Anti-tipping lower limb exoskeleton device

Abstract

This invention belongs to the field of exoskeleton technology, specifically an anti-tipping lower limb exoskeleton device, comprising a lower limb exoskeleton and a balance system. The balance system includes a ring-shaped retainer and concentrically arranged ring-shaped isolation tubes, with a centrifugal device installed within the isolation tubes. The centrifugal device includes two counterweights evenly spaced along the ring channel and a ring-shaped connecting frame connecting all the counterweights, which can rotate in place within the isolation tubes. The balance system also includes a fan assembly, whose air duct connects to the isolation tubes and drives the airflow inside the ring channel. The fan assembly accelerates the airflow velocity within the ring channel, thereby driving the counterweights to rotate. The two high-speed centrifugal counterweights provide all-around support for the lower limb exoskeleton, preventing the user from tipping over. Furthermore, the balance system is positioned above the hip joint of the lower limb exoskeleton and does not directly act on the user, thus not affecting the user's experience with the exoskeleton.

Description

Technical Field

[0001] This invention belongs to the field of exoskeleton technology, specifically an anti-tipping lower limb exoskeleton device. Background Technology

[0002] Lower limb exoskeletons assist individuals with lower limb dysfunction in performing simple walking movements. They consist of two leg exoskeletons and a lumbar support. Users of lower limb exoskeletons typically possess normal upper body function and can maintain balance with the aid of a cane-like device, preventing falls while walking. However, this consumes excessive energy and the possibility of falling still exists. To free the user's hands, a support structure can be added to the periphery of the lower limb exoskeleton to prevent falls, such as the fall protection system based on a lower limb exoskeleton rehabilitation robot disclosed in prior art CN115192396A, and a wearable walking aid for patients with lower limb osteoarthritis disclosed in prior art CN217186903U. These solutions increase the overall space occupied by the device, limiting the user's range of motion. Furthermore, the external support frame can create a strong psychological impact on the user, affecting their experience. Summary of the Invention

[0003] The purpose of this invention is to provide an anti-tipping lower limb exoskeleton device. By using a centrifugal device to fully straighten the lower limb exoskeleton, this solution not only prevents tipping but also eliminates the various defects of the existing technical solutions mentioned in the background art, without increasing the difficulty for users to wear the exoskeleton device.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an anti-tipping lower limb exoskeleton device, comprising a lower limb exoskeleton, the device further comprising a balance system, the balance system being mounted above the hip joint of the lower limb exoskeleton via an installation assembly; the balance system comprising a ring-shaped retainer, with a ring-shaped isolation tube concentrically arranged around the retainer, and a centrifugal device disposed within a ring-shaped channel inside the isolation tube; the centrifugal device comprising an even number of counterweights evenly distributed along the ring-shaped channel, and a ring-shaped connecting frame connecting all the counterweights, the connecting frame being capable of rotating in situ within the isolation tube; the balance system further comprising a fan assembly, the fan assembly having an air duct connected to the isolation tube and driving the gas flow inside the ring-shaped channel.

[0005] In the above technical solution, the counterweights are kept at a fixed distance under the constraint of the retainer. When the fan assembly is started, the airflow in the annular channel gradually increases in speed. The flowing airflow pushes the counterweights and retainer to rotate. Since the counterweights are all in centrifugal motion and are symmetrically arranged, they exert a symmetrical traction on the retainer. The retainer applies this force to the entire balance system, thus keeping the balance system balanced along the line connecting the counterweights. Because the counterweights are rotating at high speed, the entire balance system will reach equilibrium in the same position multiple times per unit time. For the lower limb exoskeleton, this dynamic balance state of the balance system will provide all-round uprighting, thereby preventing the user from tipping over. Furthermore, during the operation of the balance system, the high-speed airflow will carry away the heat generated by the friction of the components in the isolation tube. Therefore, the fan assembly can effectively prevent high temperatures inside the balance system. In addition, the balance system is located above the hip joint of the lower limb exoskeleton and does not directly act on the user, thus not affecting the user's experience of using the lower limb exoskeleton.

[0006] As a preferred embodiment, the isolation tube is open on the side near the retainer, and the outer circumferential surface of the retainer serves as the inner side of the annular channel of the isolation tube. A slide rail is provided in the middle of this outer circumferential surface, and multiple sliders that cooperate with the slide rail are provided on the connecting frame. The counterweight does not contact the isolation tube or the retainer, and a gap is reserved between the counterweight and the side wall of the annular channel. Installing the retainer by connecting the slider and the slide rail can reduce the frictional force on the retainer and ensure that it has a stable installation position in the annular channel. This ensures that the running trajectory of the counterweight is stable when it moves at high speed in the annular channel. In addition, the gap reserved around the counterweight can reduce friction and allow some airflow to pass through the gap. This is conducive to forming a stable flow velocity in the annular channel and avoids the airflow acting entirely on the counterweight, which would cause the acceleration of the counterweight to suddenly increase and then suddenly decrease.

[0007] As a preferred embodiment, the fan assembly includes at least one fan, which is connected to the interior of the isolation pipe via an air supply duct. The air supply duct's nozzle points towards the center of the annular channel and is inclined in the direction of the counterweight's movement. An exhaust port is provided on the isolation pipe, through which airflow enters the isolation pipe and exits through the exhaust port. The fan blows air into the isolation pipe, with a portion of the airflow flowing forward directly through a pre-reserved gap, creating a high-speed airflow within the annular channel. The remaining airflow collides with the counterweight and enters the pre-reserved gap. During this process, the counterweight's rotational speed is less than the speed of the high-speed airflow, causing the counterweight to continuously accelerate until force equilibrium is reached.

[0008] As a preferred embodiment, the balancing system has several pacing modules with identical shapes to the counterweight. These pacing modules are mounted on a connecting frame, and the distance between two adjacent pacing modules is equal to the distance between the adjacent counterweight and the pacing module. Because the pacing modules have the same shape as the counterweight, they experience the same resistance and thrust. They can align with the airflow after the counterweight has moved away from the airflow nozzle and act as the target of the airflow, thus making the speed of the pacing module more stable.

[0009] As a preferred embodiment, the diameter of the front end of the pacing module pointing in the direction of motion is smaller than the diameter of the rear end, and its middle portion is a smooth conical surface; alternatively, the diameter of the middle portion near the rear end is larger than the diameter of the rear end of the pacing module, and the middle portion is a smooth curved surface. The larger diameter rear end has a larger area, which can accept more airflow propulsion, while the smaller front end and the smooth middle curved surface can reduce wind resistance.

[0010] As a preferred embodiment, the rear end of the pacing mold has a recessed groove facing the direction of movement. The inner wall of the groove is smooth, and the air jet nozzle of the air supply pipe points towards the groove. The groove further increases the air blowing surface area and changes the airflow direction, thereby reducing the airflow impact on the counterweight and the amount of airflow dissipating from the rear end of the pacing mold outwards, enabling the counterweight to reach a high-speed and stable operating state more quickly.

[0011] As a preferred embodiment, the device further includes an electromagnet assembly mounted on the isolation pipe. When the fan assembly stops working, the electromagnet assembly is activated, and the counterweight is made of magnetic metal. Once activated, the electromagnet assembly can attract the counterweight, thereby accelerating and reducing its movement speed, and simultaneously allowing the counterweight to stop at a fixed point.

[0012] As a preferred embodiment, the balancing system is divided into two symmetrical parts: a front assembly section and a rear assembly section. Each part has a counterweight located in the middle, a fan, and an exhaust port. The mounting assembly is divided into an upper mounting section I and a lower mounting section II. Mounting section II is fixedly connected to the lower limb exoskeleton, with its rear half fixedly connected to the rear assembly section and its front half extending below the front assembly section. The front half of mounting section I is fixedly connected to the front assembly section, and its rear half extends above the rear assembly section. Mounting sections I and II can be assembled and fixed, thus forming a complete balancing system. The balancing system has a ring-shaped structure. After dividing it into front and rear parts, since the rear assembly section is located behind the user, fixing it to the lower limb exoskeleton will not affect the user's normal wearing and removal of the exoskeleton device. Each time, only the front assembly section needs to be correctly installed and removed, a process that does not require any cooperation from the user, greatly simplifying the use of the device.

[0013] As a preferred embodiment, the mounting assembly formed by mounting part I and mounting part II can fit and wrap around the outer periphery of the retainer and the isolation tube. Mounting part I has upper clamping edges on both sides, and correspondingly, mounting part II has lower clamping edges on both sides. After mounting part I and mounting part II are assembled, the upper clamping edges fit against the lower clamping edges. The mounting assembly also includes a clamping plate with a slot, which can engage with the assembled upper and lower clamping edges. The front and rear assembly parts are arc-shaped, and mounting part I and mounting part II have remaining portions that fit against the front and rear assembly parts. Therefore, after the front and rear assembly parts are assembled, mounting part I and mounting part II can completely cover the connection point. Under the clamping of the clamping plate, it can both restrict the forward movement of the front assembly part and ensure precise alignment of the internal structures of the front and rear assembly parts, preventing the centrifuge device from jamming during movement.

[0014] As a preferred embodiment, a positioning head and a positioning groove matching the positioning head are respectively provided on the mating surfaces of the upper and lower clamping edges. After the upper and lower clamping edges are assembled, the positioning head is inserted into the positioning groove. The positioning head and positioning groove structure can prevent lateral displacement of mounting part I and mounting part II, and avoid misalignment of the internal structures of the front assembly part and the rear assembly part, thereby further ensuring the stable operation of the centrifuge device.

[0015] As a preferred embodiment, the electromagnet assembly is installed in the middle of the front assembly section and / or the middle of the rear assembly section. This assembly can position at least one counterweight in the middle position. When disassembling the front assembly section, both counterweights will be in the middle position, so the connecting frame will not affect the disassembly process. When installing the front assembly section, taking the example where the electromagnet assembly only attracts and positions the counterweight of the rear assembly section, the position of the connecting frame in the front assembly section can be manually adjusted so as not to affect the installation. Alternatively, the middle of the front assembly section can be tilted downwards, at which point the counterweight will automatically return to the middle position under gravity, and the connecting frame will not affect the installation. When two electromagnet assemblies position the two counterweights respectively, the disassembly and installation of the front assembly section will be more convenient, and the two electromagnet assemblies will further accelerate the stopping process of the centrifugal assembly. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 This is a schematic diagram of the overall structure of the anti-tipping lower limb exoskeleton device provided by the present invention.

[0018] Figure 2 for Figure 1 A schematic diagram of the rear structure of the balance system in the anti-tipping lower limb exoskeleton device shown;

[0019] Figure 3 for Figure 2 A schematic diagram of the front structure of the equilibrium system shown.

[0020] Figure 4 for Figure 2 A schematic diagram of the centrifugal device inside the balancing system shown.

[0021] Figure 5 This is a schematic diagram of the longitudinal cross-sectional structure of the isolation tube and the retainer;

[0022] Figure 6 This is a schematic diagram of the connection structure between the connecting frame and the retainer;

[0023] Figure 7 This is a schematic diagram of a partial structure of the lower limit stage;

[0024] Figure 8 This is a schematic diagram of the overall structure of the centrifuge device;

[0025] Figure 9 This is a structural diagram of the fan installation location;

[0026] Figure 10 This is a structural diagram of the installed components in the assembled state;

[0027] Figure 11 This is a structural diagram of the installed components in a disassembled state;

[0028] Figure 12 for Figure 1 The diagram shows the assembly and disassembly method of the balancing system.

[0029] In the diagram, the components are: 1. Lower limb exoskeleton; 2. Waist belt; 3. Balance system; 4. Mounting assembly; 5. Isolation tube; 6. Fan I; 7. Fan II; 8. Air supply duct I; 9. Air supply duct II; 10. Exhaust port; 11. Cage; 12. Electromagnet assembly; 13. Counterweight; 14. Connecting frame; 15. Speed ​​control mold; 151. Groove; 16. Slider; 17. Air nozzle; 18. Mounting groove; 19. Slide rail; 20. Lower limit platform; 21. Upper limit platform; 22. Mounting part I; 23. Mounting part II; 24. Bolt; 25. Connecting block; 25. Clamping plate I; 26. Clamping plate II; 27. Upper clamping edge I; 28. Upper clamping edge I; 29. ​​Lower clamping edge I; 30. Lower clamping edge II; 31. Positioning head; 33. Positioning groove; 34. Mounting edge; 51. Contact groove; 141. Lower base strip; 201. Upper cover strip; 202. Ball bearing; 203. Detailed Implementation

[0030] The following will describe in detail the implementation of this application with reference to the accompanying drawings and embodiments, so that the implementation process of how this application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0031] Figure 1 As one embodiment of the present invention, an anti-tipping lower limb exoskeleton device is provided. As shown in the figure, it includes a lower limb exoskeleton 1, the two legs of which are fixedly connected at the hip joint, and a balance system 3 mounted above the hip joint of the lower limb exoskeleton 1 by two mounting components 4.

[0032] like Figure 2 and Figure 3 As shown, the balancing system 3 includes an annular retainer 11 made of aluminum alloy. An annular isolation tube 5 is concentrically arranged around the retainer 11. Fans I6 and II7 are respectively positioned at the middle of the front and rear sides of the isolation tube 5. Fan I6 is connected to the annular channel inside the isolation tube 5 via an air supply pipe I8, and fan II7 is connected to the annular channel inside the isolation tube 5 via an air supply pipe II9. Two exhaust holes 10 are provided on the isolation tube 5, located behind fans I6 and II7 (i.e., the air supply pipe is in front of the fans, and the exhaust holes are behind them). The gas blown into the isolation tube 5 by the two fans moves in the same direction and is discharged from the exhaust holes 10. Additionally, as... Figure 3 As shown, an electromagnet assembly 12 is provided in the middle of the rear side of the isolation tube 5. The electromagnet assembly 12 serves as a braking component of the centrifugal device inside the isolation tube 5.

[0033] like Figure 4 As shown, the centrifuge device includes two counterweights 13 and an annular connecting frame 14 connecting the two counterweights 13, with the line connecting the two counterweights 13 passing through the center of the retainer 11. The connecting frame 14 can rotate in place within the isolation tube 5, and it is connected to the retainer 11 via an annular slide rail assembly. Specifically, multiple sliders 16 (18 in this embodiment) are evenly spaced on the inner ring of the connecting frame 14, and slide rails 19 matching the sliders 16 are located on the outer circumference of the retainer 11. Figure 5 As shown, the isolation tube 5 is open on the side near the retainer 11. There are mounting edges 51 at the top and bottom of the open end, conforming to the front and back of the retainer 11, respectively. The mounting edges 51 are fixedly connected to the retainer 11 by bolts. Therefore, the outer circumferential surface of the retainer 11 becomes the inner surface of the annular channel of the isolation tube 5. A mounting groove 18 is concentrically provided in the middle of this outer circumferential surface. The slide rail 19 is fixedly installed in the mounting groove 18. Furthermore, an upper limit platform 21 is provided above the opening of the mounting groove 18, and a lower limit platform 20 is provided below it. The retainer 11 passes between the upper limit platform 21 and the lower limit platform 20, and the slider 16 provided on the inner ring of the retainer 11 is installed on the slide rail 19. The lower limit platform 20 provides support for the connecting frame 14. To reduce friction, as... Figure 6As shown, a contact groove 141 is provided on the back of the connecting frame 14 to mate with the ball bearings 203. There are multiple ball bearings 203, which are evenly spaced on the lower limit platform 20. Specifically, as... Figure 7 As shown, the lower limit platform 20 has a lower base strip 201 with a hemispherical groove at its lower part and an upper cover strip 202 with a through hole at its upper part. The ball bearing 203 is movably disposed in the limiting groove formed between the lower base strip 201 and the upper cover strip 202, and the ball bearing 203 protrudes from the upper cover strip 202. Based on the above-described mounting structure of the connecting frame 14, the connecting frame 14 has a stable position in the annular channel. In addition, the counterweight 13 does not contact the isolation tube 5 and the retainer 11, and a gap is reserved between the counterweight 13 and the side wall of the annular channel. Therefore, the centrifuge in the static state is only subjected to frictional forces from the slide rail 19 and the ball bearing 203, and these frictions are rolling frictions during movement.

[0034] To ensure stable operation of the centrifuge, multiple (16 in this embodiment) speed-matching modules 15 are installed on the connecting frame 14, such as... Figure 8 As shown, the pacing model 15 and the counterweight 13 have the same shape, and the distance between two adjacent pacing models 15 is equal to the distance between the adjacent counterweight 13 and the pacing model 15. Figure 9 As shown, the diameter of the front end of the speed-regulating mold 15 pointing in the direction of movement is smaller than the diameter of the rear end. Its middle portion is a smooth conical surface, and the rear end has a recessed groove 151 facing the direction of movement. The inner wall of this groove 151 is smooth. Simultaneously, taking the installation of the fan I6 as an example, the air outlet 17 of the air supply pipe I8 connected to the isolation pipe 5 is pointed towards the center of the annular channel and tilted towards the direction of movement of the counterweight 13. Part of the ejected airflow flows forward directly through the reserved gap between the counterweight 13 and the annular channel, while part of the airflow acts on the counterweight 13 or the speed-regulating mold 15 as it passes, directly driving the centrifugal device. Because this embodiment provides a groove 151 at the rear of the counterweight 13 (speed-regulating mold 15), it increases the airflow surface area and changes the airflow direction, thereby reducing the amount of airflow impacting the counterweight 13 and the rear end of the speed-regulating mold 15 and dispersing outwards, allowing the counterweight to reach a high-speed, stable operating state more quickly. Because multiple speed-proportioning modules 15 are set up, and the resistance and airflow thrust of the speed-proportioning modules 15 and the counterweight 13 are almost the same, when the counterweight 13 moves away from the jet nozzle 17, the high-speed airflow will act on the speed-proportioning modules 15, thereby making the movement of the entire centrifugal device more stable (the acceleration is relatively stable during the acceleration rotation stage, and the speed is relatively stable during the uniform motion state).

[0035] As described above, the balance system 3 is a ring-shaped structure and does not act directly on the human body, but is installed on the lower limb exoskeleton. The lower limb exoskeleton is typically worn by the user moving between the two exoskeletons, then securing the waist belt 2 and the legs and feet. The ring-shaped balance system 3 can be fitted from head to toe and then fixed at the hip joint. However, this method of use requires a high level of physical fitness (such as arm strength and height) from the caregiver and requires patient cooperation. To simplify the wearing method of this exoskeleton device, this embodiment divides the balance system 3 into a front assembly section and a rear assembly section, symmetrically arranged front and back. The counterweight 13 in each section is located in the middle. Additionally, the electromagnet assembly 12 is installed in the middle of the rear assembly section, and the fan 16 is installed in the front assembly section. An exhaust port 10 is distributed on both the front and rear isolation pipes 5.

[0036] like Figure 10 As shown, the mounting assembly 4 is divided into two parts: the upper mounting part I22 and the lower mounting part II23. When the two parts are joined, they can fit together and wrap around the outer periphery of the retainer 11 and the isolation tube 5. Figure 11 As shown, the front half of mounting part I22 is fixedly connected to the retainer 11 of the front assembly part by bolts 24, and the rear half extends to cover the top of the front end of the rear assembly part. An upper clamping edge I28 is provided on the side of mounting part I22 away from the human body, and an upper clamping edge I29 is provided on the side closer to the human body. A positioning head 33 is provided on the back of the upper clamping edge. The rear half of mounting part II23 is fixedly connected to the retainer 11 of the rear assembly part by bolts 24, and the front half extends to cover the bottom of the front end of the front assembly part. Lower clamping edges I30 and II31 are provided on both sides of mounting part II23, and positioning grooves 34 that mate with the positioning head 33 are provided on the front of the two lower clamping edges. Based on the above structure, as... Figure 12 As shown, the front assembly part is assembled with the rear assembly part from top to bottom. After assembly, the upper and lower clamping edges are respectively engaged by clamping plates I26 and II27 with slots, thereby ensuring that the installation component 4 will not loosen.

[0037] Since the electromagnet assembly 12 is located on the rear assembly section, when the centrifugal device stops, the rear counterweight 13 is positioned in the middle of the rear isolation tube. This means that both connecting frames 14 in the front and rear assembly sections are completely within their respective isolation tubes, preventing interference with the disassembly of the front assembly section. When assembling the front assembly section, the connecting frame 14 can be manually pushed into the isolation tube, or its interference can be eliminated by tilting the middle section downwards. Alternatively, another electromagnet assembly 12 can be installed in the middle of the front assembly section to keep the front counterweight 13 in the center, allowing for direct assembly of the front assembly section.

[0038] In this embodiment, when the fans I6 and II7 are started, both counterweights 13 undergo centrifugal motion and gradually reach a high-speed, stable operating state. This balanced state is then applied to the entire balance system. For the lower limb exoskeleton, this dynamic balance of the balance system 3 provides all-around support, thus preventing the user from tipping over. Furthermore, by modularizing the balance system, its installation and removal do not alter the user's normal way of wearing a regular lower limb exoskeleton, and the balance system does not directly affect the user. Therefore, this lower limb exoskeleton device provides an anti-tipping function based on the user's existing experience, making it more acceptable to the user, maintaining their dignity, and effectively enhancing the assistive effect of the lower limb exoskeleton on the user.

[0039] The specification and claims use certain terms to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0040] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0041] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An anti-tipping lower limb exoskeleton device, comprising a lower limb exoskeleton, characterized in that: The device also includes a balancing system mounted above the hip joint of the lower limb exoskeleton via a mounting assembly. The balancing system includes a ring-shaped retainer with concentric ring-shaped isolation tubes around its periphery, and a centrifugal device within a ring-shaped channel inside the isolation tubes. The centrifugal device includes an even number of counterweights evenly spaced along the ring-shaped channel, and a ring-shaped connecting frame connecting all the counterweights, which is rotatable in situ within the isolation tubes. The balancing system also includes a fan assembly with its air duct connected to the isolation tubes and driving gas flow within the ring-shaped channel. The fan assembly includes an air supply pipe with its internal channel serving as a duct. The air outlet of the air supply pipe points towards the center of the ring-shaped channel and is inclined in the direction of the counterweight movement to propel the centrifugal device.

2. The anti-tipping lower limb exoskeleton device as described in claim 1, characterized in that: The isolation tube is open on the side near the retainer, and the outer circumferential surface of the retainer serves as the inner side of the annular channel of the isolation tube. A slide rail is provided in the middle of the outer circumferential surface, and multiple sliders that cooperate with the slide rail are provided on the connecting frame. The counterweight does not contact the isolation tube or the retainer, and there is a reserved gap between the counterweight and the side wall of the annular channel.

3. The anti-tipping lower limb exoskeleton device as described in claim 2, characterized in that: The fan assembly includes at least one fan, which is connected to the interior of the isolation pipe through an air supply pipe; an exhaust port is provided on the isolation pipe, and the airflow enters the interior of the isolation pipe from the air jet and exits from the exhaust port.

4. The anti-tipping lower limb exoskeleton device as described in claim 3, characterized in that: The balancing system has several pacing modules that are exactly the same shape as the counterweights. The pacing modules are set on the connecting frame, and the distance between two adjacent pacing modules is equal to the distance between the adjacent counterweights and the pacing modules.

5. The anti-tipping lower limb exoskeleton device as described in claim 4, characterized in that: The diameter of the front end of the pacing mold pointing in the direction of motion is smaller than the diameter of the rear end, and the middle part is a smooth conical surface, or the diameter of the middle part near the rear end of the pacing mold is larger than the diameter of the rear end of the pacing mold, and the middle part is a smooth curved surface.

6. The anti-tipping lower limb exoskeleton device as described in claim 5, characterized in that: The rear end of the pacing module has a recessed groove facing the direction of movement. The inner wall of the groove is smooth, and the air nozzle of the air supply pipe points towards the groove.

7. The anti-tipping lower limb exoskeleton device as described in any one of claims 3-6, characterized in that: The lower limb exoskeleton device also includes an electromagnet assembly mounted on an isolation tube. When the fan assembly stops working, the electromagnet assembly is activated, and the counterweight is made of magnetic metal.

8. The anti-tipping lower limb exoskeleton device as described in claim 7, characterized in that: The balancing system is divided into two symmetrical parts: a front assembly part and a rear assembly part. Each part has a counterweight located in the middle of the isolation tube, and also has a fan and an exhaust port. The mounting assembly is divided into an upper mounting part I and a lower mounting part II. Mounting part II is fixedly connected to the lower limb exoskeleton, and its rear half is fixedly connected to the rear assembly part, while its front half extends below the front assembly part. The front half of mounting part I is fixedly connected to the front assembly part, and its rear half extends above the rear assembly part. Mounting part I and mounting part II can be assembled and fixed together, thus forming a complete balancing system.

9. The anti-tipping lower limb exoskeleton device as described in claim 8, characterized in that: The mounting assembly formed by mounting part I and mounting part II can enclose the retainer and the isolation tube. Mounting part I is provided with upper clamping edges on both sides, and correspondingly, mounting part II is provided with lower clamping edges on both sides. The mounting assembly also includes a clamping plate with a slot, which can engage with the assembled upper and lower clamping edges.

10. The anti-tipping lower limb exoskeleton device as described in claim 8, characterized in that: A positioning head and a positioning groove matching the positioning head are respectively provided on the mating surfaces of the upper and lower clamping edges. After the upper and lower clamping edges are joined together, the positioning head is inserted into the positioning groove.

11. The anti-tipping lower limb exoskeleton device as described in any one of claims 8-10, characterized in that: The electromagnet assembly is installed in the middle of the front assembly section and / or the middle of the rear assembly section.

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