Auxiliary walking exoskeleton equipment

Abstract

The invention discloses walking assisting exoskeleton equipment, and belongs to the technical field of exoskeleton assisting robots. Comprising a supporting box, and a transmission assembly, a driving assembly and an adjusting assembly are installed in the supporting box; the driving assembly comprises a fourth supporting shaft, a fifth supporting shaft and a second gear, one end of the fourth supporting shaft is fixedly connected with a handle, a first arc-shaped block and a second arc-shaped block are fixedly installed on the fifth supporting shaft, and a driving column is fixedly installed on the handle; the adjusting assembly comprises a fixed pipe, a rotating pipe is rotationally connected into the fixed pipe, two sets of ejector blocks are rotationally connected to the inner side of the rotating pipe, and the free ends of the two sets of ejector blocks abut against the interiors of tooth grooves of the second gears and are connected with the rotating pipe through second elastic pieces. The handle rotates to control the non-working ejector block to be separated from the tooth groove of the second gear, meanwhile, the driving column drives the rotating pipe to rotate, the working ejector block pushes the second gear to rotate, and the distance between the two sets of exoskeleton mechanical arms is adjusted through transmission of the transmission assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton-assisted robots, and more specifically, to an exoskeleton-assisted walking device. Background Art

[0002] The existing waist design of auxiliary walking exoskeleton equipment has two forms: one is the customized type, which is customized according to the waist size of the user. The waist size of the exoskeleton equipment cannot be adjusted, and the flexibility is poor; the other is the adjustable type, which is set by two sets of independent control switch mechanisms to control the movement and fixation of the two exoskeleton mechanical arms respectively. It is not easy to control the symmetry and telescopic size of the exoskeleton mechanical arms during adjustment, resulting in the backrest of the equipment not being suitable for the user's waist, and each set of exoskeleton mechanical arms is adjusted and fixed separately, which increases the cumbersomeness of the operation. In view of this, we propose an auxiliary walking exoskeleton equipment. Summary of the invention

[0003] The purpose of the present invention is to provide an auxiliary walking exoskeleton device, which solves the technical problems in the prior art that the waist size of the exoskeleton mechanical arm is poorly adjusted and the operation is complicated and difficult to control.

[0004] An embodiment of the present invention provides an auxiliary walking exoskeleton device, comprising a support box, wherein a transmission component, a drive component and an adjustment component are installed in the support box;

[0005] The driving assembly includes a fourth support shaft, a fifth support shaft and a second gear, the fourth support shaft and the fifth support shaft are both rotatably connected to the support box, the second gear is fixedly mounted on the input end of the transmission assembly, the fourth support shaft and the fifth support shaft are driven by gear meshing, one end of the fourth support shaft is fixedly connected to a handle, the fifth support shaft is fixedly mounted with a first arc block and a second arc block, and the handle is fixedly mounted with a driving column;

[0006] The adjustment assembly comprises a fixed tube, a rotating tube is rotatably connected inside the fixed tube, two groups of top blocks are rotatably connected inside the rotating tube, and the free ends of the two groups of top blocks are pressed in the tooth grooves of the second gear and connected to the rotating tube through the second elastic member;

[0007] The handle rotates to control the non-working top block to disengage from the tooth groove of the second gear. At the same time, the driving column drives the rotating tube to rotate, so that the working top block pushes the second gear to rotate, and the distance between the two groups of exoskeleton mechanical arms is adjusted through the transmission component.

[0008] Preferably, the fixed tube is fixedly installed in the support box, the rotating tube is coaxial with the fourth support shaft, the two groups of top blocks are directly below the second gear, and the two groups of top blocks are staggered along the axial direction of the fixed tube and correspond to the positions of the first arc block and the second arc block respectively.

[0009] Preferably, the fixed tube and the rotating tube are both provided with adjustment grooves, a fixed block is fixedly installed in the fixed tube, the fixed block is in the adjustment groove, a guide rod is fixedly installed on the outer side of the rotating tube, two groups of first elastic members are mounted on the guide rod, one end of the first elastic member is fixedly installed on the rotating tube, and the other end is fixedly installed on the fixed block.

[0010] Preferably, an arc groove is provided on one side of the rotating tube, the center of the arc groove is on the axis of the rotating tube, an adjustment block is slidably connected in the arc groove, and third elastic parts are installed on both sides of the adjustment block, one end of the third elastic part is fixedly connected to the adjustment block, and the other end is fixedly connected to the inner wall of the arc groove, and the driving column is inserted in the adjustment block.

[0011] Preferably, the transmission assembly includes a first bevel gear, a second bevel gear, two groups of fourth bevel gears and two groups of racks, the first bevel gear is meshed with the second bevel gear for transmission, the first bevel gear is rotatably connected to the support box via the first support shaft, the second bevel gear is rotatably connected to the support box via the second support shaft, the second support shaft is fixedly connected to the third bevel gear at both ends, the fourth bevel gear is meshed with the corresponding third bevel gear for transmission, the fourth bevel gear is rotatably connected to the support box via the third support shaft, the first gear is fixedly mounted on the third support shaft, the two groups of racks are fixedly mounted on the corresponding exoskeleton mechanical arm, and the first gear is meshed with the corresponding rack for transmission.

[0012] Preferably, the second gear is fixedly mounted on the first support shaft, the third gear is fixedly mounted on the fourth support shaft, the fourth gear is fixedly mounted on the fifth support shaft, and the fourth gear is meshed with the third gear for transmission.

[0013] Preferably, it also includes a limiting assembly, the limiting assembly includes a guide frame and two sets of arc-shaped top plates, the guide frame is fixedly mounted on the fixed tube, a connecting frame is slidably connected to the guide frame, a fourth elastic member is sleeved on the guide frame, one end of the fourth elastic member is fixedly connected to the connecting frame, and the other end is fixedly connected to the guide frame, a top rod is slidably connected to the connecting frame, and one end of the fifth elastic member is fixedly connected to the top rod, and the other end is fixedly connected to the connecting frame;

[0014] The bottom of the connecting frame is fixedly installed with a tooth tip, which is inserted into the tooth groove of the second gear and is used to limit the second gear. Two sets of arc-shaped top plates are fixedly installed on the fourth supporting shaft, and the two sets of arc-shaped top plates are distributed on both sides of the top rod.

[0015] Preferably, with the fourth support shaft axis as the center, the maximum circumscribed circle of the arc-shaped top plate is larger than the maximum circumscribed circle of the top rod, the end of the arc-shaped top plate is an inclined block, and the distance between the two inclined blocks is larger than the diameter of the top rod.

[0016] Preferably, the support box comprises a shell, a groove is formed on the shell, a cover plate is slidably fitted on the shell, a limit block is fixedly installed on one side of the cover plate close to the groove, and an arc-shaped hole is formed in the groove;

[0017] The driving column passes through the arc hole and moves in the arc hole. A positioning groove is provided on the handle. The limiting block on the cover plate is inserted into the positioning groove to limit the position of the handle.

[0018] The support arm of the exoskeleton mechanical arm is slidably connected to the shell, and the rack is fixedly installed on the corresponding support arm of the exoskeleton mechanical arm.

[0019] Preferably, it also includes a belt assembly, which includes a backrest fixedly mounted on the shell, and a belly belt and shoulder straps fixedly mounted on the backrest, which are used to support the abdomen and shoulders of the user respectively.

[0020] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0021] 1. The present invention controls the synchronous movement of two groups of exoskeleton mechanical arms by rotating the handle clockwise or counterclockwise, thereby adjusting the distance between the two groups of exoskeleton mechanical arms, so that the exoskeleton mechanical arms can adapt to the body shapes of different users, improve the flexibility of the equipment, and reduce the operational difficulty of equipment adjustment.

[0022] 2. The present invention drives the arc-shaped top plate to rotate and lift the top rod when the handle is rotated, so that the tooth tip disengages from the tooth groove of the second gear, thereby releasing the limit of the second gear. At the same time, the handle is rotated to control the first arc block or the second arc block to push the corresponding top block to disengage from the tooth groove of the second gear, thereby avoiding the top block from interfering with the rotation of the second gear; when the handle rotates, it drives the driving column to follow the rotation, and the driving column drives the rotating tube and the top block to rotate, so that the top block pushes the second gear to rotate, thereby realizing the transmission of the transmission assembly.

[0023] 3. The present invention inserts the driving column into the adjusting block, and the adjusting block is slidably set in the arc groove and the adjusting block is connected to the rotating tube through an elastic member, so that when the handle is rotating and the tooth tip and the non-working top block are not separated from the tooth groove of the second gear, the driving column has a certain rotation angle buffer, thereby avoiding the rotation jamming phenomenon and ensuring the smoothness of the transmission.

[0024] 4. In the present invention, when the handle is rotated to the limit position, the top rod moves to the end of the arc-shaped top plate away from the tilting block and detaches from the arc-shaped top plate. Under the elastic force of the fourth elastic member, the connecting frame moves downward and drives the tooth tip to be inserted into the tooth groove of the second gear again, effectively fixing the second gear and avoiding reverse transmission of the second gear.

[0025] The handle is released, and the rotating tube, the top block and the handle are reset after transmission under the action of the first elastic member. During the resetting process, the working top block loses its pushing effect on the second gear under the control of the second elastic member, and the second gear does not interfere with the rotation of the top block in this process. The top rod moves to the inner side of the arc-shaped top plate during the resetting process, and compresses the fifth elastic member when passing through the tilting block, thereby passing over the tilting block. When the top rod moves between the two tilting blocks, it moves up again under the action of the fifth elastic member, so that the top rod can be effectively lifted up again when the tilting block rotates. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the overall structure of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0027] Figure 2 A schematic diagram of the positions of the limit holes of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0028] Figure 3 A partial cross-sectional view of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0029] Figure 4 A schematic diagram of a support arm connection structure of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0030] Figure 5 A schematic diagram of the structure of a support box of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0031] Figure 6 A transmission schematic diagram of a transmission assembly of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0032] Figure 7 A schematic diagram of a connection structure of a limiting component of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0033] Figure 8 A schematic diagram of a connection structure of a driving assembly of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0034] Fig. 9 A schematic diagram of the installation position of a top block of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0035] Fig.10 A schematic diagram of the connection structure of a driving column and an adjustment component of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention;

[0036] Fig.11This is a schematic diagram of the installation position of a curved top plate of an auxiliary walking exoskeleton device disclosed in a preferred embodiment of the present invention.

[0037] Explanation of the numbers in the figure: 1. Support box; 2. Exoskeleton mechanical arm; 3. Transmission assembly; 4. Drive assembly; 5. Adjustment assembly; 6. Limit assembly; 7. Belt assembly; 11. Shell; 12. Limit hole; 13. Support frame; 14. Guide column; 15. Groove; 16. Guide groove; 17. Cover plate; 18. Avoidance groove; 19. Arc hole; 21. Support arm; 22. Drive box; 23. Connecting arm; 24. Fixing belt; 25. Fixing groove; 31. First bevel gear; 32. First support shaft; 33. Second bevel gear; 34. Second support shaft; 35. Third bevel gear; 36. Fourth bevel gear; 37. Third support shaft; 38. First gear; 39. Rack; 41. Fourth support axle; 42, fifth support shaft; 43, second gear; 44, third gear; 45, handle; 46, fourth gear; 47, first arc block; 48, second arc block; 49, drive column; 51, fixed tube; 52, rotating tube; 53, adjusting slot; 54, fixed block; 55, guide rod; 56, first elastic member; 57, top block; 58, second elastic member; 59, arc slot; 61, guide frame; 62, connecting frame; 63, fourth elastic member; 64, top rod; 65, fifth elastic member; 66, tooth tip; 67, arc top plate; 68, tilting block; 71, backrest; 72, abdominal belt; 73, shoulder strap; 410, positioning slot; 510, adjusting block; 511, third elastic member. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] Reference Figures 1 to 5The present embodiment discloses an auxiliary walking exoskeleton equipment, including a support box 1 and two groups of exoskeleton mechanical arms 2. The support box 1 includes a shell 11, and limit holes 12 are provided on both sides of the shell 11. A support frame 13 is fixedly installed in the shell 11, and a guide column 14 is fixedly installed on the support frame 13. A groove 15 and a guide groove 16 are provided on the shell 11. The depth of the groove 15 is greater than the depth of the guide groove 16. A cover plate 17 is slidably fitted in the guide groove 16. A limit block is fixedly installed on one side of the cover plate 17 close to the groove 15. An avoidance groove 18 connected with the groove 15 is provided on the guide groove 16. The avoidance groove 18 is used to avoid the limit block when the cover plate 17 moves up to avoid the limit block from colliding with the shell 11. An arc hole 19 is provided in the groove 15. When the cover plate 17 slides upward from the groove 15 to the guide groove 16 area, in order to ensure the stability of the cover plate 17 after sliding, a rubber body can be set on both sides of the guide groove 16 and near the top of the guide groove 16, so as to ensure that the cover plate 17 does not fall naturally after moving up, and has a certain blocking ability. It should be noted that the position of the rubber body can also be replaced by a groove with a smooth transition, and a limit ball with a certain elastic force can be set on both sides of the cover plate 17. When the limit ball moves to the groove, it slides into the groove under the action of the elastic force, thereby forming a certain resistance limit.

[0040] The exoskeleton mechanical arm 2 includes a support arm 21, one end of which passes through the limiting hole 12 and is slidably connected to the support frame 13, the other end of the support arm 21 is fixedly installed with a drive box 22, and the two ends of the guide column 14 are respectively slidably connected to the corresponding support arm 21, thereby further improving the stability of the support arm 21 when moving. A drive module is installed in the drive box 22, and a connecting arm 23 is rotatably connected to the drive box 22. The output end of the drive module is used to drive the connecting arm 23 to rotate on the drive box 22. A fixing belt 24 is fixedly installed on the connecting arm 23, and the fixing belt 24 is fixed on the thigh above the knee joint of the user. A fixing groove 25 is provided on the support arm 21. The perception module obtains human motion information, and the control system generates control instructions according to a suitable gait algorithm. The drive module accurately controls the movement of the connecting arm 23 according to the instructions, thereby simulating the walking gait of the human leg and assisting the human body to walk.

[0041] Reference Figures 3 to 7The exoskeleton equipment also includes a transmission assembly 3, which includes a first bevel gear 31 and a second bevel gear 33. The first bevel gear 31 is meshed with the second bevel gear 33 for transmission. The first bevel gear 31 is rotatably connected to the housing 11 through a first support shaft 32, and the second bevel gear 33 is rotatably connected to the housing 11 through a second support shaft 34. Both ends of the second support shaft 34 are fixedly connected with a third bevel gear 35. The transmission assembly 3 also includes two sets of fourth bevel gears 36 and two sets of racks 39. The fourth bevel gear 36 is meshed with the corresponding third bevel gear 35 for transmission. The fourth bevel gear 36 is rotatably connected to the housing 11 through a third support shaft 37. A first gear 38 is fixedly installed on the third support shaft 37. The two sets of racks 39 are respectively fixedly installed in the fixed grooves 25 of the corresponding support arms 21, and the height of the racks 39 is less than the depth of the fixed grooves 25. The first gear 38 is meshed with the corresponding racks 39 for transmission. The rotation of the first bevel gear 31 is transmitted through the second bevel gear 33, the second support shaft 34, the third bevel gear 35, the fourth bevel gear 36, the third support shaft 37, the first gear 38 and the rack 39, thereby driving the two support arms 21 to move toward or away from each other in the shell 11, thereby adjusting the distance between the two groups of exoskeleton mechanical arms 2, thereby improving the adaptability of the exoskeleton equipment to people of different body shapes.

[0042] Reference Figure 3 , Figure 5 , Figures 7 to 9 The exoskeleton equipment also includes a driving assembly 4, which includes a fourth support shaft 41, a fifth support shaft 42 and a second gear 43. The fourth support shaft 41 and the fifth support shaft 42 are both rotatably connected to the housing 11. The second gear 43 is fixedly mounted on the first support shaft 32. A third gear 44 is fixedly mounted on the fourth support shaft 41. One end of the fourth support shaft 41 is inserted into the groove 15 of the housing 11 and is fixedly connected to a handle 45. A fourth gear 46 is fixedly mounted on the fifth support shaft 42. The fourth gear 46 is meshed with the third gear 44 for transmission. The first arc-shaped gear 46 is fixedly mounted on the fifth support shaft 42. Block 47 and the second arc block 48, the first arc block 47 and the second arc block 48 are both located directly below the second gear 43, and the first arc block 47 and the second arc block 48 are staggered along the axial direction of the fifth support shaft 42, a driving column 49 is fixedly installed on the handle 45, the driving column 49 passes through the arc hole 19 and moves in the arc hole 19, the center of the arc hole 19 is on the axis of the fourth support shaft 41, a positioning groove 410 is opened on the handle 45, the air avoidance groove 18 is located directly above the positioning groove 410, and the limit block on the cover plate 17 is inserted into the positioning groove 410 for limiting the handle 45.

[0043] Reference Fig. 9 and Fig.10The exoskeleton equipment also includes an adjustment component 5, which includes a fixed tube 51, which is fixedly installed in the housing 11, and a rotating tube 52 is rotatably connected in the fixed tube 51, and the rotating tube 52 is colinear with the axis of the fourth support shaft 41. The fixed tube 51 and the rotating tube 52 are both provided with an adjustment slot 53, and a fixed block 54 is fixedly installed in the fixed tube 51, and the fixed block 54 is located in the adjustment slot 53. A guide rod 55 is fixedly installed on the outer side of the rotating tube 52, and the guide rod 55 is located in the adjustment slot 53. Two groups of first elastic members 56 are sleeved on the guide rod 55, and the first elastic members 56 are distributed on both sides of the fixed block 54. One end of the first elastic member 56 is fixedly installed on the rotating tube 52, and the other end is fixedly installed on the fixed block 54. When the rotating tube 52 rotates clockwise or counterclockwise, one first elastic member 56 is compressed and the other first elastic member 56 is stretched. After the rotation force is canceled, the rotating tube 52 is quickly reset to the initial state under the action of the two first elastic members 56.

[0044] Two groups of top blocks 57 are rotatably connected to the inner side of the rotating tube 52. The two groups of top blocks 57 are located directly below the second gear 43. The free ends of the two groups of top blocks 57 are pressed against the tooth grooves of the second gear 43. The two groups of top blocks 57 are staggered along the axial direction of the fixed tube 51. The first arc block 47 and the second arc block 48 correspond to the positions of the two groups of top blocks 57 one by one. Second elastic members 58 are installed on both groups of top blocks 57. One end of the second elastic member 58 is fixedly connected to the top block 57, and the other end is fixedly connected to the inner wall of the rotating tube 52. An arc groove 59 is provided on one side of the rotating tube 52. The center of the arc groove 59 is colinear with the axis of the rotating tube 52. An adjusting block 510 is slidably connected in the arc groove 59. Third elastic members 511 are installed on both sides of the adjusting block 510. One end of the third elastic member 511 is fixedly connected to the adjusting block 510, and the other end is fixedly connected to the inner wall of the arc groove 59. The driving column 49 is inserted into the adjusting block 510.

[0045] Reference Figure 3 , Figure 7 and Fig.11The exoskeleton equipment also includes a limiting assembly 6, which includes a guide frame 61, which is fixedly mounted on the fixed tube 51, and a connecting frame 62 is slidably connected to the guide frame 61. A fourth elastic member 63 is mounted on the guide frame 61, and one end of the fourth elastic member 63 is fixedly connected to the connecting frame 62, and the other end is fixedly connected to the guide frame 61. A sliding groove is provided on the connecting frame 62, and a push rod 64 is slidably connected in the sliding groove. A fifth elastic member 65 is arranged in the sliding groove, and one end of the fifth elastic member 65 is fixedly connected to the push rod 64, and the other end It is fixedly connected to the connecting frame 62, and the fifth elastic member 65 is used to push the ejector rod 64 to the top of the sliding groove. A tooth tip 66 is fixedly installed at the bottom of the connecting frame 62, and the tooth tip 66 is inserted into the tooth groove of the second gear 43 to limit the second gear 43. The limiting assembly 6 also includes two groups of arc-shaped top plates 67, and the two groups of arc-shaped top plates 67 are fixedly installed on the fourth support shaft 41. The two groups of arc-shaped top plates 67 are distributed on both sides of the ejector rod 64, and the ends of the arc-shaped top plates 67 are inclined blocks 68. The distance between the two inclined blocks 68 is greater than the diameter of the ejector rod 64. When the fourth support shaft 41 rotates, the push rod 64 moves up to the outer side of the arc-shaped top plate 67 under the action of the tilting block 68 and drives the connecting frame 62 to move up and compress the fourth elastic member 63, and the tooth tip 66 disengages from the tooth groove of the second gear 43, thereby releasing the limit of the second gear 43. After the arc-shaped top plate 67 rotates a certain angle, the push rod 64 moves to the other end of the arc-shaped top plate 67. Under the action of the fourth elastic member 63, the connecting frame 62 moves down and is inserted into the tooth groove of the second gear 43 again to achieve re-positioning.

[0046] A belt assembly 7 is installed on the shell 11, and the belt assembly 7 includes a backrest 71, which is fixedly installed on the shell 11. An abdominal belt 72 and a shoulder strap 73 are fixedly installed on the backrest 71, which are used to support the user's abdomen and shoulders respectively, thereby ensuring the stability of the support box 1 and the exoskeleton robot arm 2.

[0047] Working principle: Slide the cover plate 17 upward to open the groove 15 area, and adjust the distance between the two sets of exoskeleton mechanical arms 2 according to Figure 5 From the perspective, the handle 45 is rotated counterclockwise to drive the fourth support shaft 41, the driving column 49 and the arc-shaped top plate 67 to rotate. When the arc-shaped top plate 67 rotates, the top rod 64 moves up to the outer side of the arc-shaped top plate 67 under the action of the tilting block 68 and drives the connecting frame 62 to move up and compress the fourth elastic member 63, and the tooth tip 66 disengages from the tooth groove of the second gear 43. When the fourth support shaft 41 rotates counterclockwise, the fifth support shaft 42 is driven to rotate clockwise through the meshing transmission of the third gear 44 and the fourth gear 46. The first arc-shaped block 47 rotates clockwise and pushes the corresponding top block 57 to disengage from the tooth groove of the second gear 43. The second arc-shaped block 48 does not contact the corresponding top block 57, and the top block 57 corresponding to the second arc-shaped block 48 keeps the end portion pressed in the tooth groove of the second gear 43.

[0048] When the tooth tip 66 does not disengage from the tooth groove of the second gear 43, due to the limiting effect of the tooth tip 66, the driving column 49 drives the adjusting block 510 to slide in the arc groove 59, so that one third elastic member 511 is compressed and the other third elastic member 511 is stretched. At this time, the rotating tube 52 is in a stationary state. As the handle 45 continues to rotate, the tooth tip 66 disengages from the tooth groove of the second gear 43. At this time, the driving column 49 drives the adjusting block 510, the third elastic member 511 and the rotating tube 52 to rotate counterclockwise. The elastic member 56 is compressed, and the other first elastic member 56 is stretched. The top block 57 that is not separated from the tooth groove of the second gear 43 rotates under the drive of the rotating tube 52 and pushes the second gear 43 to rotate counterclockwise. The second gear 43 is driven by the first support shaft 32, the first bevel gear 31, the second bevel gear 33, the second support shaft 34, the third bevel gear 35, the fourth bevel gear 36, the third support shaft 37, the first gear 38 and the rack 39, thereby driving the two support arms 21 to move toward each other in the housing 11.

[0049] When the handle 45 is rotated to the limit position, the push rod 64 moves to the end of the arc-shaped top plate 67 away from the inclined block 68 and detaches from the arc-shaped top plate 67. Under the elastic force of the fourth elastic member 63, the connecting frame 62 moves down and drives the tooth tip 66 to be inserted into the tooth groove of the second gear 43 again, fixing the second gear 43 to stop rotation. The handle 45 is released, and under the action of the first elastic member 56, the rotating tube 52, the push block 57 and the handle 45 are reset clockwise after transmission. During the reset process, the second arc block 48 The corresponding top block 57 loses its pushing effect on the second gear 43 under the control of the second elastic member 58. The second gear 43 does not interfere with the rotation of the top block 57 during this process. The top rod 64 moves to the inner side of the arc-shaped top plate 67 during the reset process, and compresses the fifth elastic member 65 when passing through the tilting block 68, thereby crossing the tilting block 68. When the top rod 64 moves between the two tilting blocks 68, it moves upward again under the action of the fifth elastic member 65, so that the top rod 64 can be effectively lifted up again when the tilting block 68 rotates.

[0050] Repeat the above operation to achieve the continuous reduction adjustment of the distance between the two exoskeleton mechanical arms 2. When the distance between the two exoskeleton mechanical arms 2 needs to be increased, the handle 45 can be rotated in the opposite direction, which will not be repeated here. After the adjustment is completed, the cover plate 17 is moved down, and the limit block on the inner side of the cover plate 17 is inserted into the positioning groove 410, thereby limiting the handle 45.

[0051] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An exoskeleton device for assisting walking, characterized in that: It comprises a support box (1), in which a transmission assembly (3), a drive assembly (4) and an adjustment assembly (5) are installed; The driving assembly (4) comprises a fourth supporting shaft (41), a fifth supporting shaft (42) and a second gear (43); the fourth supporting shaft (41) and the fifth supporting shaft (42) are both rotatably connected to the supporting box (1); the second gear (43) is fixedly mounted on the input end of the transmission assembly (3); the fourth supporting shaft (41) and the fifth supporting shaft (42) are driven by gear meshing; one end of the fourth supporting shaft (41) is fixedly connected to a handle (45); the fifth supporting shaft (42) is fixedly mounted with a first arc block (47) and a second arc block (48); and the handle (45) is fixedly mounted with a driving column (49); The adjustment assembly (5) comprises a fixed tube (51), a rotating tube (52) is rotatably connected inside the fixed tube (51), two groups of top blocks (57) are rotatably connected inside the rotating tube (52), and the free ends of the two groups of top blocks (57) are pressed into the tooth grooves of the second gear (43) and are connected to the rotating tube (52) via a second elastic member (58); The handle (45) is rotated to control the non-working top block (57) to disengage from the tooth groove of the second gear (43), and at the same time, the driving column (49) drives the rotating tube (52) to rotate, so that the working top block (57) pushes the second gear (43) to rotate, and the distance between the two groups of exoskeleton mechanical arms (2) is adjusted through the transmission component (3).

2. The walking-assisting exoskeleton device according to claim 1, characterized in that: The fixed tube (51) is fixedly installed in the support box (1); the rotating tube (52) is coaxial with the fourth support shaft (41); the two groups of top blocks (57) are located directly below the second gear (43); the two groups of top blocks (57) are staggered along the axial direction of the fixed tube (51) and correspond to the positions of the first arc block (47) and the second arc block (48) respectively.

3. The walking-assisting exoskeleton device according to claim 1, characterized in that: The fixed tube (51) and the rotating tube (52) are both provided with an adjusting groove (53); a fixed block (54) is fixedly installed in the fixed tube (51), and the fixed block (54) is located in the adjusting groove (53); a guide rod (55) is fixedly installed on the outer side of the rotating tube (52); two groups of first elastic members (56) are sleeved on the guide rod (55); one end of the first elastic member (56) is fixedly installed on the rotating tube (52), and the other end is fixedly installed on the fixed block (54).

4. The walking-assisting exoskeleton device according to claim 1, characterized in that: An arc groove (59) is provided on one side of the rotating tube (52), the center of which is located on the axis of the rotating tube (52), an adjusting block (510) is slidably connected in the arc groove (59), third elastic members (511) are installed on both sides of the adjusting block (510), one end of the third elastic member (511) is fixedly connected to the adjusting block (510), and the other end is fixedly connected to the inner wall of the arc groove (59), and the driving column (49) is inserted into the adjusting block (510).

5. The walking-assisting exoskeleton device according to claim 1, characterized in that: The transmission assembly (3) comprises a first bevel gear (31), a second bevel gear (33), two groups of fourth bevel gears (36) and two groups of racks (39); the first bevel gear (31) and the second bevel gear (33) are meshed for transmission; the first bevel gear (31) is rotatably connected to the support box (1) via a first support shaft (32); the second bevel gear (33) is rotatably connected to the support box (1) via a second support shaft (34); both ends of the second support shaft (34) are fixedly connected with third bevel gears (35); the fourth bevel gear (36) is meshed for transmission with the corresponding third bevel gear (35); the fourth bevel gear (36) is rotatably connected to the support box (1) via a third support shaft (37); a first gear (38) is fixedly mounted on the third support shaft (37); the two groups of racks (39) are fixedly mounted on the corresponding exoskeleton mechanical arm (2); the first gear (38) and the corresponding racks (39) are meshed for transmission.

6. The walking-assisting exoskeleton device according to claim 5, characterized in that: The second gear (43) is fixedly mounted on the first support shaft (32), the third gear (44) is fixedly mounted on the fourth support shaft (41), the fourth gear (46) is fixedly mounted on the fifth support shaft (42), and the fourth gear (46) is meshed with the third gear (44) for transmission.

7. The walking-assisting exoskeleton device according to claim 4, characterized in that: The invention also comprises a limit assembly (6), wherein the limit assembly (6) comprises a guide frame (61) and two groups of arc-shaped top plates (67), wherein the guide frame (61) is fixedly mounted on the fixed tube (51), a connecting frame (62) is slidably connected to the guide frame (61), a fourth elastic member (63) is sleeved on the guide frame (61), one end of the fourth elastic member (63) is fixedly connected to the connecting frame (62), and the other end is fixedly connected to the guide frame (61), a top rod (64) is slidably connected to the connecting frame (62), and one end of the fifth elastic member (65) is fixedly connected to the top rod (64), and the other end is fixedly connected to the connecting frame (62); A tooth tip (66) is fixedly mounted on the bottom of the connecting frame (62), and the tooth tip (66) is inserted into the tooth groove of the second gear (43) to limit the position of the second gear (43). Two sets of arc-shaped top plates (67) are fixedly mounted on the fourth support shaft (41), and the two sets of arc-shaped top plates (67) are distributed on both sides of the top rod (64).

8. The walking-assisting exoskeleton device according to claim 7, characterized in that: With the axis of the fourth support shaft (41) as the center, the maximum circumscribed circle of the arc-shaped top plate (67) is larger than the maximum circumscribed circle of the top rod (64), the end of the arc-shaped top plate (67) is an inclined block (68), and the distance between the two inclined blocks (68) is larger than the diameter of the top rod (64).

9. An auxiliary walking exoskeleton device according to any one of claims 1 to 8, characterized in that: The support box (1) comprises a shell (11), a groove (15) is formed on the shell (11), a cover plate (17) is slidably fitted on the shell (11), a limit block is fixedly mounted on one side of the cover plate (17) close to the groove (15), and an arc-shaped hole (19) is formed in the groove (15); The driving column (49) passes through the arc hole (19) and moves in the arc hole (19); a positioning groove (410) is provided on the handle (45); a limiting block on the cover plate (17) is inserted into the positioning groove (410) to limit the position of the handle (45); The support arm (21) of the exoskeleton mechanical arm (2) is slidably connected to the housing (11), and the rack (39) is fixedly mounted on the corresponding support arm (21) of the exoskeleton mechanical arm (2).

10. The walking-assisting exoskeleton device according to claim 9, characterized in that: The invention also comprises a belt assembly (7), wherein the belt assembly (7) comprises a backrest (71), the backrest (71) is fixedly mounted on the shell (11), and an abdominal belt (72) and a shoulder belt (73) are fixedly mounted on the backrest (71), which are used to support the abdomen and shoulders of the user respectively.

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