoother. The flexible support arm 6 cooperates with the support guide rail assembly and the shoulder connection assembly to provide gravity support for the helmet 1 and reduce the pressure of the helmet 1 on the human head. The setting of the shoulder connection assembly can provide guidance and guidance for the forward and backward extension of the helmet 1, and the support guide rail assembly can provide guidance for the helmet 1 in the direction of up and down swinging (lowering or raising the head).

[0024] The exoskeleton robot neck support integrated device is a bidirectional support mechanism that integrates fiber composite material support with bearings and metal structural parts. The elastic force generated by the bendable deformation of the composite material provides assistance to offset the weight of the helmet 1; the top rotating component 2, the support guide rail component and the shoulder connection component provide the required degrees of freedom for the head and neck to turn left and right, forward and backward, and bend left and right; the bearings and the bendable and torsionally deformable composite support materials ensure the requirements for complex circular movements of the head and neck. Together, they achieve functional compatibility and the purpose of smooth assistance while ensuring that the neck support is compatible with the human head and neck in structure and movement.

[0025] The exoskeleton robot neck support integrated device of the present invention adopts an integrated design, which effectively combines the helmet through the top rotating group, the support guide rail assembly and the shoulder connecting assembly with the flexible support arm and the shoulder ring seat into an integral structure, and the structure is more compact. The flexible support arm adopts a composite material, which reduces its overall weight and improves the flexibility of the neck support device. While ensuring a high degree of coordination with the human head and neck, it plays a good auxiliary role, effectively relieves the soldiers' neck fatigue, and improves the soldiers' combat capabilities. In addition, the neck support integrated device adopts a double support design, combined with a flexible support arm made of fiber composite materials, which has the characteristics of being deformable and elastic, realizes the lightweight of the support integrated device, and improves the stability and reliability of the support integrated device. The above-mentioned neck support integrated device has a simplified structure, realizes standardized and integrated design, improves the reliability and comfort of the device, and has high practicality.

[0026] In order to improve the feasibility of the exoskeleton robot neck support integrated device solution, the present invention also makes the following solution improvements:

[0027] like Figure 2 As shown, the top selection component includes a helmet base 2-6, a bearing drive assembly and a rotating shaft 2-2; a mounting groove is provided on the top of the helmet base 2-6, the bearing drive assembly is inserted into the mounting groove, one end of the rotating shaft 2-2 is installed in the bearing drive assembly, and the other end thereof extends out of the mounting groove and is fixedly connected to one end of the support guide rail assembly toward the helmet 1.

[0028] The bottom of the helmet base 2-6 adopts the same arc structure as the top of the helmet 1, which can better fit the helmet 1. Furthermore, the helmet base 2-6 is installed on the helmet 1 in the form of Velcro, which is more convenient to install and disassemble, and can be better adjusted according to the body shape of different people. The bearing drive assembly is installed on the helmet base 2-6 in the form of plug-in, which makes the combined installation of the bearing drive assembly and the helmet base 2-6 more convenient and quick. One end of the rotating shaft 2-2 is installed in the bearing drive assembly, so that the rotating shaft 2-2 can rotate freely. The support guide rail assembly is fixedly connected to the other end of the rotating shaft 2-2, which realizes the free rotation of the helmet 1 with the rotating shaft 2-2 as the axis, reducing the resistance of the helmet 1 when rotating.

[0029] As an implementable embodiment, the bearing drive assembly includes a bearing base 2-5, a first joint bearing 2-3 and a bearing cover 2-1; the first joint bearing 2-3 is installed in a groove at the top of the bearing base 2-5, the bearing cover 2-1 is buckled on the top of the bearing base 2-5, and the first joint bearing 2-3 is encapsulated therein, one end of the rotating shaft 2-2 passes downward through the bearing cover 2-1 and is fixedly connected to the inner ring of the first joint bearing 2-3, and the other end of the rotating shaft 2-2 passes upward through the helmet base 2-6 and is fixedly connected to the support guide rail assembly.

[0030] The bearing drive assembly adopts the form of a combination of a bearing base 2-5, a first joint bearing 2-3 and a bearing cover 2-1, making the installation and maintenance of the bearing drive assembly more convenient. Furthermore, since the bearing drive assembly is inserted into the helmet base 2-6, in order to facilitate the disassembly and installation of the bearing drive assembly, the position on the helmet base 2-6 corresponding to the movement area of ​​the rotating shaft 2-2 during the installation and disassembly of the bearing drive assembly is a hollow structure, and the longitudinal section of the installation groove of the bearing drive assembly on the helmet base 2-6 is similar to an inverted T-shaped structure, which further reduces the difficulty of installing the bearing drive assembly. During the movement of the wearer, the helmet 1 will inevitably move up and down. In order to better ensure that the helmet 1 moves with the wearer, the rotating shaft 2-2 and the support guide rail assembly adopt a pin installation form, and a certain movable space is reserved between the support guide rail assembly and the top of the helmet base 2-6.

[0031] As an implementable embodiment, the bearing drive assembly also includes a bearing copper sleeve 2-4, which is fixedly installed in a groove on the top of the bearing base 2-5, and the first spherical bearing 2-3 is installed in the bearing copper sleeve 2-4.

[0032] The bearing copper sleeve 2-4 is fixedly installed in the groove on the top of the bearing base 2-5, and the first joint bearing 2-3 is installed in the bearing copper sleeve 2-4, ensuring the installation effect between the first joint bearing 2-3 and the bearing copper sleeve 2-4, avoiding direct contact between the first joint bearing 2-3 and the bearing base 2-5, and eradicating the damage to the bearing base 2-5 caused by the direct contact between the first joint bearing 2-3 and the bearing base 2-5, thereby improving the overall service life of the bearing drive assembly.

[0033] As an implementable embodiment, the bearing drive assembly also includes a ball plunger 2-7; a mounting hole is provided in the mounting groove, and the ball plunger 2-7 is fixedly installed in the mounting hole. When the bearing drive assembly is installed on the helmet base 2-6, the top of the ball plunger 2-7 is clamped in the positioning hole at the bottom of the bearing base 2-5.

[0034] After the ball plunger 2-7 is installed in the mounting groove of the helmet base 2-6, it can provide a good elastic reverse force when compressed. Figure 2 It can be seen that when the bearing drive assembly is installed on the helmet base 2-6, the ball plunger 2-7 is in a slightly compressed or initial state, and the top of the ball plunger 2-7 is clamped in the positioning hole at the bottom of the bearing base 2-5, thereby fixing the bearing drive assembly. When the bearing drive assembly is installed and removed, the bearing base 2-5 will compress the ball plunger 2-7 until the bearing drive assembly is installed in the installation groove, or completely out of the installation groove, thereby achieving rapid installation and removal.

[0035] like Figure 3As shown, the support guide rail assembly includes a rotating connecting shaft 3, a supporting guide slide rail 4 and a guide rail assembly 5; the supporting guide slide rail 4 is connected to the top rotating assembly 2 through the rotating connecting shaft 3, the guide rail assembly 5 is slidably installed on the supporting guide slide rail 4, and moves along the length direction of the supporting guide slide rail 4, and the flexible support arm 6 is fixedly connected to the guide rail assembly 5 at one end toward the helmet 1.

[0036] The rotating connecting shaft 3 can provide a range of rotation, and the supporting guide rail 4 is connected to the rotating shaft 2-2 through the rotating connecting shaft 3, so that the helmet 1 can swing in a small range in the left and right directions, so that the helmet 1 can follow the wearer's head to swing left and right, and can better fit the wearer's head movement. By adopting the form of the rotating connecting shaft 3, the resistance of the helmet 1 in the following swing process is reduced. The guide rail assembly 5 is slidably mounted on the supporting guide rail, and the guide rail assembly 5 is fixedly connected to one end of the flexible support arm 6, so that the flexible support arm 6 and the supporting guide rail can offset the weight of the helmet 1 to a certain extent, improve the comfort of the wearer, and relieve the wearer's neck fatigue to a certain extent. The guide rail assembly 5 is slidably mounted on the supporting guide rail 4, and the guide rail assembly 5 is fixedly connected to the flexible support arm 6. The guide assembly is fixed relative to the flexible support arm 6 and the shoulder annular seat 8, so that when the helmet 1 is upward or downward (raising or lowering the head), the supporting guide rail 4 can slide in the guide assembly to adapt to the up and down movement of the helmet 1, thereby improving the comfort of the wearer. The supporting guide rail 4 adopts an arc-shaped supporting rail design, and the elastic force principle is generated under the bending deformation of the fiber composite material, so as to realize the functions of adjustable height and adjustable power size of the device, so as to meet the requirements of different people wearing and different weight helmets 1 for power assistance.

[0037] As an implementable embodiment, the guide rail assembly 5 includes a guide rail upper shell 5-1, a guide wheel connecting shaft 5-2, a guide rail lower shell 5-3, a guide wheel 5-6 and a guide wheel bearing 5-7; the guide wheel 5-6 is installed on the guide wheel bearing 5-7 and is installed in the guide rail upper shell 5-1 through the guide wheel connecting shaft 5-2, the supporting guide rail 4 passes through the through hole in the guide rail upper shell 5-1, and is against the guide wheel 5-6, the guide rail lower shell 5-3 is fixedly installed at the bottom of the guide rail upper shell 5-1, and the end of the flexible support arm 6 facing the helmet 1 is fixed between the guide rail upper shell 5-1 and the guide rail lower shell 5-3.

[0038] The guide rail assembly 5 is fixed to the upper and lower sides of the support guide rail 4 through the guide rail upper shell 5-1 and the guide rail lower shell 5-3. The support guide rail 4 adopts an arc-shaped support rail design, and the longitudinal section of the support guide rail 4 is a U-shaped structure, and the center of curvature of the curvature radius of each point along the curve corresponds to the space of the human head. The guide rail assembly 5 can move along the guide rail in a free curve in the groove of the support guide rail 4 through the internal guide wheels 5-6, and at the same time, each point on the curve maintains a constant angle relative to the line tangent to the curve, thereby realizing the height adjustment requirements of the neck support device and the adjustable power size function.

[0039] One end of the flexible support arm 6 facing the helmet 1 is fixedly connected to the guide rail assembly 5, and the lower end of the other end is fixedly connected to the shoulder connection groove 7, completing the connection of the neck support device from the neck to the shoulder. The connection of the support device from the head to the neck is completed by supporting the connection of the guide slide rail 4 and the rotating connection shaft 3. The flexible support arm 6 is a fiber composite material, which can generate a rebound force through pre-compression bending deformation, and is converted into an upward pulling force by the guide rail adjustment assembly, so that the neck support device can assist the head and neck.

[0040] As an implementable embodiment, the guide rail assembly 5 also includes a bearing gasket 5-5 and an adjustment gasket 5-4; the bearing gasket 5-5 is installed on the guide wheel connecting shaft 5-2 and is located on both sides of the guide rail bearing 5-7, and the adjustment gasket 5-4 is located between the guide rail upper shell 5-1 and the guide rail lower shell 5-3.

[0041] The setting of the bearing gasket 5-5 avoids direct contact between the guide wheel bearing 5-7 and the inner wall of the guide rail upper housing 5-1, avoids wear and tear caused by the guide rail bearing 5-7 on the guide rail upper housing 5-1, and improves the service life of the guide rail assembly 5. The setting of the adjustment gasket 5-4 can adjust the number or thickness of the adjustment gasket 5-4 according to actual needs, and select suitable adjustment gaskets 5-4. By selecting different adjustment gaskets 5-4, the tightness of the contact between the guide wheel 5-6 and the supporting guide rail 4 or the distance between the two can be adjusted to meet the needs of different wearers.

[0042] As an implementable embodiment, the shoulder connection assembly includes a shoulder connection groove 7, a shoulder base 9, a bearing pin 10 and a second joint bearing 11; there are two shoulder bases 9, and the two shoulder bases 9 are symmetrically arranged on both sides of the shoulder annular seat 8, and the other end of the flexible support arm 6 facing the shoulder annular seat 8 is installed on the shoulder connection groove 7, the shoulder connection groove 7 is fixedly connected to the second joint bearing 11, and the second joint bearing 11 is rotatably installed on the shoulder base 9 through the bearing pin 10.

[0043] The shoulder connection groove 7 is fixedly connected to the second joint bearing 11 and connected to the shoulder base 9 through the bearing pin 10. The second joint bearing 11 provides the required degree of freedom for the head to bend forward and extend backward. The shoulder annular seat 8 is fixed to the human shoulder, and the shoulder connection assembly is fixed to the shoulder annular seat 8 to complete the integration of the neck support device and the human body. Furthermore, the shoulder connection assembly is symmetrically distributed on both sides of the shoulder annular seat 8, which can better provide support for the helmet 1.

[0044] As an implementation method, there are two flexible support arms 6, and one end of the two flexible support arms 6 facing the guide rail assembly 5 is fixed between the guide rail upper shell 5-1 and the guide rail lower shell 5-3, and is symmetrically arranged on both sides of the supporting guide rail 4, and one end of the flexible support arm 6 facing the shoulder annular seat 8 is installed in the corresponding shoulder connecting groove 7.

[0045] The two flexible support arms 6 can better cooperate with the shoulder connection components symmetrically distributed on both sides of the shoulder annular seat 8, and the design mode of two-side support is adopted to avoid the interference problem between the neck support integrated device structure and the human head and neck; the first joint bearing 2-3 and the second joint bearing 11 can be 360° flexibly rotated to achieve the device to swing left and right with the head, the neck, and the large-scale forward bending and backward movement requirements of the head. The bearings and composite materials are used to bend and twist to achieve complex circling movements of the head and neck.

[0046] In the description of the above embodiments, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0047] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An exoskeleton robot neck support integrated device, characterized in that: It comprises a helmet, a flexible support arm, a shoulder annular seat, a top rotating assembly for rotating the helmet, a supporting guide rail assembly for swinging the helmet up and down, and a shoulder connecting assembly for extending the helmet forward and backward; The top rotating assembly is installed on the top of the helmet, the two ends of the supporting guide rail assembly are respectively connected to the top rotating assembly and one end of the flexible support arm, the other end of the flexible support arm is connected to the shoulder connecting assembly, and the shoulder connecting assembly is installed on the shoulder annular seat; The top rotating assembly includes a helmet base, a bearing drive assembly and a rotating shaft; The top of the helmet base is provided with a mounting groove, the bearing drive assembly is inserted into the mounting groove, one end of the rotating shaft is installed in the bearing drive assembly, and the other end thereof extends out of the mounting groove and is fixedly connected to one end of the supporting guide rail assembly facing the helmet; The support guide rail assembly comprises a rotating connecting shaft, a supporting guide rail and a rail assembly, wherein the supporting guide rail is connected to the top rotating assembly via the rotating connecting shaft, the rail assembly is slidably mounted on the supporting guide rail and moves along the length direction of the supporting guide rail, and the flexible support arm is fixedly connected to the rail assembly at one end facing the helmet; The guide rail assembly includes a guide rail upper shell, a guide wheel connecting shaft, a guide rail lower shell, a guide wheel and a guide wheel bearing. The guide wheel is installed on the guide wheel bearing and is installed in the guide rail upper shell through the guide wheel connecting shaft. The supporting guide rail passes through the through hole in the guide rail upper shell and abuts against the guide wheel. The guide rail lower shell is fixedly installed on the bottom of the guide rail upper shell, and one end of the flexible support arm facing the helmet is fixed between the guide rail upper shell and the guide rail lower shell.

2. The exoskeleton robot neck support integrated device according to claim 1, characterized in that: The bearing drive assembly comprises a bearing base, a first spherical bearing and a bearing cover; The first spherical bearing is installed in the groove at the top of the bearing base, and the bearing cover is buckled on the top of the bearing base to encapsulate the first spherical bearing. One end of the rotating shaft passes downward through the bearing cover and is fixedly connected to the inner ring of the first spherical bearing, and the other end of the rotating shaft passes upward through the helmet base and is fixedly connected to the support guide rail assembly.

3. The exoskeleton robot neck support integrated device according to claim 2, characterized in that: The bearing drive assembly also includes a bearing copper sleeve, which is fixedly installed in a groove on the top of the bearing base, and the first spherical bearing is installed in the bearing copper sleeve.

4. The exoskeleton robot neck support integrated device according to claim 2, characterized in that: The bearing drive assembly also includes a ball plunger; A mounting hole is provided in the mounting groove, and the ball plunger is fixedly mounted in the mounting hole. When the bearing drive assembly is mounted on the helmet base, the top of the ball plunger is clamped in the positioning hole at the bottom of the bearing base.

5. The exoskeleton robot neck support integrated device according to claim 1, characterized in that: The guide rail assembly also includes a bearing washer and an adjustment washer; The bearing gasket is installed on the guide wheel connecting shaft and is located on both sides of the guide wheel bearing, and the adjustment gasket is located between the guide rail upper shell and the guide rail lower shell.

6. The exoskeleton robot neck support integrated device according to claim 1, characterized in that: The shoulder connection assembly includes a shoulder connection groove, a shoulder base, a bearing pin and a second joint bearing; There are two shoulder bases, which are symmetrically arranged on both sides of the shoulder annular seat. The other end of the flexible support arm facing the shoulder annular seat is installed on the shoulder connecting groove. The shoulder connecting groove is fixedly connected to the second spherical bearing, and the second spherical bearing is rotatably installed on the shoulder base through the bearing pin.

7. The exoskeleton robot neck support integrated device according to claim 6, characterized in that: There are two flexible support arms, and one end of the two flexible support arms facing the guide rail assembly is fixed between the guide rail upper shell and the guide rail lower shell, and is symmetrically arranged on both sides of the supporting guide rail. One end of the flexible support arm facing the shoulder annular seat is installed in the corresponding shoulder connecting groove.

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