Exoskeleton-based wearable mobility device

Abstract

The present application relates to a kind of exoskeleton-based wearable travel tools, including waist support component, hip joint device being arranged in the both sides of waist support component, the side of the waist support component is equipped with electrical control cabinet, the bottom of each hip joint device is equipped with folding short rod, the side of the folding short rod is equipped with folding drive rod, the side of the folding drive rod is equipped with folding long rod, the side of the folding long rod is equipped with ankle support device, the bottom of the ankle support device is equipped with sole fixing device, the side of the sole fixing device is equipped with motor three.In the present application, folding drive rod can be retracted or put down, when retracted, walking mode, hip joint device and folding short rod can assist leg joint or muscle, when put down, sliding mode, motor three on the side of sole fixing device can drive device continuous sliding, two modes meet the function of long time continuous forward, and retain the basic function of assisting joint or muscle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton, in particular to a wearable travel tool based on exoskeleton. BACKGROUND

[0002] With the continuous development of exoskeleton technology, wearable walking aid exoskeleton is an important branch of development, for example, in the field of scientific exploration, fire rescue, etc., scientific explorers and fire rescue personnel often need to walk long distances, carry heavy objects, transport the wounded, etc., and the walking aid exoskeleton can greatly reduce the physical consumption of human walking; moreover, with the gradual seriousness of the aging problem in China, the emergence of walking aid exoskeleton can not only help some old people solve the problem of poor physical ability leading to walking, but also can help some people who have lost the ability to restore some of their ability to move.

[0003] However, the current walking aid exoskeleton mode is very single, and the assistance to the leg joints or muscles is still limited by the upper limit of the user's leg strength, for example, the legs or muscles of the elderly cannot continue to walk for a long time under the condition of assistance, and the walking speed is very slow; and still need to consider that under the function of meeting long-term continuous forward movement, the basic function of assisting joints or muscles cannot be lost. SUMMARY

[0004] The present application mainly aims at the above-mentioned problems, and invents a wearable travel tool based on exoskeleton, the folding driving rod can be retracted or lowered, the walking mode when retracted, the hip joint device and the folding short rod can assist the leg joints or muscles, the motor three on one side of the foot palm fixing device in the sliding mode can drive the device to continue sliding; at the same time, the control rod on both sides of the electrical control cabinet in the sliding mode plays a part of control and support, and further, the driving shaft of the electromagnetic lock in the ankle support device in the walking mode will drive the brake block to move downward until the brake block is stuck in the second pulley.

[0005] The application aims at providing a wearable travel tool based on exoskeleton, which comprises a waist support assembly, hip joint devices arranged on both sides of the waist support assembly, wherein one side of the waist support assembly is provided with an electrical control cabinet, the bottom of each hip joint device is provided with a fixed disc one, one side of the fixed disc one is provided with a rotating boss one, the surface of the other side is provided with a circular groove one, the rotating boss one is rotationally connected to a rotating groove one in the inside of a folding short rod, the inside of the circular groove one is provided with a flat motor one, one side of the inside of the folding short rod is fixedly provided with a fixed shaft one, the other side of the inside is rotationally provided with a rotating bearing one, the rotating shaft of the flat motor one is connected to the fixed shaft one through the fixed disc one, the inside of the rotating bearing one is provided with a motor two, one side of the folding short rod is rotationally provided with a folding drive rod, the bottom of the folding drive rod is provided with a pulley groove one, the inside of the pulley groove one is rotationally connected with a pulley one, the inside of the folding drive rod is provided with a transmission device one, the rotating shaft of the motor two is transmissionally connected to the transmission device one through the surface of the folding drive rod, one side of the folding drive rod is provided with a folding long rod, one side of the inside of the folding long rod is fixedly provided with a rotating bearing two, the inside of the rotating bearing two is rotationally provided with a rotating shaft two, one end of the rotating shaft two is fixedly connected to the transmission device one through the surface of the folding drive rod, the surface of the folding long rod is provided with a plurality of fixed pieces one, a gap is left between each fixed piece one and the folding long rod, the inside of the other side of the folding long rod is provided with a rotating bearing three, the inside of the rotating bearing three is provided with a rotating shaft three, one end of the rotating shaft three is rotationally connected with an ankle support device, the other end of each fixed piece one is fixedly connected to the rotating shaft two and the rotating shaft three, the bottom of the ankle support device is provided with a sole fixing device, one side of the driving fixed frame one of the sole fixing device is connected to the bottom of the ankle support device, the other side of the sole fixing device is provided with a driving fixed rod, one side of the inside of the driving fixed frame one is provided with a pulley groove two, the inside of the pulley groove two is rotationally provided with a pulley two, the other side of the driving fixed frame one is provided with a motor fixed groove one, the inside of the motor fixed groove one is provided with a motor three, the rotating shaft of the motor three is provided with a pulley three at the end, the other end of the pulley three is rotationally connected to the driving fixed rod, the other end of the driving fixed rod is provided with a pulley rod one, the pulley rod one is fixedly connected to one side of the sole fixing device, the surface of the pulley rod one is rotationally provided with a pulley two.

[0006] As preferred, the surface of the folding driving rod is provided with a placing groove, the transmission device one comprises a driving wheel one, a driven wheel one, a driven wheel two, a driven wheel three, a driven wheel four and a signal wheel, the inside of the placing groove is provided with a driven slot one, a through hole one, a screw column and a signal slot, the top of the placing groove is provided with a placing cover, the end of the rotating shaft of the motor two is provided with the driving wheel one through the placing cover, one side of the driving wheel one is drivingly connected with the driven wheel one, the surface of the driven wheel one is provided with a driven column one, the surface of the driven column one is provided with the driven wheel two, the diameter of the driven wheel one is greater than that of the driven wheel two, one side end of the driven column one is rotatably provided with a driven bearing one, the driven bearing one is fixedly connected with the driven slot one, one side of the driven wheel two is drivingly connected with the driven wheel three, the surface of the driven wheel three is provided with a driven column two, one end of the driven column two is rotatably connected with the through hole one, the end close to the through hole one of the driven column two is fixedly connected with a fixed sheet two, one side of the driven wheel three is drivingly connected with the driven wheel four, the other side is provided with the signal wheel, the surface of the signal wheel is provided with a signal column, the signal column is rotatably connected with the signal slot, one end of the signal column is provided with a signal output device, the signal column is rotatably connected with the rotating shaft of the signal output device, one side of the driven wheel four is fixedly connected with the screw column, the other side is fixedly connected with one end of the rotating shaft two.

[0007] As preferred, the waist support assembly comprises a waist support, a waist rest, a waist fixing belt, a fixing belt rest and a square fixing block, the middle surface of the waist support is provided with the waist rest, the two sides of the waist support are provided with cylindrical fixing sleeves, one side of each cylindrical fixing sleeve is provided with a fixing belt rest, the waist fixing belt is arranged between the fixing belt rests on the two sides, the inside of the cylindrical fixing sleeve is provided with a cylindrical fixing shaft, the bottom of the cylindrical fixing shaft is provided with the square fixing block, the electrical fixing shaft at the end of the electrical control cabinet is connected with the square fixing block, and the hip joint device is rotatably connected with one side of the square fixing block.

[0008] As preferred, the hip joint device comprises a hip joint support rod, a hip joint rotating shaft and a flat motor two, the bottom of the hip joint support rod is provided with a fixed disc one, the inside of the top of the hip joint support rod is provided with a hip joint boss, the inside of the hip joint boss is fixedly provided with the hip joint rotating shaft, one end of the hip joint rotating shaft is connected with the rotating shaft of the flat motor two, and one side of the flat motor two is fixedly connected with the side surface of the waist support assembly.

[0009] As preferred, the electrical control cabinet comprises a control cabinet main body, a power supply, an encoder, a controller, a signal receiving port, a display screen, a laser radar and a control rod, the two sides of the control cabinet main body are provided with cylindrical bosses, the inside of each cylindrical boss is provided with a control rod, the end of the control rod is provided with control buttons, the control buttons comprise acceleration buttons and deceleration buttons.

[0010] As preferred, the ankle support device comprises an ankle column, an ankle support sheet, a fixed plate one and an electromagnetic lock, the top of the ankle column is provided with a semicircular slot, the surface of the semicircular slot is rotationally connected with a folding long rod, the bottom of the ankle column is provided with the ankle support sheet on both sides, each ankle support sheet is fixedly connected to one side of the driving fixed frame one, the surface of the ankle support sheet is provided with a plurality of inclined slots, the surface of the inclined slots is provided with the fixed plate one, the surface of the fixed plate one is provided with the electromagnetic lock, the driving shaft of the electromagnetic lock penetrates through the fixed plate one, and the bottom of the electromagnetic lock driving shaft is provided with a brake block.

[0011] As preferred, the foot palm fixing device comprises a foot palm fixing plate, a foot palm fixing belt and a fixed belt stand, the two sides of the foot palm fixing plate are provided with a plurality of fixed belt stands, and the foot palm fixing belt is arranged between every two fixed belt stands.

[0012] As preferred, the inside of the hip joint device is provided with a plurality of leg fixing sleeves.

[0013] Compared with the prior art, the present application has the following beneficial effects: 1. The folding driving rod can be retracted or lowered, in the walking mode, the hip joint device and the folding short rod can assist the leg joints or muscles, in the sliding mode, the motor three on one side of the foot palm fixing device can drive the device to continuously slide, the combination of the two modes not only meets the function of continuous forward movement for a long time, but also retains the basic function of assisting the joints or muscles; 2. In the sliding mode, the control rods on both sides of the electrical control cabinet play a partial control and support role, which is beneficial to stabilize the gravity center of sliding and improve the control efficiency; 3. In the walking mode, the driving shaft of the electromagnetic lock arranged in the ankle support device drives the brake block to move downward until the brake block clamps the pulley two, thereby further reducing the risk of falling down when walking and improving the user experience; 4. When the scientific research personnel encounter muddy roads or stairs in the wild, they do not need to deliberately remove the exoskeleton, but only need to retract the folding driving rod to enter the walking mode, thereby effectively overcoming the problems of temporary parking and carrying of the existing electric vehicles and balance cars. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a perspective view of the walking mode of the present application;

[0015] Figure 2 It is a perspective view of the walking mode of the present application;

[0016] Figure 3 It is an explosion view of the folding short rod area of the present application;

[0017] Figure 4 It is an explosion view of the folding short rod area of the present application;

[0018] Figure 5 It is a partial perspective view of the present application;

[0019] Figure 6 Exploded view of the transmission area of the present invention;

[0020] Figure 7 Exploded view of the transmission area of the present invention;

[0021] Figure 8 Exploded view of the folding short and long lever area of the present invention;

[0022] Figure 9 Perspective view of the sole fixation device area of the present invention;

[0023] Figure 10 Perspective view of the electrical control cabinet area of the present invention;

[0024] Figure 11 Perspective view of the hip joint device area of the present invention;

[0025] Figure 12 Perspective view of the electrical control cabinet interior of the present invention;

[0026] Figure 13 Perspective view of the ankle support device area of the present invention;

[0027] Figure 14 Perspective view of the coasting mode of the present invention.

[0028] Marked in the figure: 1, waist support assembly; 11, waist support; 12, waist backrest; 13, cylindrical fixing sleeve; 14, fixed band backrest; 15, waist fixing band; 16, cylindrical fixing shaft; 17, square fixing block; 2, hip joint device; 21, fixed disc one; 22, rotating boss one; 23, circular groove one; 24, flat motor one; 211, hip joint support rod; 212, hip joint boss; 213, hip joint rotating shaft; 214, flat motor two; 3, electrical control cabinet; 31, electrical fixing shaft; 32, control cabinet main body; 33, cylindrical boss; 34, control rod; 35, control button; 36, encoder; 37, controller; 38, signal receiving port; 39, display screen; 40, laser radar; 4, folding short rod; 41, fixed shaft one; 42, rotating bearing one; 43, motor two; 44, rotating missing groove one; 5, folding drive rod; 51, transmission device one; 52, pulley groove one; 53, pulley one; 54, placing groove; 55, driven missing groove one; 56, through hole one; 57, screw column; 58, signal groove; 59, placing cover; 511, driving wheel one; 512, driven wheel one; 513, driven column one; 514, driven wheel two; 515, driven bearing one; 516, driven wheel three; 517, driven column two; 518, fixed sheet two; 519, driven wheel four; 520, signal wheel; 521, signal column; 522, signal output device; 6, folding long rod; 61, rotating bearing two; 62, rotating shaft two; 63, fixed sheet one; 64, rotating bearing three; 65, rotating shaft three; 7, ankle support device; 71, ankle stand; 72, ankle support sheet; 73, fixed plate one; 74, electromagnetic lock; 75, semicircular missing groove; 76, oblique missing groove; 77, brake block; 8, foot palm fixing device; 80, foot palm fixing plate; 81, drive fixing frame one; 82, drive fixing rod; 83, pulley groove two; 84, pulley two; 85, motor fixing groove one; 86, motor three; 87, pulley three; 88, pulley rod one; 89, foot palm fixing band; 90, fixed band stand; 9, leg fixing sleeve. DETAILED DESCRIPTION

[0029] The application will be further described below in connection with the embodiments shown in the drawings:

[0030] As Figures 1 to 13As shown, an exoskeleton-based wearable travel tool includes a waist support assembly 1, the waist support assembly 1 includes a waist support 11, a waist rest 12, a waist fixing belt 15, a fixing belt rest 14 and a square fixing block 17, the waist support 11 is provided with the waist rest 12 on the middle surface, in order to ensure the comfort of the user, the waist rest 12 should be made of soft plastic material, both sides of the waist support 11 are provided with a cylindrical fixing sleeve 13, the cylindrical fixing sleeve 13 is a hollow structure, one side of each cylindrical fixing sleeve 13 is fixedly installed with a fixing belt rest 14, the waist fixing belt 15 is arranged between the two fixing belt rests 14, the tightness of the waist fixing belt 15 can be adjusted, the inside of the two cylindrical fixing sleeves 13 is fixedly installed with a cylindrical fixing shaft 16, the bottom of each cylindrical fixing shaft 16 is fixedly connected with a square fixing block 17, one side of each square fixing block 17 is provided with a hip joint device 2, specifically, the hip joint device 2 includes a hip joint support rod 211, a hip joint rotating shaft 213 and a flat motor two 214, the bottom of the hip joint support rod 211 is fixedly installed with a fixing disc one 21, the top inside of the hip joint support rod 211 is provided with a hip joint boss 212, the inside of the hip joint support rod 211 is fixedly installed with a leg fixing sleeve 9, it should be noted that the user can freely insert or separate the inside of the leg fixing sleeve 9, the inside of the hip joint boss 212 is fixedly provided with the hip joint rotating shaft 213, one end of the hip joint rotating shaft 213 is connected with the rotating shaft of the flat motor two 214, one side of the flat motor two 214 is fixedly connected with the square fixing block 17, after the user inserts the leg into the inside of the leg fixing sleeve 9, the rotating shaft of the flat motor two 214 can drive the hip joint rotating shaft 213 to rotate, the hip joint rotating shaft 213 can drive the hip joint support rod 211 to rotate, since the leg fixing sleeve 9 is fixedly installed on the inside of the hip joint support rod 211, the hip joint support rod 211 can assist the user's joints or leg muscles when rotating.

[0031] In the embodiment, one side of each fixed disc 21 is provided with a rotating boss 22, and the surface of the other side is provided with a circular groove 23. The rotating boss 22 is rotationally connected to a rotating missing groove 44 inside the folding short rod 4. The inside of the circular groove 23 is fixedly installed with a flat motor 24. The bottom side of the folding short rod 4 is fixedly provided with a fixed shaft 41 inside. The top side is rotationally provided with a rotating bearing 42 inside. The rotating shaft of the flat motor 24 penetrates the fixed disc 21 and is fixedly connected to the fixed shaft 41. The inside of the rotating bearing 42 is fixedly installed with a motor 2 43. The inside of the folding short rod 4 is provided with a folding drive rod 5. Specifically, the bottom of the folding drive rod 5 is provided with a pulley groove 52. The inside of the pulley groove 52 is rotationally connected with a pulley 53. The surface of the folding drive rod 5 is provided with a placing groove 54. The placing groove 54 is provided with a driven missing groove 55, a through hole 56, a screw column 57, and a signal groove 58 inside. The top of the placing groove 54 is detachably fixedly installed with a placing cover 59. The motor 2 43 is fixedly installed on the placing cover 59. The end of the rotating shaft of the motor 2 43 is fixedly installed with a driving wheel 1 511. One side of the driving wheel 1 511 is drivingly connected with a driven wheel 1 512. The surface of the driven wheel 1 512 is provided with a driven column 1 513. The surface of the driven column 1 513 is provided with a driven wheel 2 514. The diameter of the driven wheel 1 512 is greater than that of the driven wheel 2 514. One side end of the driven column 1 513 is rotationally installed with a driven bearing 1 515. The driven bearing 1 515 is fixedly connected to the driven missing groove 55. One side of the driven wheel 2 514 is drivingly connected with a driven wheel 3 516. The surface of the driven wheel 3 516 is provided with a driven column 2 517. One end of the driven column 2 517 is rotationally connected to the through hole 56. The end of the driven column 2 517 close to the through hole 56 is fixedly connected with a fixed sheet 2 518. One side of the driven wheel 3 516 is drivingly connected with a driven wheel 4 519. The other side is drivingly connected with a signal wheel 520. The surface of the signal wheel 520 is provided with a signal column 521. The signal column 521 is rotationally connected to the signal groove 58. One end of the signal column 521 is provided with a signal output device 522. The signal column 521 is rotationally connected to the rotating shaft of the signal output device 522. When the signal wheel 520 rotates, the signal output device 522 is ensured to transmit signals. The other side of the driven wheel 4 519 is fixedly connected to the screw column 57. The folding long rod 6 is provided on one side of the folding drive rod 5 in the same plane with the folding short rod 4. Specifically, the top of the folding long rod 6 is fixedly provided with a rotating bearing 2 61 inside. The inside of the rotating bearing 2 61 is rotationally provided with a rotating shaft 2 62.One end of the rotating shaft two 62 is fixedly connected to one side of the driven wheel four 519 through the surface of the placing cover 59, the surface of the folding long rod 6 is provided with a plurality of fixed sheets one 63, and a gap is left between each fixed sheet one 63 and the folding long rod 6. A rotating bearing three 64 is rotatably installed in the bottom of the folding long rod 6, the rotating bearing three 64 is rotatably installed in the rotating shaft three 65, one end of the rotating shaft three 65 is rotatably connected with the ankle support device 7, and the other end of each fixed sheet one 63 is fixedly connected to the rotating shaft two 62 and the rotating shaft three 65,

[0032] After setting up, the rotation of the rotating shaft of the flat motor 24 can drive the fixed shaft 41 to rotate. Since the fixed shaft 41 is fixedly installed on the folding short rod 4, the rotation of the fixed shaft 41 will drive the folding short rod 4 to rotate downward. The rotating bearing 42 at the top of the folding short rod 4 is rotatably connected to the rotating bearing 42 at the top of the folding short rod 4. Therefore, the downward rotation of the folding short rod 4 will not affect the motor 43. Since the motor 43 is fixedly installed on the surface of the folding drive rod 5 except the rotating shaft, the downward rotation of the folding short rod 4 will also drive the folding drive rod 5 to move forward. It should be noted that when switching from walking mode to sliding mode, the rotating shaft of the motor 43 also needs to rotate at the same time. If it is only in walking mode, the rotating shaft of the motor 43 does not need to rotate. When the rotating shaft of the motor 43 rotates, it can drive the driving wheel 511 at the end to rotate. The driving wheel 511 can drive the driven wheel 512 to rotate. The driven wheel 512 can drive the driven wheel 514 on the driven column 513 to rotate. The driven wheel 516 drives the driven wheel 519 to rotate. The mutual transmission method is through gear transmission. The driven bearing 515 on the driven column 513 is fixedly connected to the driven slot 55. Since the driven column 513 and the driven bearing 515 are rotatably connected, the rotation of the driven wheel 512 will not drive the folding drive rod 5 to rotate. Similarly, since one end of the driven column 517 on the driven wheel 516 is rotatably connected to the through hole 56, the rotation of the driven wheel 516 will not drive the folding drive rod 5 to rotate. It should be noted that since the driven wheel 519 and the screw column 57 inside the folding drive rod 5 are fixedly connected, the rotation of the driven wheel 519 will drive the folding drive rod 5 to rotate around the rotating shaft of the driven wheel 519. Since the surface of the driven wheel 519 is also fixedly installed with the rotating shaft 62, the rotating shaft 62 is rotatably connected to the rotating bearing 64 at the top of the folding long rod 6. Therefore, when the driven wheel 519 rotates, the rotating shaft 62 will drive the folding long rod 6 to move forward at the same time. When the folding long rod 6 moves forward, the rotating bearing 64 at the bottom of the folding long rod 6 will also rotate relative to the rotating shaft 65. Therefore, when the folding long rod 6 moves forward, it will not affect the ankle support device 7. The extended state is the sliding mode Figure 14 .

[0033] In the embodiment, the bottom of the ankle support device 7 is provided with a foot fixing device 8, specifically, the foot fixing device 8 comprises a foot fixing plate 80, a foot fixing belt 89 and a fixing belt stand 90, four fixing belt stands 90 are fixedly installed on the two sides of the foot fixing plate 80, the foot fixing belt 89 is installed between every two fixing belt stands 90, the driving fixed frame one 81 on the outer side of the foot fixing plate 80 is fixedly connected to the bottom of the ankle support device 7, the other side of the foot fixing device 8 is fixedly installed with a driving fixed rod 82, the inside of one side of the driving fixed frame one 81 is provided with a pulley groove two 83, the pulley groove two 83 is rotatably installed with a pulley two 84, the other side of the driving fixed frame one 81 is provided with a motor fixed groove one 85, the inside of the motor fixed groove one 85 is installed with a motor three 86, the rotating shaft end of the motor three 86 is provided with a pulley three 87, the other end of the pulley three 87 is rotatably connected to the driving fixed rod 82, the other end of the driving fixed rod 82 is provided with a pulley rod one 88, the pulley rod one 88 is fixedly connected to one side of the foot fixing device 8, the surface of the pulley rod one 88 is rotatably provided with the pulley two 84, so that when the rotating shaft of the motor three 86 rotates, the pulley three 87 rotates, and when the pulley three 87 rotates, the pulley two 84 on both sides rotates, so that the whole device slides forward.

[0034] In the embodiment, the ankle support device 7 comprises an ankle stand 71, an ankle support piece 72, a fixed plate one 73 and an electromagnetic lock 74, the top of the ankle stand 71 is provided with a semicircular slot 75, the surface of the semicircular slot 75 is rotatably installed with a folding long rod 6, the bottom of the ankle stand 71 is fixedly installed with an ankle support piece 72 on both sides, each ankle support piece 72 is fixedly connected to one side of the driving fixed frame, the surface of the ankle support piece 72 is provided with a plurality of inclined slots 76, the surface of the inclined slots 76 is fixedly installed with a fixed plate one 73, the surface of the fixed plate one 73 is provided with an electromagnetic lock 74, the driving shaft of the electromagnetic lock 74 penetrates through the fixed plate one 73, the bottom of the driving shaft of the electromagnetic lock 74 is provided with a brake block 77, so that when the pulley three 87 does not work, the electromagnetic lock 74 drives the shaft to extend until the brake block 77 clamps the pulley two 84 to achieve the purpose of braking.

[0035] In the embodiment, the front side of the waist support assembly 1 is provided with an electrical control cabinet 3, specifically, the electrical control cabinet 3 includes a control cabinet body 32, a power supply 30, an encoder 36, a controller 37, a signal receiving port 38, a display screen 39, a laser radar 40 and a control rod 34, wherein the laser radar 40 provides a hardware basis for a computer vision system for identifying and avoiding obstacles, the power supply 30 is used to provide a power source, the encoder 36 is used to control the rotation of the motor, the controller 37 is used for various signal processing and control, the signal receiving port 38 is used for communication with various motors and signal wheels 520, the display screen 39 is used to adjust the walking mode, the sliding mode and various parameters, the two sides of the control cabinet body 32 are provided with cylindrical bosses 33, each cylindrical boss 33 is fixedly installed with a control rod 34, the end of the control rod 34 is provided with a control button 35, the control rod 34 has a supporting effect and is beneficial to stabilize the gravity center of sliding and also improves the control efficiency, the control button 35 includes an acceleration button and a deceleration button, after being arranged in this way, the driving shaft of the electromagnetic lock 74 will be retracted by pressing the acceleration button, and the rotating shaft of the motor three 86 will drive the pulley three 87 to rotate, in other embodiments, left and right turning buttons can also be added to the control button 35, and the turning function can be realized according to the different speeds of the two pulleys three 87, and the rotating shaft of the motor three 86 will stop rotating by the deceleration button, and the driving shaft of the electromagnetic lock 74 will be extended.

[0036] Working principle and use method of the application:

[0037] Walking mode: after the user clamps the legs into the inside of the leg fixing sleeve 9, the rotating shaft of the flat motor two 214 at the top of the hip joint support rod 211 can drive the hip joint rotating shaft 213 to rotate, the hip joint rotating shaft 213 can drive the hip joint support rod 211 to rotate, since the leg fixing sleeve 9 is fixedly installed on the inside of the hip joint support rod 211, the hip joint support rod 211 can assist the joints or leg muscles of the user when rotating, and the rotating shaft of the flat motor one 24 at the bottom of the hip joint support rod 211 can drive the fixed shaft one 41 to rotate, since the fixed shaft one 41 is fixedly installed on the folding short rod 4, the fixed shaft one 41 will drive the folding short rod 4 to rotate when rotating, and since the motor two 43 will not work and the folding driving rod 5 will not move in the walking mode, the joints or leg muscles of the user can also be assisted, when assisting walking, the driving shaft of the electromagnetic lock 74 will be extended until the brake block 77 clamps the pulley two 84 to achieve the purpose of braking.

[0038] Slide mode: After the user takes off the legs from the inside of the leg fixing sleeve 9, adjust it to slide mode through the display screen 39, the drive shaft of the electromagnetic lock 74 will retract, then the rotating shaft of the flat motor 1 24 rotates to drive the fixed shaft 1 41 to rotate, since the fixed shaft 1 41 is fixedly installed on the folding short rod 4, the fixed shaft 1 41 rotates to drive the folding short rod 4 to rotate downward, the rotating bearing 1 42 at the top of the folding short rod 4, since the motor 2 43 is rotatably connected to the rotating bearing 1 42 at the top of the folding short rod 4, the folding short rod 4 rotating downward will not affect the motor 2 43, since the motor 2 43 is fixedly installed on the surface of the folding drive rod 5 except the rotating shaft, the folding short rod 4 rotating downward will also drive the folding drive rod 5 to move forward, it should be noted that when the rotating shaft of the flat motor 1 24 rotates, the rotating shaft of the motor 2 43 also needs to rotate at the same time, so that the rotating shaft of the motor 2 43 can drive the driving wheel 1 51 at the end to rotate, the driving wheel 1 51 rotates to drive the driven wheel 2 52 to rotate, the driven wheel 2 52 rotates to drive the driven wheel 3 56 to rotate through the driven column 1 53 and the driven wheel 2 54, the driven wheel 3 56 drives the driven wheel 4 519 to rotate, the mutual transmission method is driven by the gear, wherein the driven bearing 1 515 on the driven column 1 53 is fixedly connected with the driven slot 1 55, since the driven column 1 53 and the driven bearing 1 515 are rotatably connected, the driven wheel 1 512 rotating will not drive the folding drive rod 5 to rotate, and since one end of the driven column 2 517 on the driven wheel 3 516 is rotatably connected to the through hole 1 56, the driven wheel 3 516 rotating will not drive the folding drive rod 5 to rotate, it should be noted that since the driven wheel 4 519 and the screw column 57 inside the folding drive rod 5 are fixedly connected, the driven wheel 4 519 rotating will drive the folding drive rod 5 to rotate around the rotating shaft of the driven wheel 4 519, since the surface of the driven wheel 4 519 is also fixedly installed with the rotating shaft 2 62, the rotating shaft 2 62 is rotatably connected with the rotating bearing 3 64 at the top of the folding long rod 6, therefore, when the driven wheel 4 519 rotates to drive the folding drive rod 5 to move forward, the rotating shaft 2 62 will also drive the folding long rod 6 to move forward at the same time, when the folding long rod 6 moves forward, the rotating bearing 3 64 at the bottom of the folding long rod 6 will also rotate relative to the rotating shaft 3 65, therefore, the folding long rod 6 moving forward will not affect the ankle support device 7, the specific slide mode after extension can be referred to Figure 14 , after switching, the user holds the control rod 34, and adjusts the speed by pressing the acceleration button and the deceleration button, and the drive shaft of the electromagnetic lock 74 will retract when the acceleration button is pressed, and the rotating shaft of the motor 3 86 will drive the pulley 3 87 to rotate, and the rotating shaft of the motor 3 86 will stop rotating when the deceleration button is pressed, and the drive shaft of the electromagnetic lock 74 will extend, when the rotating shaft of the motor 3 86 rotates, it will drive the pulley 3 87 to rotate, and the pulley 3 87 will drive the pulley 2 84 on both sides to rotate, so that the whole device will slide forward.

[0039] The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or changes in the specific embodiments described herein can occur to those skilled in the art to which the application pertains without departing from the spirit of the application, and it is understood that such modifications or changes are to be considered as within the scope of the application as defined by the appended claims.

Claims

1. An exoskeleton-based wearable mobility tool comprising a waist support assembly (1), a hip joint device (2) arranged on both sides of the waist support assembly (1), characterized in that, The waist support assembly (1) is provided with an electrical control cabinet (3) on one side, each hip joint device (2) is provided with a fixed disc one (21) at the bottom, one side of the fixed disc one (21) is provided with a rotating boss one (22), the other side is provided with a circular groove one (23), the rotating boss one (22) is rotatably connected to the rotating slot one (44) in the folding short rod (4), the circular groove one (23) is provided with a flat motor one (24) in the inside, one side of the folding short rod (4) is internally fixedly provided with a fixed shaft one (41), the other side is internally rotatably provided with a rotating bearing one (42), the rotating shaft of the flat motor one (24) is connected to the fixed shaft one (41) through the fixed disc one (21), the rotating bearing one (42) is provided with a motor two (43) in the inside, one side of the folding short rod (4) is rotatably provided with a folding drive rod (5), the bottom of the folding drive rod (5) is provided with a pulley groove one (52), the pulley groove one (52) is rotatably connected with a pulley one (53) in the inside, the folding drive rod (5) is provided with a transmission device one (51) in the inside, the rotating shaft of the motor two (43) is drivingly connected to the transmission device one (51) through the surface of the folding drive rod (5), one side of the folding drive rod (5) is provided with a folding long rod (6), one side of the folding long rod (6) is internally fixedly provided with a rotating bearing two (61), the rotating bearing two (61) is rotatably provided with a rotating shaft two (62) in the inside, one end of the rotating shaft two (62) is fixedly connected to the transmission device one (51) through the surface of the folding drive rod (5), the surface of the folding long rod (6) is provided with a plurality of fixed pieces one (63), each fixed piece one (63) and the folding long rod (6) are left with a gap, the other side of the folding long rod (6) is internally provided with a rotating bearing three (64), the rotating bearing three (64) is provided with a rotating shaft three (65) in the inside, one end of the rotating shaft three (65) is rotatably connected with an ankle support device (7), each fixed piece one (63) is fixedly connected to the other end of the rotating shaft two (62) and the rotating shaft three (65), the bottom of the ankle support device (7) is provided with a foot palm fixing device (8), one side of the foot palm fixing device (8) is connected to the bottom of the ankle support device (7), the other side of the foot palm fixing device (8) is provided with a driving fixed rod (82), one side of the driving fixed frame one (81) is internally provided with a pulley groove two (83), the pulley groove two (83) is rotatably provided with a pulley two (84) in the inside, the other side of the driving fixed frame one (81) is provided with a motor fixing groove one (85), the motor fixing groove one (85) is provided with a motor three (86) in the inside, the rotating shaft of the motor three (86) is provided with a pulley three (87) at the end, the other end of the pulley three (87) is rotatably connected to the driving fixed rod (82), the other end of the driving fixed rod (82) is provided with a pulley rod one (88), the pulley rod one (88) is fixedly connected to one side of the foot palm fixing device (8).The surface of the pulley bar one (88) is provided with a pulley two (84).

2. The exoskeleton-based wearable travel tool according to claim 1, wherein, The surface of the folding driving rod (5) is provided with a placing groove (54), the transmission device one (51) includes a driving wheel one (511), a driven wheel one (512), a driven wheel two (514), a driven wheel three (516), a driven wheel four (519) and a signal wheel (520), the inside of the placing groove (54) is provided with a driven slot one (55), a through hole one (56), a screw column (57) and a signal slot (58), the top of the placing groove (54) is provided with a placing cover (59), the end of the rotating shaft of the motor two (43) is provided with the driving wheel one (511) through the placing cover (59), one side of the driving wheel one (511) is drivingly connected with the driven wheel one (512), the surface of the driven wheel one (512) is provided with a driven column one (513), the surface of the driven column one (513) is provided with the driven wheel two (514), the diameter of the driven wheel one (512) is greater than that of the driven wheel two (514), one side end of the driven column one (513) is rotatably provided with a driven bearing one (515), the driven bearing one (515) is fixedly connected to the driven slot one (55), one side of the driven wheel two (514) is drivingly connected with the driven wheel three (516), the surface of the driven wheel three (516) is provided with a driven column two (517), one end of the driven column two (517) is rotatably connected to the through hole one (56), the end close to the through hole one (56) of the driven column two (517) is fixedly connected with a fixed sheet two (518), one side of the driven wheel three (516) is drivingly connected with the driven wheel four (519), the other side is provided with the signal wheel (520), the surface of the signal wheel (520) is provided with a signal column (521), the signal column (521) is rotatably connected to the signal slot (58), one end of the signal column (521) is provided with a signal output device (522), the rotating shaft of the signal output device (522) is rotatably connected to the signal column (521), one side of the driven wheel four (519) is fixedly connected to the screw column (57), the other side is fixedly connected to one end of the rotating shaft two (62).

3. The exoskeleton-based wearable travel tool according to claim 1, wherein, The waist support assembly (1) includes a waist support (11), a waist rest plate (12), a waist fixing belt (15), a fixing belt rest plate (14) and a square fixing block (17), the middle surface of the waist support (11) is provided with the waist rest plate (12), the two sides of the waist support (11) are provided with cylindrical fixing sleeves (13), one side of each of the cylindrical fixing sleeves (13) is provided with the fixing belt rest plate (14), the waist fixing belt (15) is arranged between the fixing belt rest plates (14) of the two sides, the inside of the cylindrical fixing sleeve (13) is provided with a cylindrical fixing shaft (16), the bottom of the cylindrical fixing shaft (16) is provided with the square fixing block (17), the electrical fixing shaft (31) at the end of the electrical control cabinet (3) is connected to the square fixing block (17), the hip joint device (2) is rotatably connected to one side of the square fixing block (17).

4. The exoskeleton-based wearable travel tool according to claim 1, wherein, The hip joint device (2) comprises a hip joint strut (211), a hip joint pivot (213) and a flat motor two (214), the bottom of the hip joint strut (211) is provided with a fixed disc one (21), the inside of the top of the hip joint strut (211) is provided with a hip joint boss (212), the inside of the hip joint boss (212) is fixedly provided with a hip joint pivot (213), one end of the hip joint pivot (213) is connected to the pivot shaft of the flat motor two (214), one side of the flat motor two (214) is fixedly connected to the side surface of the waist support assembly (1).

5. The exoskeleton-based wearable travel tool according to claim 1, wherein, The electrical control cabinet (3) comprises a control cabinet main body (32), a power supply (30), an encoder (36), a controller (37), a signal receiving port (38), a display screen (39), a laser radar (40) and a control rod (34), both sides of the control cabinet main body (32) are provided with cylindrical bosses (33), the inside of each cylindrical boss (33) is provided with a control rod (34), the end of the control rod (34) is provided with a control button (35), the control button (35) comprises an acceleration button and a deceleration button.

6. The exoskeleton-based wearable travel tool according to claim 1, wherein, The ankle support device (7) comprises an ankle stand (71), an ankle support sheet (72), a fixed plate one (73) and an electromagnetic lock (74), the top of the ankle stand (71) is provided with a semicircular notch (75), the surface of the semicircular notch (75) is rotatably connected with a folding long rod (6), both sides of the bottom of the ankle stand (71) are provided with an ankle support sheet (72), each ankle support sheet (72) is fixedly connected to one side of a drive fixed frame one (81), the surface of the ankle support sheet (72) is provided with a plurality of inclined notches (76), the surface of the inclined notches (76) is provided with a fixed plate one (73), the surface of the fixed plate one (73) is provided with an electromagnetic lock (74), the drive shaft of the electromagnetic lock (74) penetrates through the fixed plate one (73), the bottom of the drive shaft of the electromagnetic lock (74) is provided with a brake block (77).

7. The exoskeleton-based wearable travel tool according to claim 1, wherein, The instep fixing device (8) comprises an instep fixing plate (80), an instep fixing belt (89) and a fixed belt stand (90), both sides of the instep fixing plate (80) are provided with a plurality of fixed belt stands (90), an instep fixing belt (89) is arranged between every two fixed belt stands (90).

8. The exoskeleton-based wearable travel tool according to claim 1, wherein, The inside of the hip joint device (2) is provided with a plurality of leg fixing sleeves (9).

Images