Symmetrical telescopic adjustment mechanism of tubular rods based on multi-links

Abstract

The present invention relates to the technical field of wearable power-assist robots, and specifically provides a symmetrical telescopic adjustment mechanism for tubular rods based on multiple links, aiming to solve the problems of the existing adjustment mechanism's lack of support at the telescopic end, the difficulty in quickly using the telescopic switch lock when worn by the user, and the inability to symmetrically adjust the telescopic end. To this end, the adjustment mechanism of the present invention comprises: a shell structure, a telescopic module, an adjustment module, and a switch lock module, wherein: the shell structure is used to accommodate the telescopic module; the adjustment module is connected to the telescopic module; the switch lock module is installed inside the shell structure, and is used to control the locking or opening of the adjustment module, and can provide support for two groups of tubular rods through a tubular rod holding assembly; and the movement of the two tubular rods is kept symmetrical through the adjustment module; finally, the user only needs to press the switch lock module to quickly lock and release the adjustment module, which is convenient to operate.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable power-assist robots, and specifically provides a symmetrical telescopic adjustment mechanism for tubular rods based on multiple links. Background Art

[0002] The exoskeleton robot industry is currently developing rapidly. Many exoskeleton robot manufacturers have emerged at home and abroad, and various types of exoskeleton robots are increasingly being integrated into all aspects of people's lives.

[0003] In order to make the exoskeleton robots in the prior art adaptable to people of different body shapes and sizes, the structural dimensions of the exoskeleton itself must have a certain adjustable range, which mainly involves the size adjustment of the calf and calf rods, arm and waist rods. The adjustment method usually adopts the form of multi-stage circular tube sleeves, and convex marks, indentations and friction plates for limiting are set between the tubes, which better realizes the one-way positioning between the tubes, and by adding wear-resistant blocks made of Teflon material, the rods are smoother and more stable when they are extended and retracted. However, due to the form of a sleeve, its effective extension length is subject to the length of the lining structure and the outer tube, and considering the structural strength, this method used in the exoskeleton will cause the mass and volume of the exoskeleton rods to be too large, which is not conducive to weight reduction design. Secondly, the existing telescopic structure mainly realizes the opening and closing lock of the telescopic rod by opening and tightening the seat tube clamp wrench. In order to make the telescopic structure stable, the seat tube clamp needs to be set with a large clamping force to ensure good load-bearing performance in all directions when fixed. This requires the operator to apply a large force to operate the opening and tightening of the wrench, which is not only laborious but also impossible for the wearer to adjust it by himself when wearing it. In addition, the adjustment structures of the telescopic tubes on the left and right sides are independent of each other, and one side needs to be adjusted first and then the other side, which is relatively time-consuming.

[0004] Accordingly, the art requires a new symmetrical telescopic adjustment mechanism of tubular rods based on multiple links to solve the above technical problems. Summary of the Invention

[0005] The present invention aims to solve the above technical problems, namely, to solve the problem that the telescopic end of the existing adjustment mechanism lacks support, the problem that the user has difficulty in using the telescopic switch lock quickly and conveniently when wearing it, and the problem that the telescopic end cannot be adjusted symmetrically.

[0006] The present invention provides a symmetrical telescopic adjustment mechanism for a tubular rod based on a multi-link, the adjustment mechanism comprising a housing structure, a telescopic module, an adjustment module and a switch lock module, wherein: the housing structure is used to accommodate the telescopic module; the telescopic module comprises a base plate, a tubular rod holding assembly, a tubular rod, a guide rail slider assembly and a tubular rod slider connector; the base plate is fixed in the housing structure; the tubular rod holding assembly has two groups, and the two groups of tubular rod holding assemblies are arranged in a first direction and fixed to the base plate; the guide rail slider assembly extends in the first direction, and one end is fixed to one group of tubular rod holding assemblies, and the other end is fixed to the other group On the pipe rod holding assembly; the tubular rods correspond to the pipe rod holding assemblies one by one, and between each tubular rod and the corresponding pipe rod holding assembly, the tubular rod can be slidably installed in the pipe rod holding assembly along a first direction, and the first end extends between the two pipe rod holding assemblies, and the first end of the tubular rod is slidably connected to the guide rail slider assembly through the pipe rod slider connector; the adjustment module is connected to the telescopic module to keep the movements of the two tubular rods of the telescopic module symmetrical and consistent; the switch lock module is installed inside the shell structure to control the locking or opening of the adjustment module.

[0007] Based on the above structural setting, the tubular rods are restricted by the tube rod holding assembly, thereby providing support for the two groups of tubular rods during use, so that they can be telescopically adjusted stably and reliably, and the adjustment module can ensure that when the tubular rod at one end is telescopically adjusted, the tubular rod at the other end can be telescopically adjusted at the same time. Finally, the user only needs to operate the switch lock module to quickly lock and release the adjustment module, which is convenient to operate.

[0008] In the preferred technical solution of the above-mentioned adjustment structure, each of the pipe rod holding assemblies includes a retaining frame, an elastic bushing and a retaining frame end cover, the retaining frame is fixed on the base plate, the retaining frame has a hollow structure with openings at both ends along the first direction, the retaining frame end cover is installed at the opening of the hollow structure away from another pipe rod holding assembly, and the tubular rod corresponding to the pipe rod holding assembly passes through the retaining frame and the retaining frame end cover; the elastic bushing is arranged in the hollow structure and is sleeved on the outside of the tubular rod.

[0009] Based on the above structural setting, the elastic bushing has a corrugated elastic support structure on any outer surface of the supported tubular rod. The elastic support structure can undergo a certain elastic deformation in a direction perpendicular to any outer surface of the tubular rod. The beneficial effect brought about by this deformation is that when the tubular rod extends into the elastic bushing, it can produce a certain extrusion on the corrugated elastic support structure, thereby causing the elastic bushing to produce a clamping effect on the outer surface of the tubular rod. While clamping, it can also provide better support. It can resist the force of the tubular rod in any direction perpendicular to the sliding direction and the external torque parallel to the sliding direction to a certain extent, so that the tubular rod will not undergo a large displacement in any direction other than the sliding direction.

[0010] In the preferred technical solution of the above-mentioned adjustment structure, the inner ring surface of the elastic bushing has a coating with Teflon material, and the inner surface of the elastic bushing forms a corrugated elastic support structure, and the corrugated top of each corrugated elastic support structure forms a plurality of contact points with the outer surface of the tubular rod.

[0011] Based on the above structural setting, the coating with Teflon material is used to provide flexibility during contact sliding friction and wear resistance of the material.

[0012] In the preferred technical solution of the above-mentioned adjustment structure, the guide rail slider assembly includes a slider and a linear guide rail, the linear guide rail is fixed on the two pipe rod holding assemblies and connects them, two sliders are provided, the sliders are slidably connected to the linear guide rails, and each slider is fixedly connected to the corresponding tubular rod through the pipe rod slider connector.

[0013] Based on the above structural setting, on the basis of the tube rod retaining assembly, another support and fixing position can be provided for the tubular rod in the sliding direction. This support and fixing method can transfer part of the external force exerted on the sliding section of the tubular rod to the slider and share it by the guide rail slider assembly, thereby achieving the effect of enhancing structural stability and sliding smoothness.

[0014] In the preferred technical solution of the above-mentioned adjustment structure, the adjustment module includes a first connecting rod and two second connecting rod assemblies, each of the second connecting rod assemblies includes a second connecting rod and a tubular rod connecting rod connector, and the two second connecting rod assemblies correspond to the tubular rod members one by one; wherein: the middle part of the first connecting rod is mounted on the base plate through a first pin, and the first connecting rod can rotate around the axis of the first pin; in one second connecting rod assembly, the first end of the second connecting rod is mounted on the first end of the first connecting rod through a second pin, and the second end is mounted on the tubular rod connecting rod connector through a third pin, and the tubular rod connecting rod connector is fixed to the corresponding tubular rod; in another second connecting rod assembly, the first end of the second connecting rod is mounted on the second end of the first connecting rod through a fourth pin, and the second end is mounted on the tubular rod connecting rod connector through a fifth pin, and the tubular rod connecting rod connector is fixed to the corresponding tubular rod; the axes of the first pin, the second pin, the third pin, the fourth pin, and the fifth pin are parallel to each other and extend along the second direction, and the second direction is perpendicular to the first direction.

[0015] Based on the above structural setting, each group of tubular rods is connected by the corresponding tubular rod connecting rod, the second connecting rod, the first connecting rod and the third pin, the second pin and the first pin for hinge, and cooperates with the telescopic module. When the first connecting rod rotates clockwise or counterclockwise around the first pin, it can simultaneously drive the two groups of tubular rods to extend or retract and slide, thereby realizing a symmetrical telescopic adjustment function; when adjusting, it is only necessary to manually adjust one group of tubular rods, and the other group of tubular rods can synchronously and symmetrically telescope and slide in the opposite direction.

[0016] 20. The repairing kit for automotive dents, according to claim 19, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut. The bosses comprise a through-hole, a screw bolt, and a nut.

[0017] Based on the above structural setting, when the tapered end of the locking pin is inserted into the pin hole of the positioning bar, since the locking pin is fixed on the telescopic module, and the telescopic module is connected to the adjustment module, after the locking pin is fixed, the adjustment module is in a locked state. When the user presses the button, the button drives the pressing rod to move, thereby driving the positioning bar to separate from the locking pin.

[0018] In the preferred technical solution of the above-mentioned adjustment structure, the switch lock module also includes a shift bar and a ball plunger. The shift bar is fixedly mounted on the linear guide rail through a connecting piece. A circular arc groove structure corresponding to the pin hole for positioning the positioning bar is formed on the shift bar; two ball plungers are provided, and the ball plungers are fixed on the pipe rod slider connector, and their ball head parts are pressed onto the plane of the circular arc groove structure of the shift bar.

[0019] Based on the above-mentioned structural arrangement, the two ball plungers are fixedly mounted on the two tubular rod slider connectors, with their ball heads contacting the upper surface of the shift bar and simultaneously pressed into the plungers a certain distance. This structure has the beneficial effect that when the button is pressed to adjust the two ball plungers with the two sets of tubular rods, the ball heads of the two ball plungers will slide in contact with the upper surface of the shift bar. Each time the ball heads slide into a corresponding set of arc-shaped slot structures, the operator will feel a damping effect during manual adjustment.

[0020] In the preferred technical solution of the above-mentioned adjustment structure, the pressing guide assembly includes: a sliding block, which is fixedly mounted on the end of the positioning bar, and the sliding block has an inner hole along the third direction; a self-lubricating copper sleeve, which is installed and fixed in the inner hole of the sliding block; a guide member, the bottom of the guide member passes through the inner hole, and the inner ring of the self-lubricating copper sleeve is sleeved on the first end of the guide member, the second end of the guide member is fixedly connected to the pipe rod holding assembly, a compression spring and a spring washer, the spring washer is sleeved on the bottom of the guide member, and is used to limit the compression spring between the sliding block and the spring washer.

[0021] Based on the above structural setting, the positioning strips with symmetrical openings on both sides cooperate with the two groups of the pressing guide components and the two locking pins respectively installed on the two tubular rod slider connectors, and by pressing the button set on the outer shell structure and transmitting the force through the pressing rod, the two groups of tubular rods can be quickly pressed to unlock and reset to lock. The operation is simple and has good reliability and practicality. After wearing the exoskeleton, the user can still easily perform one-button press unlocking and tubular rod telescopic adjustment operations.

[0022] In the preferred technical solution of the above-mentioned adjustment structure, the shell structure includes a basic shell and an upper cover, and the basic shell and the upper cover are connected in a detachable manner. The inner side of the upper cover is provided with a slot structure corresponding to the vertical section structure of the pressing rod, which is used to ensure that the pressing rod will not be offset in other directions during the process of sliding up and down with the sliding block.

[0023] Based on the above structural setting, the basic shell and the upper cover can protect the various modules in the shell structure, and the slotted structure can further improve the stability of the overall structure, thereby further improving the user experience during use and enhancing practicality.

[0024] In a preferred technical solution of the above-mentioned adjustment structure, the tubular rod comprises a tubular rod telescopic section and a tubular rod connecting section which are connected to each other, and the tubular rod connecting section is mechanically connected to the external skeleton.

[0025] Based on the above structural setting, the tube-rod connecting section can facilitate the user's connection with the external bone machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

[0027] Figure 1 is a schematic diagram of the outer shell structure of the present invention;

[0028] Figure 2 It is a general schematic diagram of the internal structure of the present invention;

[0029] Figure 3 It is a structural schematic diagram of the telescopic module of the present invention;

[0030] Figure 4 It is a schematic structural diagram of the pipe rod holding assembly of the present invention;

[0031] Figure 5 is a schematic structural diagram of a tubular rod of the present invention;

[0032] Figure 6 It is a structural schematic diagram of the adjustment module of the present invention;

[0033] Figure 7 Schematic diagram of the structure of the switch lock module of the present invention;

[0034] Figure 8 It is a structural schematic diagram of the pressing guide assembly of the present invention;

[0035] Figure 9 It is a schematic diagram of the working principle of the positioning bar, locking pin, shift bar and ball plunger of the present invention.

[0036] Reference numerals:

[0037] 1-shell structure, 101-basic shell, 102-upper cover, 2-telescopic module, 3-adjustment module, 4-switch lock module, 201-base plate, 202-rod holding assembly, 203-tubular rod, 204-guide rail slider assembly, 205-rod slider connector, 202a-holder, 202b-elastic bushing, 202c-holder end cap, 203a-rod telescopic section, 203b-rod connecting section, 301-rod connecting rod connector, 302-first Connecting rod, 303-second connecting rod, 304-first pin, 305-second pin, 306-third pin, 307-fourth pin, 308-fifth pin, 401-button, 402-press rod, 403-press guide assembly, 404-positioning bar, 405-locking pin, 406-gear bar, 407-ball plunger, 403a-sliding block, 403b-self-lubricating copper sleeve, 403c-guide, 403d-compression spring, 403e-spring washer. DETAILED DESCRIPTION

[0038] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely intended to illustrate the technical principles of the present invention and are not intended to limit the scope of protection of the present invention. Those skilled in the art may adjust these embodiments as needed to suit specific applications.

[0039] It should be noted that in the description of the present invention, terms such as "center," "upper," "lower," "left," "right," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. These are merely for ease of description and are not intended to indicate or imply that the structures described must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0040] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed or detachable connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0041] See below Figure 1 、 Figure 2 ,like Figure 1 、 Figure 2As shown, the adjustment mechanism of the present invention includes: a shell structure 1, a telescopic module 2, an adjustment module 3 and a switch lock module 4, wherein: the shell structure 1 is used to accommodate the telescopic module 2; the telescopic module 2 includes a base plate 201, a pipe rod holding assembly 202, a tubular rod 203, a guide rail slider assembly 204 and a pipe rod slider connector 205; the base plate 201 is fixed in the shell structure 1; there are two groups of pipe rod holding assemblies 202, and the two groups of pipe rod holding assemblies 202 are arranged in a first direction and fixed to the base plate 201; the guide rail slider assembly 204 extends along the first direction, and one end is fixed to one group of pipe rod holding assemblies 202, and the other end is fixed to the other group of pipe rod holding assemblies holding assembly 202; the tubular rod 203 corresponds to the tubular rod holding assembly 202 one by one, and between each tubular rod 203 and the corresponding tubular rod holding assembly 202, the tubular rod 203 can be slidably installed in the tubular rod holding assembly 202 along a first direction, and the first end extends between the two tubular rod holding assemblies 202, and the first end of the tubular rod is slidably connected to the guide rail slider assembly 204 through the tubular rod slider connector 205; the adjustment module 3 is connected to the telescopic module 2, and is used to keep the movements of the two tubular rods 203 of the telescopic module 2 symmetrical and consistent; the switch lock module 4 is installed inside the shell structure 1, and is used to control the locking or opening of the adjustment module 3.

[0042] When the user is in use, the user can release the limit of the adjustment module 3 by operating the switch lock module 4. At this time, the user pulls out or presses the tubular rod 203 at one end to make the tubular rod 203 slide in the tubular rod holding assembly 202. At the same time, since the two tubular rods 203 are connected by the adjustment module 3, when the tubular rod 203 at one end slides, it will simultaneously drive the tubular rod 203 at the other end to move synchronously, thereby completing the telescopic adjustment of the tubular rod 203. At this time, the user releases the switch lock module 4 to limit the adjustment module 3 again; the tubular rod holding assembly 202 restricts the tubular rods, thereby providing support for the two groups of tubular rods 203 during use, so that they can be stably and reliably telescopically adjusted, and the adjustment module 3 can ensure that when the tubular rod at one end is telescoped, the tubular rod at the other end can be driven to telescope at the same time; finally, the user only needs to operate the switch lock module 4 to quickly lock and release the adjustment module 3, which is convenient to operate.

[0043] It should be noted that the present invention does not impose any restrictions on the specific structure of the tubular rod 203. Those skilled in the art may customize the structure as needed. For example, the cross-section of the tubular rod 203 may be a rectangular tube. For another example, the cross-section of the tubular rod 203 may be a circular tube or any polygonal tube, as long as the tubular rod 203 can properly perform telescopic operations. Furthermore, it should be noted that the tubular rod 203 of the present invention may also be a general rod with a non-hollow structure, as long as the adjustment mechanism can cooperate with the tubular rod 203.

[0044] Furthermore, the shell structure 1 includes a basic shell 101 and an upper cover 102, and the basic shell 101 and the upper cover 102 are connected in a detachable manner, and the basic shell 101 and the upper cover 102 can protect various modules in the shell structure 1. It should be noted that the present invention does not impose any restrictions on the specific structure of the basic shell 101 and the upper cover 102. For example, the basic shell 101 and the upper cover 102 can be a square structure after being connected. For another example, the basic shell 101 and the upper cover 102 can be a cylindrical structure after being connected, as long as it can be ensured that a space sufficient to accommodate the entire adjustment mechanism and the connection lines of the mechanism can be formed in the shell structure 1 composed of the basic shell 101 and the upper cover 102. In addition, it should be noted that the present invention does not impose any restrictions on the specific connection method between the basic shell 101 and the upper cover 102.

[0045] See below Figure 3 、 Figure 4 ,like Figure 3 、 Figure 4As shown, each pipe rod holding assembly 202 includes a holder 202a, an elastic bushing 202b and a holder end cover 202c. The holder 202a is fixed on the base plate. The holder 202a has a hollow structure with openings at both ends along the first direction. The holder end cover 202c is installed at the opening of the hollow structure away from the other pipe rod holding assembly 202. The tubular rod corresponding to the pipe rod holding assembly 202 passes through the holder 202a and the holder end cover 202c; the elastic bushing 202b is arranged in the hollow structure and is sleeved on the outside of the tubular rod 203; the elastic bushing has a corrugated elastic structure that is consistent with the supported tubular rod 203 on any outer surface thereof. The elastic support structure can undergo a certain elastic deformation in a direction perpendicular to any outer surface of the tubular rod 203. The beneficial effect of this deformation is that when the tubular rod 203 extends into the elastic bushing, it can produce a certain degree of compression on the corrugated elastic support structure, thereby causing the elastic bushing to clamp the outer surface of the tubular rod 203. While clamping, it can also provide a good support effect, and can to a certain extent resist the force applied to the tubular rod 203 in any direction perpendicular to the sliding direction and the external torque applied to the tubular rod 203 in the direction parallel to the sliding direction, so that the tubular rod 203 will not undergo a large displacement in any direction other than the sliding direction. It should be noted that the present invention does not impose any restrictions on the specific structure of the tubular rod retaining assembly 202. Those skilled in the art can set it according to their own needs, as long as it can ensure that the elastic bushing and the corresponding retaining frame 202a and retaining frame end cap 202c are equally applicable to tubular rods 203 with different cross-sectional configurations.

[0046] In addition, the above-mentioned elastic bushing 202b is also provided with a coating made of any anti-friction material, such as a resin coating composed of a resin structure, or a rubber coating made of a rubber material, so as to ensure the flexibility during flexible friction and the wear resistance of the material. As a preferred embodiment, the inner ring surface of the elastic bushing 202b has a coating with Teflon material, and the inner surface of the elastic bushing 202b forms a corrugated elastic support structure, and the corrugated top of each corrugated elastic support structure forms a plurality of contact points with the outer surface of the tubular rod 203.

[0047] See below Figure 5 ,like Figure 5 As shown, the tubular rod 203 includes a tubular rod telescopic section 203a and a tubular rod connecting section 203b that are interconnected. The tubular rod connecting section 203b is mechanically connected to the exoskeleton. Of course, it should be noted that the present invention does not impose any restrictions on the use of the tubular rod connecting section 203b. Those skilled in the art can connect the tubular rod connecting section 203b to any other exoskeleton mechanical structure as needed. For example, it can be connected to the leg rod of the exoskeleton, or to the arm rod or waist rod, as long as the tubular rod 203 can be guaranteed to work normally.

[0048] See below Figure 6 ,like Figure 6 As shown, the adjustment module 3 includes a first connecting rod 302 and two second connecting rod assemblies, each of which includes a second connecting rod 303 and a tubular rod connecting rod connector, and the two second connecting rod assemblies correspond to the tubular rods one by one; wherein: the middle part of the first connecting rod 302 is mounted on the base plate through the first pin 304, and the first connecting rod 302 can rotate around the axis of the first pin 304; in one second connecting rod assembly, the first end of the second connecting rod 303 is connected to the second pin 304. 5 is mounted on the first end of the first connecting rod 302, and the second end is mounted on the pipe rod connecting rod connector 301 through the third pin 306, and the pipe rod connecting rod connector is fixed to the corresponding pipe rod; in another second connecting rod assembly, the first end of the second connecting rod 303 is mounted on the second end of the first connecting rod 302 through the fourth pin 307, and the second end is mounted on the pipe rod connecting rod connector through the fifth pin 308, and the pipe rod connecting rod connector is fixed to the corresponding pipe rod; the first pin 304 and the second pin 30 5. The axis lines of the third pin 306, the fourth pin 307, and the fifth pin 308 are parallel to each other and extend along the second direction, and the second direction is perpendicular to the first direction; the first connecting rod 302 is hinged to the base plate 201 through the first pin 304 and is axially fixed by an elastic ring for the shaft; each group of tubular rods 203 is connected by their corresponding tubular rod connecting rod connectors, the second connecting rod 303, the first connecting rod 302, and the fifth pin 308, the fourth pin 307, the third pin 308 for hinge connection. The pin 306, the second pin 305 and the first pin 304 are connected to the adjustment module and cooperate with the telescopic module 2. When the first connecting rod 302 rotates clockwise or counterclockwise around the first pin 304, it can simultaneously drive the two groups of tubular rods 203 to extend or retract and slide, thereby realizing a symmetrical telescopic adjustment function; when adjusting, only one group of tubular rods 203 needs to be manually adjusted, and the other group of tubular rods 203 can undergo synchronous and symmetrical reverse telescopic sliding.

[0049] It should be noted that the present invention does not impose any restrictions on the specific structure of the first connecting rod 302 and the second connecting rod 303. Those skilled in the art can set them according to their needs. For example, the first connecting rod 302 and the second connecting rod 303 can be disc-shaped structures. For another example, the first connecting rod 302 and the second connecting rod 303 can also be long strip structures, as long as it can be ensured that the first connecting rod 302 and the second connecting rod 303 will not cut into the potential connection lines in the shell structure 1 during the folding process.

[0050] See below Figures 7 to 9 ,like Figures 7 to 9As shown, the switch lock module 4 includes a button 401, a pressing rod 402, a pressing guide assembly 403, a positioning bar 404 and a locking pin 405. The button 401 is arranged on the outer surface of the shell structure 1 to facilitate the operator to press the button. The lower end of the button 401 extends into the interior of the shell structure 1 and is fixedly connected to the upper end of the pressing rod 402; the positioning bar 404 is connected to the bottom of the pressing rod 402, and the pressing guide assembly 403 is provided with two groups. The two groups of pressing guide assemblies 403 are arranged on both sides of the positioning bar 404 along the first direction. There are two locking pins 405, each locking pin 405 05 corresponds one-to-one to each group of tubular rod slider connectors 205 and is fixedly connected, and a pin hole is formed on the positioning bar to cooperate with the locking pin 405, which is used to lock the two groups of tubular rods 203 in the telescopic direction; when the tapered end of the locking pin 405 is inserted into the pin hole of the positioning bar, since the locking pin is fixed on the telescopic module 2, and the telescopic module is connected to the adjustment module 3, after the locking pin 405 is fixed, the adjustment module 3 is in a locked state at this time. When the user presses the button 401, the button 401 drives the pressing rod 402 to move, thereby driving the positioning bar 404 to separate from the locking pin 405.

[0051] It should be noted that the present invention does not impose any restrictions on the specific structure of the locking pin 405. Those skilled in the art may customize the structure as needed. For example, the locking pin 405 may have a tapered structure, or a ball-end structure, as long as the locking pin 405 can be plugged into the pin hole on the positioning bar. In this preferred embodiment, the locking pin 405 has a tapered end plug structure.

[0052] Furthermore, the switch lock module 4 also includes a shift bar 406 and a ball plunger 407. The shift bar 406 is fixedly mounted on the linear guide rail via a connector. The shift bar 406 is formed with an arc-shaped slotted structure corresponding to the pin hole for positioning the positioning bar 404. Two ball plungers 407 are provided. The two ball plungers 407 are respectively fixedly mounted on the two tubular rod slider connectors and their ball heads contact the upper end plane of the shift bar 406, while being pressed into the plunger for a certain distance. The beneficial effect brought about by this structure is that when the button 401 is pressed to cause the two ball plungers 407 to move and adjust with the two sets of tubular rods 203, the ball heads of the two ball plungers 407 will slide in contact with the upper end plane of the shift bar 406. Whenever the ball heads slide into a set of arc-shaped slotted structures, the operator will feel a damping sensation during manual adjustment. Of course, it should be noted that the present invention does not impose any restrictions on the specific structure of the ball plunger 407. Those skilled in the art can set it according to their needs, as long as it can ensure that the ball plunger 407 can frictionally contact with the shift bar 406 to form a damping feeling.

[0053] Furthermore, the pressing guide assembly 403 includes a sliding block 403a, a self-lubricating copper sleeve 403b, a guide member 403c, a compression spring 403d and a spring washer 403e. The sliding block 403a is fixedly installed at the end of the positioning bar 404. The sliding block 403a has an inner hole along the third direction, and the third direction is perpendicular to the first direction and the second direction. The self-lubricating copper sleeve 403b is installed and fixed in the inner hole of the sliding block 403a. The bottom of the guide member 403c passes through the inner hole, and the inner ring of the self-lubricating copper sleeve 403b is sleeved on the lower end of the guide member 403c. The top of the guide member 403c is fixedly connected to the pipe rod holding assembly 202. The spring washer 403e It is mounted on the bottom of the guide member 403c and is used to limit the compression spring 403d between the sliding block 403a and the spring washer 403e; the positioning strip 404 with symmetrical and evenly distributed openings on both sides cooperates with two sets of pressing guide components 403 and two locking pins 405 respectively installed on the two tubular rod slider connectors, and by pressing the button 401 set on the outer shell structure 1 and transmitting the force through the pressing rod 402, the press-unlocking and reset-locking functions of the two sets of tubular rods 203 can be quickly realized. It is simple to operate and has good reliability and practicality. After wearing the exoskeleton, the user can still easily perform one-touch press-unlocking and rod telescopic adjustment operations.

[0054] Thus far, the technical solutions of the present invention have been described in conjunction with the optional embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A symmetrical telescopic adjustment mechanism of a tubular rod based on multiple links, characterized in that: The adjustment mechanism includes a housing structure, a telescopic module, an adjustment module and a switch lock module, wherein: The housing structure is used to accommodate the telescopic module; The telescopic module includes a base plate, a pipe rod holding assembly, a tubular rod, a guide rail slider assembly and a pipe rod slider connecting piece; the base plate is fixed in the shell structure; there are two groups of pipe rod holding assemblies, and the two groups of pipe rod holding assemblies are arranged in a first direction and fixed to the base plate; the guide rail slider assembly extends in a first direction, and one end is fixed to one group of pipe rod holding assemblies, and the other end is fixed to the other group of pipe rod holding assemblies; the tubular rods correspond to the pipe rod holding assemblies one by one, and between each tubular rod and the corresponding pipe rod holding assembly, the tubular rod can be slidably installed in the pipe rod holding assembly along the first direction, and the first end extends between the two pipe rod holding assemblies, and the first end of the tubular rod is fixedly connected to the guide rail slider assembly through the pipe rod slider connecting piece; The adjustment module is connected to the telescopic module and is used to keep the movements of the two tubular rods of the telescopic module symmetrical; The switch lock module is installed inside the housing structure and is used to control the locking or opening of the adjustment module; The adjustment module includes a first connecting rod and two second connecting rod assemblies, each of the second connecting rod assemblies includes a second connecting rod and a tubular rod connecting rod connector, and the two second connecting rod assemblies correspond one-to-one to the tubular rod; wherein: The middle portion of the first connecting rod is mounted on the base plate via a first pin shaft, and the first connecting rod can rotate around the axis of the first pin shaft; In a second connecting rod assembly, a first end of the second connecting rod is mounted to the first end of the first connecting rod via a second pin, and a second end is mounted to a tubular rod connecting rod connector via a third pin, wherein the tubular rod connecting rod connector is fixed to the corresponding tubular rod; In another second connecting rod assembly, the first end of the second connecting rod is mounted to the second end of the first connecting rod via a fourth pin, and the second end is mounted to a tubular rod connecting rod connector via a fifth pin, and the tubular rod connecting rod connector is fixed to the corresponding tubular rod; The axis lines of the first pin shaft, the second pin shaft, the third pin shaft, the fourth pin shaft, and the fifth pin shaft are parallel to each other and extend along a second direction, and the second direction is perpendicular to the first direction; The switch lock module includes: a button, the button being arranged on the outer surface of the housing structure, and the lower end of the button extending into the interior of the housing structure; a pressing rod, the pressing rod extending along a third direction, the first end of the pressing rod being fixedly connected to the button, the third direction being perpendicular to the first direction and the second direction; a positioning bar connected to the second end of the pressing rod, wherein a pin hole is formed on the positioning bar, and an axial direction of the pin hole extends along the third direction; A pressing guide assembly, wherein the pressing guide assembly is provided in two groups, and the two groups of the pressing guide assemblies are arranged on both sides of the positioning strip along the first direction; Locking pins, two locking pins are provided, each locking pin corresponds to each group of the tubular rod slider connectors and is fixedly connected, the locking pin is a tapered end plug structure, and the tapered end of the locking pin cooperates with the pin hole to lock the two groups of tubular rods in the telescopic direction.

2. The adjustment mechanism according to claim 1, characterized in that: Each of the pipe rod holding assemblies includes a retainer, an elastic bushing and a retainer end cover. The retainer is fixed on the base plate. The retainer has a hollow structure along a first direction and with openings at both ends. The retainer end cover is installed at an opening of the hollow structure away from another pipe rod holding assembly. The tubular rod corresponding to the pipe rod holding assembly passes through the retainer and the retainer end cover; the elastic bushing is arranged in the hollow structure and is sleeved on the outside of the tubular rod.

3. The adjustment mechanism according to claim 2, characterized in that: The inner ring surface of the elastic bushing has a coating with Teflon material, and the inner surface of the elastic bushing forms a corrugated elastic support structure, and the corrugated top of each corrugated elastic support structure forms a plurality of contact points with the outer surface of the tubular rod.

4. The adjustment mechanism according to claim 1, characterized in that: The guide rail slider assembly includes a slider and a linear guide rail, the linear guide rail is fixed on the two pipe rod holding assemblies and connects them, two sliders are provided, the sliders are slidably connected to the linear guide rails, and each slider is fixedly connected to the corresponding tubular rod through the pipe rod slider connector.

5. The adjustment mechanism according to claim 4, characterized in that: The switch lock module also includes a shift bar and a ball plunger. The shift bar is fixedly mounted on the linear guide rail through a connecting piece. The shift bar is formed with an arc-shaped slot structure that corresponds one-to-one to the pin holes for positioning the positioning bar. Two ball plungers are provided. The ball plungers are fixed on the pipe rod slider connector and their ball heads are pressed onto the plane of the arc-shaped slot structure of the shift bar.

6. The adjustment mechanism according to claim 1, characterized in that: The pressing guide assembly comprises: a sliding block, the sliding block being fixedly mounted on an end portion of the positioning bar, the sliding block being provided with an inner hole along a third direction; A self-lubricating copper sleeve, which is fixed in the inner hole of the sliding block; A guide member, wherein the bottom of the guide member passes through the inner hole, and the inner ring of the self-lubricating copper sleeve is sleeved on the first end of the guide member, and the second end of the guide member is fixedly connected to the pipe rod holding assembly; A compression spring and a spring washer, wherein the spring washer is sleeved on the bottom of the guide member and is used to limit the compression spring between the sliding block and the spring washer.

7. The adjustment mechanism according to claim 6, characterized in that: The shell structure includes a basic shell and an upper cover, and the basic shell and the upper cover are connected in a detachable manner. The inner side of the upper cover is provided with a groove corresponding to the vertical section structure of the pressing rod, which is used to ensure that the pressing rod will not deviate in other directions during the process of sliding up and down with the sliding block.

8. The adjustment mechanism according to claim 1, wherein: The tubular rod comprises a tubular rod telescopic section and a tubular rod connecting section which are connected to each other, and the tubular rod connecting section is mechanically connected to an external skeleton.

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