A sliding telescopic sleeve device and a walking assistance device

Abstract

This invention discloses a sliding telescopic sleeve device and a walking assistance device. The sliding telescopic sleeve device includes a first sleeve and a second sleeve slidably connected inside the first sleeve. The first sleeve includes a first sleeve tail, the inner wall of which has a first tail inner wall protrusion and a first tail roller core. The first tail roller core is a circulating ball structure arranged around the first tail inner wall protrusion. The second sleeve includes a second sleeve head, the outer wall of which has a second outer wall protrusion and a second outer wall slide. The first tail roller core cooperates with the second outer wall slide to allow the second sleeve head to slide relative to the first sleeve tail via the ball bearings. This invention's sliding telescopic sleeve device is more compact, requires less material, is lighter, reduces noise, and lowers manufacturing costs.

Description

Technical Field

[0001] This invention relates to the field of wearable exoskeleton technology, and in particular to a sliding telescopic sleeve device and a walking assistance device. Background Technology

[0002] To enhance lower limb strength and endurance, wearable exoskeleton walking aids have emerged, helping people walk further, climb higher, and exercise more effectively. Among existing technologies, hip-joint assisted exoskeletons are a common solution for achieving walking assistance, and related implementations have been disclosed in numerous publications.

[0003] Currently, most mainstream hip-assisted exoskeletons have their power modules distributed near the hip joints on both sides of the body, connected by a rigid lumbar support. However, due to differences in body size and wearing factors, the rotation center of the power module is often difficult to precisely align with the rotation center of the human hip joint. This deviation leads to a mismatch between the leg module of the assistive device and the movement of the human leg during lower limb movements, thus requiring a telescopic function to compensate for this "human-machine movement mismatch."

[0004] Existing technology also includes a lightweight assistive device with a front-mounted power module that uses a single motor to drive both legs. While this design is simple and lightweight, the misalignment between the power module and the center of rotation of the human hip joint is more pronounced. During human movement, a greater movement deviation occurs between the lower limbs and the device's leg module, necessitating a leg module with a greater extension range to address this significant human-machine movement deviation problem.

[0005] Currently, the telescopic function of the leg module in power-assisted devices (i.e., the sliding telescopic sleeve device) typically relies on the rolling of bearings on a slide rail. However, this technology has the following problems:

[0006] Size issue: When bearing a large load, the required bearing size is often larger;

[0007] High processing costs: The processing of bearing fixing shafts is difficult and costly. In order to meet load requirements, larger bearings are often required.

[0008] Contact stress and structural requirements: Due to limitations in size and quantity (usually not too many), the contact stress between the bearing and the slide rail is extremely high; this necessitates that the slide rail be made of high-hardness metal material, supplemented by complex surface treatment processes. Ultimately, this results in the leg module being heavy, bulky, difficult to manufacture, and requiring stringent surface treatment. Summary of the Invention

[0009] The purpose of this invention is to provide a sliding telescopic sleeve device and a walking assistance device, which aims to solve the problems of large size, high cost and stress concentration in existing sliding telescopic sleeve devices.

[0010] To solve the above-mentioned technical problems, the objective of this invention is achieved through the following technical solution: A sliding telescopic sleeve device is provided, comprising a first sleeve and a second sleeve slidably connected inside the first sleeve; the first sleeve includes a first sleeve tail, the inner wall of the first sleeve tail is provided with a first tail inner wall protrusion and a first tail roller, the first tail roller being a circulating ball structure arranged around the first tail inner wall protrusion; the second sleeve includes a second sleeve head, the outer wall of the second sleeve head is provided with a second outer wall protrusion, and the second outer wall protrusion is provided with a second outer wall slide; wherein, the first tail roller cooperates with the second outer wall slide to allow the second sleeve head to slide relative to the first sleeve tail via the ball.

[0011] Furthermore, the first tail roller core includes a plurality of first tail balls and a first tail raceway. The first tail raceway is protruding around the inner wall of the first tail, and the plurality of first tail balls are distributed and circulate around the first tail raceway. The second outer wall slide includes a second outer wall upper slide and a second outer wall lower slide. The first tail roller core is located between the second outer wall upper slide and the second outer wall lower slide and rolls on the second outer wall upper slide or the second outer wall lower slide.

[0012] Furthermore, the second sleeve head is provided with a second head roller core, which is a circulating ball structure; the first sleeve tail inner wall is provided with a first inner wall slide, which cooperates with the second head roller core so that the first sleeve and the second sleeve can slide relative to each other through the balls.

[0013] Furthermore, the second head roller core includes a plurality of second head balls and a second head raceway, wherein the plurality of second head balls are distributed in a cyclic rolling pattern around the second head raceway; the first inner wall slideway includes a first inner wall upper slideway and a first inner wall lower slideway, wherein the second head raceway is located between the first inner wall upper slideway and the first inner wall lower slideway and rolls on the first inner wall upper slideway or the first inner wall lower slideway.

[0014] Furthermore, the second sleeve includes a second sleeve tail, and the inner walls on both opposite sides of the second sleeve tail are provided with second inner wall slides; the sliding telescopic sleeve device also includes a final stage rod; the final stage rod includes a final stage rod head and a third outer wall protrusion, the final stage rod is disposed inside the second sleeve, the final stage rod head cooperates with the second inner wall slide, and the second sleeve tail cooperates with the third outer wall protrusion, so that the final stage rod can slide relative to the second sleeve.

[0015] Furthermore, the inner wall of the tail end of the second sleeve is provided with a second tail inner wall protrusion and a second tail roller core, the second tail roller core being a circulating ball structure arranged around the second tail inner wall protrusion; the final stage rod body includes a final stage rod body head, the third outer wall protrusion is provided with a third outer wall slide, and the second tail roller core and the third outer wall slide are in rolling engagement.

[0016] Furthermore, the head of the final stage rod is provided with a third head roller, which is a circulating ball structure; the third head roller is in rolling engagement with the second inner wall slide.

[0017] Furthermore, a first elastic band is provided between the first sleeve and the second sleeve. When the second sleeve and the first sleeve are in their shortest state, the first elastic band is in a taut state or in a natural, unwound state.

[0018] Furthermore, a second elastic band is provided between the second sleeve and the final stage rod. When the second sleeve and the final stage rod are in their shortest state, the second elastic band is in a taut state or in a natural, unwound state.

[0019] Furthermore, the sliding telescopic sleeve device also includes a leg shell, which is rotatably connected to the final stage rod; the leg shell is worn on the human thigh via a leg strap.

[0020] Furthermore, the final stage rod includes a tail section, a leg shell connecting section is provided on the tail section, and a spherical crown is provided on the leg shell; a cavity is provided on the leg shell, and the spherical crown is connected to the cavity.

[0021] This invention also provides a walking assistance device, including the sliding telescopic sleeve device described above.

[0022] Furthermore, the walking assistance device also includes: a power module, a waist belt module, and a battery module; the power module is horizontally positioned near the lower abdomen in front of the human body, the two ends of the waist belt module are connected to the power module to form a wearable wraparound structure, and the battery module is disposed on the waist belt module; the power module is connected to the first sleeve of the two sliding telescopic sleeve devices corresponding to the two legs of the human body, and the power module is used to drive the two sliding telescopic sleeve devices to swing back and forth relative to each other.

[0023] The power module includes: a power base, a first power output end, and a second power output end; the two ends of the power base are connected to the two ends of the belt module, and the first power output end and the second power output end are located at the two ends of the power base; the first power output end and the second power output end are respectively connected to the first sleeve of the two sliding telescopic sleeve devices.

[0024] The power module further includes two output arms and two extension / retraction shafts; one end of one of the output arms is driven to the first power output end, and the other end extends downward along the human leg and is rotatably connected to the corresponding sliding telescopic sleeve device through one of the extension / retraction shafts; one end of the other output arm is driven to the second power output end, and the other end extends downward along the human leg and is rotatably connected to the corresponding sliding telescopic sleeve device through the other extension / retraction shaft; wherein, the extension / retraction shaft is arranged perpendicular to the sliding telescopic sleeve device and parallel to the sagittal plane of the human body.

[0025] The sliding telescopic sleeve device provided in this invention has the following advantages: 1. Compact size: Due to the use of balls with a diameter much smaller than that of the bearing for rolling, the cross-sectional dimensions of each sleeve are significantly reduced, especially when using a multi-stage sliding telescopic sleeve to achieve large-scale expansion and contraction, the reduction in size is even more significant; 2. Low requirements for sleeve materials: Due to the use of a circulating ball structure, multiple balls are in contact and the force is dispersed, greatly reducing the stress of single-point contact, thereby significantly reducing the requirements for the slide rail material inside the sleeve; especially with the use of dual-section load bearing at the outer tube end and the inner tube end, the strength requirements for the slide rail material are further reduced; 3. Lightweight: Due to the reduced material strength, the sleeve material can be made of materials such as plastic, and its weight can be significantly reduced; 4. Reduced noise: Plastic materials have a significant advantage over metal materials in terms of noise during rolling fit; 5. Low manufacturing cost: Plastic materials can be mass-produced through mold making, resulting in good mass production consistency. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a partial structural side perspective view of a sliding telescopic sleeve device provided in an embodiment of the present invention;

[0028] Figure 2 This is a top sectional view of a partial structure of a sliding telescopic sleeve device provided in an embodiment of the present invention;

[0029] Figure 3 A schematic diagram of the overall structure of a sliding telescopic sleeve device provided in an embodiment of the present invention (final stage rod body retracted).

[0030] Figure 4 A schematic diagram of the overall structure of a sliding telescopic sleeve device provided in an embodiment of the present invention (final stage rod pulled out).

[0031] Figure 5 This is a three-dimensional schematic diagram of the overall structure of a sliding telescopic sleeve device provided in an embodiment of the present invention (with the final stage rod pulled out).

[0032] Figure 6 A schematic diagram of the cross-sectional structure of a sliding telescopic sleeve device (single-stage sliding) provided in an embodiment of the present invention;

[0033] Figure 7 A perspective structural schematic diagram of a sliding telescopic sleeve device (two-stage sliding) provided in an embodiment of the present invention;

[0034] Figure 8 This is a front view structural diagram of a walking assistance device according to an embodiment of the present invention;

[0035] Figure 9 This is a side view of an embodiment of the lightweight walking assistance device provided in this invention.

[0036] Figure 10 This is a side view of the walking assistance device in Embodiment 2 of the present invention during walking.

[0037] Figure 11 This is a side view of the walking assistance device in Embodiment 3 of the present invention during walking.

[0038] Explanation of the markings in the image:

[0039] 1. Sliding telescopic sleeve device; 11. First sleeve; 111. First sleeve head; 112. First sleeve tail; 1121. First tail inner wall protrusion; 1122. First tail roller; 1122A. First tail ball; 1122B. First tail raceway; 113. First inner wall slideway; 113A. First inner wall upper slideway; 113B. First inner wall lower slideway; 12. Second sleeve; 121. Second sleeve head; 1211. Second head roller; 1211A. Second head ball; 1211B. Second head raceway; 122. Second sleeve tail; 1221. Second tail inner wall protrusion; 1222 1222A, Second tail roller; 123, Second inner wall slide; 124, Second outer wall protrusion; 1241, Second outer wall slide; 1241A, Second outer wall upper slide; 1241B, Second outer wall lower slide; 13, Final stage rod; 131, Final stage rod head; 1311, Third head roller; 1311A, Third head ball; 132, Final stage rod tail; 1321, Leg shell connecting section; 1322, Ball crown; 133, Third outer wall protrusion; 1331, Third outer wall slide; 14, First elastic band; 15, Second elastic band; 16, Leg shell; 161, Cavity; 17, Leg band;

[0040] 2. Power module; 21. Power base; 22. First power output end; 23. Second power output end; 24. Output arm; 25. Retraction shaft; 26. Rotation axis;

[0041] 3. Waist belt module;

[0042] 4. Battery module;

[0043] 5. The center of rotation of the human hip joint. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] It should be understood that, when used in this specification and the appended claims, the terms “comprising” and “including” indicate the presence of the described feature, integral, step, operation, element or component, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components or a collection thereof.

[0046] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0047] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0048] See Figures 1 to 3 ,as well as Figure 6This invention provides a sliding telescopic sleeve device 1, including a first sleeve 11 and a second sleeve 12 slidably connected inside the first sleeve 11. The first sleeve 11 includes a first sleeve tail 112, the inner wall of which is provided with a first tail inner wall protrusion 1121 and a first tail roller core 1122. The first tail roller core 1122 is a circulating ball structure arranged around the first tail inner wall protrusion 1121. The second sleeve 12 includes a second sleeve head 121, the outer wall of which is provided with a second outer wall protrusion 124 and a second outer wall slide 1241. The first tail roller core 1122 cooperates with the second outer wall slide 1241 so that the second sleeve head 121 slides relative to the first sleeve tail 112 through the ball.

[0049] In this embodiment, specifically, the first sleeve 11 is a hollow tubular structure, and the inner wall of the main body of the tail portion 112 of the first sleeve is provided with a first inner wall slide 113 on both the upper and lower sides. The head portion 121 of the second sleeve cooperates with the first inner wall slide 113, and the tail portion 112 of the first sleeve cooperates with the second outer wall protrusion 124, thereby allowing the second sleeve 12 to slide relative to the first sleeve 11.

[0050] In this embodiment, specifically, the inner wall of the first sleeve tail 112 has a first tail inner wall protrusion 1121 in the vertical direction at the middle of both sides, and the cross-section of the inner wall cavity of the first sleeve tail 112 forms a dumbbell-shaped structure; the first tail inner wall protrusion 1121 has a first tail core 1122, the first tail core 1122 is a circulating ball structure, the first tail core 1122 includes a plurality of first tail balls 1122A and a first tail raceway 1122B, the first tail raceway 1122B is opened around the first tail inner wall protrusion 1121, and the plurality of first tail balls 1122A can circulate and roll on the first tail raceway 1122B. The second sleeve 12 has second outer wall protrusions 124 at both the upper and lower ends of its outer wall in the vertical direction. Each second outer wall protrusion 124 has a second outer wall slide 1241. The outer cross-section of the second sleeve 12 has a dumbbell shape and matches the inner cross-section of the tail portion 112 of the first sleeve. The second outer wall slide 1241 cooperates with the first tail roller core 1122. The second outer wall slide 1241 includes a second outer wall upper slide 1241A and a second outer wall lower slide 1241B. The vertical dimension of the first tail roller core 1122 is slightly smaller than the distance between the second outer wall upper and lower slide tracks. Thus, when the first tail roller core 1122's first tail balls 1122A circulate in the vertical plane, they roll on the second outer wall upper slide 1241A or the second outer wall lower slide 1241B, allowing the second sleeve 12 to slide freely within the first sleeve 11.

[0051] In one embodiment, to ensure higher reliability of the relative sliding of the second sleeve 12 relative to the first sleeve 11, a second head roller 1211 is provided on the head 121 of the second sleeve, and the second head roller 1211 is a circulating ball structure; a first inner wall slide 113 is provided on the inner wall of the tail 112 of the first sleeve, and the first inner wall slide 113 cooperates with the second head roller 1211 so that the first sleeve 11 and the second sleeve 12 can slide relative to each other through the balls.

[0052] In this embodiment, specifically, the second head roller core 1211 includes a plurality of second head balls 1211A and a second head raceway 1211B. The plurality of second head balls 1211A are distributed in a cyclic rolling pattern around the second head raceway 1211B. The first inner wall slideway 113 is distributed on the upper and lower surfaces of the inner wall of the first sleeve 11. The first inner wall slideway 113 includes a first upper inner wall slideway 113A and a first lower inner wall slideway 113B. The second head raceway 1211B is located between the first upper inner wall slideway 113A and the first lower inner wall slideway 113B. Between 13B, that is, the vertical height dimension of the second head roller core 1211 is slightly smaller than the distance between the first inner wall upper slide rail 113A and the first inner wall lower slide rail 113B, which can ensure that the upper or lower second head roller ball 1211A inside the second head roller core 1211 rolls with the corresponding first inner wall upper slide rail 113A or the first inner wall upper slide rail 113A. In this way, the second head roller core 1211 rolls freely on the first inner wall slide rail 113, which allows the second sleeve 12 to slide freely relative to the first sleeve 11.

[0053] The present invention ensures that the second sleeve 12 can reliably slide freely within the first sleeve 11 through the rolling engagement of the second outer wall slide 1241 with the first tail roller 1122 and the rolling engagement of the second head roller 1211 with the first inner wall slide 113. Furthermore, due to the synergistic effect of the two rolling supports, even when the second sleeve 12 is subjected to pressure F at its tail, it can still achieve free sliding within the first sleeve 11.

[0054] The first tail roller core 1122 of the present invention is configured as a circulating ball structure. The maximum vertical width W1 of the first tail roller core 1122 is slightly smaller than the distance between the second outer wall upper slide rail 1241A and the second outer wall lower slide rail 1241B that it rolls with. The maximum vertical width W2 of the second head roller core 1211 is slightly smaller than the distance between the first inner wall upper slide rail 113A and the first inner wall lower slide rail 113B that it rolls with. That is, the maximum size of the circulating ball structure is slightly smaller than the distance between the upper and lower slide rails that it rolls with. This configuration ensures that the circulating balls in the circulating ball structure only contact the slide rail on one side (upper or lower), ensuring that the circulating ball structure slides relative to the slide rail as a whole. The other side of the circulating ball structure does not contact the slide rail, thereby preventing the balls rolling in reverse on the other side from hindering the overall sliding of the circulating ball structure relative to the slide rail. Figure 1 As shown, when the tail of the second sleeve 12 is under pressure F and slides to the right at a speed V relative to the first sleeve 11, based on the lever principle, the second sleeve 12 will tilt upwards with the inner wall protrusion of the tail of the first sleeve 112 as the fulcrum. Based on this physical principle, the second outer wall protrusion 124 on the second sleeve 12 will press down on the first tail roller 1122. The upper ball of the first tail ball 1122A will contact and press against the slide rail 1241A on the second outer wall, and the upper ball of the first tail ball 1122A will roll to the right at a speed V, while its lower ball will roll to the left at a speed V. Since the head of the second sleeve 121 will tilt upwards, the upper ball of the second head ball 1211A will contact and press against the upper side of the slide rail 113A on the first inner wall, and the second head ball... The upper ball of ball 1211A rolls to the right at a speed V, and the lower ball rolls to the left at a speed V. Since the vertical width W1 of the tail core is slightly smaller than the distance between the upper slide rail 1241A and the lower slide rail 1241B on the second outer wall, the lower ball of the first tail ball 1122A will not contact the lower slide rail 1241B on the second outer wall, thus not affecting the sliding of the second sleeve 12 to the right. Since the vertical width W2 of the second head core 1211 is slightly smaller than the distance between the upper slide rail 113A and the lower slide rail 113B on the first inner wall, the lower ball of the second head ball 1211A will not contact the lower slide rail 113B on the first inner wall, thus not affecting the sliding of the second sleeve 12 to the right, ensuring the smoothness of the relative sliding of the second sleeve 12 with respect to the first sleeve 11.

[0055] The working principle of the sliding telescopic sleeve device 1 of the present invention is as follows:

[0056] like Figure 1As shown, the first sleeve 11 and the second sleeve 12 slide in contact with the upper ball bearing inside the second head roller 1211 and the upper slide rail 113A on the first inner wall, and the upper ball bearing inside the first tail roller 1122 slides in contact with the upper slide rail 1241A on the second outer wall, forming a force couple. This allows the second sleeve 12 to slide freely relative to the first sleeve 11 even when it bears a pressure F. Conversely, if the second sleeve 12 bears a tensile force, i.e., the force is in the opposite direction to F, the second sleeve 12 will not slide freely. According to the principles of physics, the second sleeve head 121 will press down against the inner wall slide of the first sleeve 11, and the second outer wall protrusion 124 will press up against the first tail roller core 1122. At this time, the lower ball of the second head ball 1211A contacts and slides with the first inner wall slide track 113B, and the lower ball of the first tail ball 1122A contacts and slides with the second outer wall slide track 1241B, forming a reverse couple, which still ensures that the second sleeve 12 can slide freely relative to the first sleeve 11.

[0057] Referring again to Figure 1, the second head ball 1211A can have multiple balls contacting and sliding with the first inner wall slide 113. Similarly, the first tail ball 1122A can also have multiple balls contacting and sliding with the second outer wall slide 1241. In this way, the sliding telescopic sleeve device 1 of the present invention not only has high reliability, but can also be manufactured using plastic materials with low rigidity, thereby achieving the purpose of lightweighting.

[0058] The above describes the first-stage sliding scheme between the first sleeve 11 and the second sleeve 12 of the sliding telescopic sleeve device 1. The sliding telescopic sleeve device 1 of the present invention can also be designed in a cascade manner to form a multi-stage sliding telescopic sleeve mechanism, thereby supporting a larger range of sliding telescopic movement. The following provides a two-stage cascaded sliding telescopic sleeve mechanism.

[0059] like Figure 4 , Figure 5 and Figure 7 As shown, in one embodiment, the second sleeve 12 includes a second sleeve tail 122, and the inner walls on both sides of the second sleeve tail 122 are provided with second inner wall slides 123; the sliding telescopic sleeve device 1 also includes a final stage rod 13; the final stage rod 13 includes a final stage rod head 131 and a third outer wall protrusion 133, the final stage rod 13 is disposed inside the second sleeve 12, the final stage rod head 131 cooperates with the second inner wall slides 123, and the second sleeve tail 122 cooperates with the third outer wall protrusion 133, so that the final stage rod 13 can slide relative to the second sleeve 12.

[0060] In this embodiment, specifically, the second sleeve 12 is a hollow tubular structure, and the inner wall of the main body of the tail portion 122 of the second sleeve has a second inner wall slide 123 on both the upper and lower sides; the final stage rod 13 is disposed inside the second sleeve 12, the head 131 of the final stage rod cooperates with the second inner wall slide 123, and the tail portion 122 of the second sleeve cooperates with the third outer wall protrusion 133, and the final stage rod 13 can slide relative to the second sleeve 12.

[0061] In this embodiment, specifically, the inner wall of the second sleeve tail 122 is provided with a second tail inner wall protrusion 1221 and a second tail roller core 1222. The second tail roller core 1222 is a circulating ball structure arranged around the second tail inner wall protrusion 1221. The second tail roller core 1222 includes a plurality of second tail rollers 1222A. The final stage rod 13 includes a final stage rod head 131. The third outer wall protrusion 133 is provided with a third outer wall slide 1331. The second tail roller core 1222 and the third outer wall slide 1331 roll in cooperation.

[0062] In this embodiment, specifically, the head 131 of the final stage rod is provided with a third head core 1311, which is a circulating ball structure; that is, the third head core 1311 includes a plurality of third head balls 1311A, and the third head core 1311 rolls with the second inner wall slide 123.

[0063] Based on this, the rolling engagement between the third outer wall slide 1331 and the second tail roller 1222, and the rolling engagement between the third head roller 1311 and the second inner wall slide 123, together ensure that the final stage rod 13 can reliably slide freely within the second sleeve 12. Furthermore, thanks to the synergistic effect of the two rolling supports, even when the tail of the final stage rod 132 is under pressure, the final stage rod 13 can still maintain free sliding within the second sleeve 12.

[0064] To achieve multi-stage sliding controllability of the sliding telescopic sleeve device 1 of the present invention, an elastic device is added inside each stage of the sliding mechanism. The elastic device can be a spring, an elastic rope, or other stretchable structure with elastic function.

[0065] like Figure 7 As shown. In one embodiment, a first elastic band 14 is provided between the first sleeve 11 and the second sleeve 12; when the second sleeve 12 and the first sleeve 11 are in their shortest state, the first elastic band 14 is in a taut state or in a natural, unwound state.

[0066] In this embodiment, a first elastic band 14 is provided between the first sleeve 11 and the second sleeve 12. Specifically, the two ends of the first elastic band 14 can be fixed to the head 111 of the first sleeve and the tail 122 of the second sleeve, respectively. The natural length of the first elastic band 14 is less than the length of the second sleeve 12. In this way, the first elastic band 14 can always be in a taut state. As a result, the first elastic band 14 can effectively compress the second sleeve 12 and the first sleeve 11 to the shortest state. When the second sleeve 12 is pulled to slide inside the first sleeve 11, the first elastic band 14 will not be coiled or piled up, thereby ensuring the reliability of the sliding of the second sleeve 12 inside the first sleeve 11.

[0067] like Figure 7 As shown. In one embodiment, a second elastic band 15 is provided between the second sleeve 12 and the final stage rod 13. When the second sleeve 12 and the final stage rod 13 are in their shortest state, the second elastic band 15 is in a tensioned state or an unwound natural state.

[0068] In this embodiment, a second elastic band 15 is provided between the second sleeve 12 and the final stage rod 13. Specifically, the two ends of the second elastic band 15 can be fixed to the head 121 of the second sleeve and the tail 132 of the final stage rod, respectively. The natural length of the second elastic band 15 is less than the length of the final stage rod 13. In this way, the second elastic band 15 can always be in a taut state. As a result, the second elastic band 15 can effectively compress the second sleeve 12 and the final stage rod 13 to their shortest state. When the final stage rod 13 is pulled to slide inside the second sleeve 12, the second elastic band 15 will not coil or accumulate, thereby ensuring the reliability of the sliding of the final stage rod 13 inside the second sleeve 12.

[0069] like Figure 4 and Figure 8 As shown, in one embodiment, the sliding telescopic sleeve device 1 further includes a leg housing 16, which is rotatably connected to the final stage rod body 13; the leg housing 16 is connected to the leg belt 17 (see reference). Figure 8 It is worn on the human thigh.

[0070] In this embodiment, specifically, the final stage rod 13 includes a final stage rod tail 132, on which a leg shell connecting section 1321 is provided, and a spherical crown 1322 is provided on the leg shell connecting section 1321; the leg shell 16 has a cavity 161, and the spherical crown 1322 is connected to the cavity 161. More specifically, the final stage rod tail 132 has a downwardly extending leg shell connecting section 1321, the lower end of which has a spherical crown 1322, and the surface of the leg shell 16 has a cavity 161, which is connected to the spherical crown 1322. In this way, the leg shell 16 and the final stage rod 13 form a ball-driven connection, and the leg shell 16 can rotate relative to the final stage rod 13 in three dimensions, satisfying the degree of freedom requirement for matching the walking assistance device of the present invention with the human body.

[0071] In this embodiment, more specifically, a spherical cap 1322 is used as the rotational connection structure between the leg shell 16 and the final stage rod 13. Compared with using a complete sphere, it is thinner and lighter in the thickness direction. Its pitch and roll angles are relatively small, while it can rotate 360° in the yaw direction, which perfectly meets the end-effector freedom requirements of the power assist device of this invention.

[0072] like Figures 8 to 11 This invention also provides a walking assistance device.

[0073] First refer to Figure 8 and Figure 9 The example shows the case of using a single-stage sliding scheme (Example 1), in which the sliding telescopic sleeve device 1 only includes a first sleeve 11 and a second sleeve 12, and the leg housing 16 is driven and connected to the tail 122 of the second sleeve.

[0074] In embodiment one, the walking assistance device includes: a sliding telescopic sleeve device 1, a power module 2, a waist belt module 3, and a battery module 4; the power module 2 is horizontally positioned near the lower abdomen in front of the human body, and is horizontally set and parallel to the coronal plane of the human body; the two ends of the waist belt module 3 are connected to the power module 2 to form a wearable wraparound structure; the battery module 4 is set on the waist belt module 3; the power module 2 is connected to the first sleeve 11 of the two sliding telescopic sleeve devices 1 corresponding to the two legs of the human body, and the power module 2 is used to drive the two sliding telescopic sleeve devices 1 to swing back and forth relative to each other.

[0075] In Embodiment 1, specifically, the power module 2 includes: a power base 21, a first power output end 22, and a second power output end 23; both ends of the power base 21 are connected to both ends of the waist belt module 3, and the first power output end 22 and the second power output end 23 are located at both ends of the power base 21; the first power output end 22 and the second power output end 23 are respectively connected to the first sleeve 11 of the two sliding telescopic sleeve devices 1. Under the driving action, the first power output end 22 and the second power output end 23 of the power module 2 can rotate relative to the power base 21; at the same time, the two sliding telescopic leg devices on the left and right sides can swing back and forth under the drive of the power module 2.

[0076] In Embodiment 1, specifically, the power module 2 further includes two output arms 24 and two retractable shafts 25; one end of one output arm 24 is drivenly connected to the first power output end 22, and the other end extends downward along the human leg and is rotatably connected to the corresponding sliding telescopic sleeve device 1 through one of the retractable shafts 25; one end of the other output arm 24 is drivenly connected to the second power output end 23, and the other end extends downward along the human leg and is rotatably connected to the corresponding sliding telescopic sleeve device 1 through the other retractable shaft 25; more specifically, the retractable shaft 25 is arranged perpendicular to the sliding telescopic sleeve device 1 and parallel to the sagittal plane of the human body, so as to meet the needs of the wearer to abduct and retract the legs and to spread or close the human legs when using the device of the present invention.

[0077] In Embodiment 1, specifically, the sliding telescopic sleeve device 1 is divided into two parts, left and right, which are respectively set on the front side of the left and right thighs of the human body. Along the direction of the human thigh, the first sleeve 11 is set at the upper end, the second sleeve 12 is set on the upper side near the knee joint of the human body, and the leg shell 16 is set on the front side of the human thigh near the knee joint, and it is fixed to the human thigh by the leg strap 17; the head 111 of the first sleeve at the uppermost side of the sliding telescopic sleeve device 1 is rotatably connected to the output arm 24 through the retraction shaft 25.

[0078] In Example 2, compared with the previous example, the walking assistance device adopts a two-stage sliding scheme, that is, the sliding telescopic sleeve device 1 includes a first sleeve 11, a second sleeve 12 and a final stage rod 13, and the leg shell 16 is connected to the tail 132 of the final stage rod.

[0079] In Embodiments 1 and 2, the power module 2 of the walking assistance device of the present invention is fixed to the waist of the human body through the waist belt module 3. The upper ends of the two sliding telescopic sleeve devices 1 on the left and right sides are rotatably connected to the power module 2 through corresponding extension and retraction shafts 25, and the lower ends are fixed to the human legs through the leg shells 16, presenting a π shape when viewed from the front of the coronal plane. When the human body walks, the two sliding telescopic sleeve devices 1 on the left and right sides swing relative to each other, and the power module 2 can drive the first power output end 22 and the second power output end 23 to rotate relative to each other to meet the human body's walking movement needs. When the human body bends over or sits down, the first power output end 22 and the second power output end 23 as a whole rotate relative to the power base 21 to meet the human body's bending over and sitting down movement needs.

[0080] In Embodiments 1 and 2, when the user uses the lightweight power device of the present invention, the left and right leg shells 16 are fixed to the left and right thighs of the human body, respectively, and the power module 2 is fixed to the waist of the human body through the waist belt module 3; when the human body walks, due to the deviation between the rotation axis 26 of the power device and the rotation center 5 of the human hip joint, the distance between the left and right leg shells 16 and the power module 2 will change; for example Figure 10 As shown, when walking, stepping forward with the leg causes the distance L1 between the leg shell 16 and the power module 2 to shorten, and swinging the leg backward causes the distance L2 between the leg shell 16 and the power module 2 to lengthen. The change in distance between the leg shell 16 and the power module 2 is achieved by the sliding telescopic sleeve device 1 of the present invention through the relative sliding of the first sleeve 11, the second sleeve 12 or the final stage rod 13.

[0081] Example 3, as Figure 11 As shown, Figure 11 This invention relates to an embodiment of a walking assistance device employing a traditional dual-power structure, combined with the sliding telescopic sleeve device 1 of the present invention. In this embodiment, the assistance device is located near the lower back of the user, and its power rotation axis 26 deviates from the position of the hip joint rotation center 5. The sliding telescopic sleeve device 1 of the present invention can extend and slide, thereby effectively compensating for the power deviation and achieving a better user experience.

[0082] In Embodiment 3, the first elastic band 14 and the second elastic band 15 can prevent the leg shell 16 from falling during movement by providing an upward pulling force to the leg shell 16 through the second sleeve 12 and the end rod.

[0083] In Embodiment 3, the sliding telescopic sleeve device 1 is a rigid mechanism. The power module 2 outputs power through the first power output end 22 and the second power output end 23, which can drive the leg shell 16 to lift or press the human thigh, thereby driving the human thigh to swing back and forth. The extension shaft 25 is perpendicular to the sliding telescopic sleeve device 1. The extension shaft 25 can support the sliding telescopic sleeve device 1 to perform inward and outward movements while transmitting the torque of the power output. The sliding telescopic sleeve device 1 makes the power base 21 and the leg shell 16 form a sliding connection, which not only supports the change of the relative position and angle between the power module 2 and the leg shell 16 during human movement, but also effectively transmits hip extension or hip flexion torque.

[0084] In embodiment three, the battery module 4 is mounted on the waist belt module 3 and located near the rear waist section of the waist belt module 3; the battery module 4 is electrically connected to the power module 2.

[0085] In Embodiment 3, the waist belt module 3 is made of a flexible material, such as plastic, carbon fiber sheet, or fabric. The portion near the front abdomen of the body has some rigidity. This design gives the front abdomen of the waist belt module 3 an advantage in terms of rigidity, which is beneficial for providing a balancing torque in the horizontal rotation direction when the assistive device of the present invention is working, thereby ensuring the stability of the assistive device of the present invention.

[0086] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A sliding telescopic sleeve device, characterized in that: Includes a first sleeve and a second sleeve that is slidably connected inside the first sleeve; The first sleeve includes a first sleeve tail, and the inner wall of the first sleeve tail is provided with a first tail inner wall protrusion and a first tail roller, wherein the first tail roller is a circulating ball structure arranged around the first tail inner wall protrusion. The second sleeve includes a second sleeve head, and the outer wall of the second sleeve head is provided with a second outer wall protrusion, and the second outer wall protrusion is provided with a second outer wall slide. The first tail roller core cooperates with the second outer wall slide rail so that the head of the second sleeve slides relative to the tail of the first sleeve through the ball bearings. The second sleeve has a second head roller core on its head, which is a circulating ball structure; the first sleeve has a first inner wall slide on its inner wall at the tail, which cooperates with the second head roller core to enable relative sliding between the first sleeve and the second sleeve through the ball.

2. The sliding telescopic sleeve device according to claim 1, characterized in that, The first tail roller core includes a plurality of first tail balls and a first tail raceway. The first tail raceway is protruding around the inner wall of the first tail, and the plurality of first tail balls are distributed and circulate around the first tail raceway. The second outer wall slide includes a second outer wall upper slide and a second outer wall lower slide, and the first tail roller is located between the second outer wall upper slide and the second outer wall lower slide and rolls on the second outer wall upper slide or the second outer wall lower slide.

3. The sliding telescopic sleeve device according to claim 1, characterized in that, The second head roller core includes a plurality of second head balls and a second head raceway, wherein the plurality of second head balls are distributed in a cyclic rolling pattern around the second head raceway. The first inner wall slide includes a first inner wall upper slide and a first inner wall lower slide, and the second head roller is located between the first inner wall upper slide and the first inner wall lower slide and rolls on the first inner wall upper slide or the first inner wall lower slide.

4. The sliding telescopic sleeve device according to claim 1, characterized in that, The second sleeve includes a second sleeve tail, and the inner walls on both opposite sides of the second sleeve tail are provided with second inner wall slides; The sliding telescopic sleeve device further includes a final stage rod body; the final stage rod body includes a final stage rod body head and a third outer wall protrusion, the final stage rod body is disposed inside the second sleeve, the final stage rod body head cooperates with the second inner wall slide, and the tail of the second sleeve cooperates with the third outer wall protrusion, so that the final stage rod body can slide relative to the second sleeve.

5. The sliding telescopic sleeve device according to claim 4, characterized in that, The inner wall of the tail end of the second sleeve is provided with a second tail inner wall protrusion and a second tail roller core. The second tail roller core is a circulating ball structure arranged around the second tail inner wall protrusion. The final stage rod includes a final stage rod head, and a third outer wall slide is provided on the third outer wall protrusion. The second tail roller core is in rolling engagement with the third outer wall slide.

6. The sliding telescopic sleeve device according to claim 4, characterized in that, The end rod head is provided with a third head roller core, which is a circulating ball structure; the third head roller core rolls in cooperation with the second inner wall slide.

7. The sliding telescopic sleeve device according to claim 1, characterized in that, A first elastic band is provided between the first sleeve and the second sleeve; when the second sleeve and the first sleeve are in their shortest state, the first elastic band is in a taut state or in a natural, unwound state.

8. The sliding telescopic sleeve device according to claim 1, characterized in that, A second elastic band is provided between the second sleeve and the final stage rod. When the second sleeve and the final stage rod are in their shortest state, the second elastic band is in a taut state or in a natural, unwound state.

9. The sliding telescopic sleeve device according to claim 4, characterized in that, It also includes a leg shell, which is rotatably connected to the final stage rod; the leg shell is worn on the human thigh via a leg strap.

10. The sliding telescopic sleeve device according to claim 9, characterized in that, The final stage rod includes a tail section, and a leg shell connecting section is provided on the tail section, with a spherical crown on the leg shell connecting section; The leg shell has a recessed cavity, and the spherical crown is connected to the recessed cavity.

11. A walking assistance device, characterized in that, Includes the sliding telescopic sleeve device as described in any one of claims 1 to 10.

12. The walking assistance device according to claim 11, characterized in that, Also includes: Power module, belt module, and battery module; The power module is positioned horizontally near the lower abdomen in front of the body. The two ends of the waist belt module are connected to the power module to form a wearable wraparound structure. The battery module is mounted on the waist belt module. The power module is connected to the first sleeve of the two sliding telescopic sleeve devices corresponding to the two legs of the human body. The power module is used to drive the two sliding telescopic sleeve devices to swing back and forth relative to each other. The power module includes: a power base, a first power output end, and a second power output end; the two ends of the power base are connected to the two ends of the belt module, and the first power output end and the second power output end are located at the two ends of the power base; the first power output end and the second power output end are respectively connected to the first sleeve of the two sliding telescopic sleeve devices. The power module further includes two output arms and two extension / retraction shafts; one end of one of the output arms is driven to the first power output end, and the other end extends downward along the human leg and is rotatably connected to the corresponding sliding telescopic sleeve device through one of the extension / retraction shafts; one end of the other output arm is driven to the second power output end, and the other end extends downward along the human leg and is rotatably connected to the corresponding sliding telescopic sleeve device through the other extension / retraction shaft; wherein, the extension / retraction shaft is arranged perpendicular to the sliding telescopic sleeve device and parallel to the sagittal plane of the human body.

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