Difunctional exoskeleton power assisting device

Abstract

The invention belongs to the technical field of power-assisted robots, and discloses a difunctional exoskeleton power-assisted device which comprises a waist mechanism, leg mechanisms, a driving motor assembly and a synchronous clutch assembly, the waist mechanism comprises a waist belt and shoulder belts, the waist belt is used for surrounding the waist of a human body, and a main machine is arranged on the front face of the waist belt; a high-speed shaft and a main shaft which are arranged in parallel are arranged in the main machine and are in transmission connection; the leg mechanism comprises two thigh swing rods, the driving motor assembly comprises a shell and a planetary gear reducer, the rotor is provided with a rotating shaft, the planetary gear reducer is connected to the rear end cover and provided with an input shaft and an output shaft, and the synchronous clutch assembly is connected to the main machine. The synchronous clutch assembly comprises a first transmission sleeve, a second transmission sleeve, two supporting arms and a driving part, the first transmission sleeve can move between the rotating shaft and the high-speed shaft and achieve transmission and separation, and the second transmission sleeve can move between the input shaft and the rotating shaft and achieve transmission and separation.

Description

Technical Field

[0001] This invention relates to the field of assistive robot technology, and in particular to a dual-function exoskeleton assistive device. Background Technology

[0002] Currently, wearable exoskeleton assistive devices are rapidly gaining popularity and development in outdoor sports, hiking, mountain climbing, and other fields. They can help users reduce joint wear and soft tissue damage, and are especially suitable for the elderly and users recovering from illness.

[0003] Wearable exoskeleton assistive devices are typically driven by motors, which can only provide one output speed, resulting in limited functionality of the exoskeleton assistive device and failing to meet the needs of various users. Summary of the Invention

[0004] The present invention aims to solve one of the aforementioned technical problems. To this end, the present invention proposes a dual-function exoskeleton assistive device, employing dual-output motors combined with a synchronous clutch assembly, to meet various usage requirements and improve versatility.

[0005] According to the present invention, a dual-function exoskeleton assistive device includes a waist mechanism, a leg mechanism, a drive motor assembly, and a synchronous clutch assembly. The waist mechanism includes a waist belt and shoulder straps for wrapping around the waist of a human body. A main unit is located on the front of the waist belt. The main unit has a controller. A high-speed shaft and a main shaft are arranged in parallel inside the main unit, and the high-speed shaft is drivenly connected to the main shaft. The leg mechanism includes two thigh swing rods. The upper ends of the two thigh swing rods are fixed to the two ends of the main shaft, and thigh straps are provided at the lower ends of the thigh swing rods. The drive motor assembly is located inside the main unit. The drive motor assembly includes a housing and a planetary gear reducer. A front cover and a rear cover are respectively connected to the two ends of the housing. A stator is connected to the inner wall of the housing, and a rotor is arranged in the inner cavity of the stator. The rotor has a rotating shaft, one end of which extends to the outside of the front end cover and faces the high-speed shaft. The planetary gear reducer is connected to the rear end cover and has an input shaft and an output shaft. The input shaft faces the rotating shaft, and one end of the output shaft extends to the outside of the rear end cover and is connected to the main shaft. A synchronous clutch assembly is connected to the main unit and includes a first transmission sleeve, a second transmission sleeve, two support arms, and a driving member. The first transmission sleeve can move between the rotating shaft and the high-speed shaft to achieve transmission and separation. The second transmission sleeve can move between the input shaft and the rotating shaft to achieve transmission and separation. The driving member synchronously drives the two support arms to drive the first transmission sleeve and the second transmission sleeve.

[0006] The dual-function exoskeleton assistive device according to embodiments of the present invention has at least the following beneficial effects: After wearing the dual-function exoskeleton assistive device, users can adjust the assist speed according to their needs. For example, in areas with gentle slopes where a higher assisted climbing speed is required, the synchronous clutch assembly connects the first transmission sleeve to the rotating shaft and the high-speed shaft. The high-speed shaft drives the main shaft, causing the two thigh swing arms of the leg mechanism to swing at high speed, providing assistance, reducing fatigue, and enhancing the outdoor sports experience. Conversely, in areas with steep slopes where a lower assisted climbing speed is required, the synchronous clutch assembly connects the second transmission sleeve to the input shaft and the rotating shaft, while simultaneously separating the rotating shaft from the high-speed shaft. After being reduced in speed by a planetary gear reducer, the output shaft drives the main shaft, causing the two thigh swing arms of the leg mechanism to swing at a low speed, providing assistance to the user. The dual-function exoskeleton assistive device offers both high-speed and low-speed assistance, meeting a wider range of application scenarios. Furthermore, the electric assistance switches quickly and automatically according to the usage scenario, making it easy to adapt.

[0007] Understandably, the drive mechanism for the synchronous clutch assembly can be an electric actuator, which pushes the two support arms to move synchronously. Of course, other linear drive devices can also be used, as long as they meet the requirement of pushing the two support arms. The transmission structure between the high-speed shaft and the main shaft can use gears, synchronous belts, etc., and the transmission structure between the output shaft and the main shaft can also use gears, synchronous belts, etc., all of which can meet the usage requirements.

[0008] According to some embodiments of the present invention, the first transmission sleeve and the second transmission sleeve are provided with internal gear rings, and the rotating shaft, the high-speed shaft and the input shaft are all provided with external teeth that cooperate with the internal gear rings.

[0009] According to some embodiments of the present invention, each tooth end of the internal gear ring is provided with a chamfer, and the outer tooth ends of the rotating shaft, the high-speed shaft and the input shaft are provided with chamfers.

[0010] According to some embodiments of the present invention, the first transmission sleeve and the second transmission sleeve are provided with through cross grooves, and the ends of the rotating shaft, the high-speed shaft and the input shaft are all provided with cross pins that cooperate with the cross grooves.

[0011] According to some embodiments of the present invention, the end of the support arm is provided with a slot, and the outer periphery of the middle part of the first transmission sleeve and the second transmission sleeve is provided with a guide ring, which is engaged in the slot.

[0012] According to some embodiments of the present invention, the rotating shaft, the high-speed shaft and the input shaft are all provided with magnetic suction components, the magnetic suction components are located at the inner end of the external teeth, and the first transmission sleeve and the second transmission sleeve are made of iron.

[0013] According to some embodiments of the present invention, the end of the support arm is provided with a groove, and the outer periphery of the middle part of the first transmission sleeve and the second transmission sleeve is provided with a guide ring, the guide ring is inserted into the groove, and the inner sidewall of the groove is provided with a protruding ceramic spherical piece, the ceramic spherical piece abutting against the guide ring.

[0014] According to some embodiments of the present invention, the end of the support arm is provided with a slot, and the outer periphery of the middle part of the first transmission sleeve and the second transmission sleeve is provided with a guide ring, the guide ring is inserted into the slot, the inner sidewall of the slot is provided with a first magnetic pole, and the two sidewalls of the guide ring are provided with a second magnetic pole, the polarities of the first magnetic pole and the second magnetic pole are repulsive.

[0015] According to some embodiments of the present invention, the middle outer periphery of the first transmission sleeve and the second transmission sleeve is provided with a guide groove, and the end of the support arm is engaged in the guide groove.

[0016] According to some embodiments of the present invention, the host is provided with an optical axis inside, and the support arm is provided with a guide hole that cooperates with the optical axis.

[0017] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is a schematic diagram of the structure of a dual-function exoskeleton assistive device according to some embodiments of the present invention; Figure 2 This is a schematic diagram of the drive motor assembly in some embodiments of the present invention; Figure 3 This is a partial cross-sectional view of the interior of the host in some embodiments of the present invention; Figure 4 for Figure 3 A magnified view of a portion of point A in the middle; Figure 5 This is a partial cross-sectional view of the interior of the host in some other embodiments of the present invention; Figure 6 for Figure 5 A magnified view of a portion of point B in the middle; Figure 7 This is a partial cross-sectional view of the interior of the host in some embodiments of the present invention; Figure 8 for Figure 7 A magnified view of a portion of point C.

[0019] The attached icons are numbered as follows: Waist mechanism 100, waist belt 110, shoulder strap 120, main unit 130, high-speed shaft 140, optical shaft 150, leg mechanism 200, thigh swing rod 210, thigh strap 220, drive motor assembly 300, housing 310, front cover 311, rear cover 312, planetary gear reducer 320, input shaft 321, output shaft 322, stator 330, rotor 340, rotating shaft 341, synchronous clutch assembly 400, first transmission sleeve 410, second transmission sleeve 420, support arm 430, slot 431, ceramic spherical plate 432, first magnetic pole 433, drive component 440, guide ring 450, second magnetic pole 451. Detailed Implementation

[0020] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0021] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0022] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this invention, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this invention in conjunction with the specific content of the technical solution. In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0024] Reference Figures 1 to 8 The present invention provides a dual-function exoskeleton assistive device, which aims to provide effective assistance to users during outdoor sports, especially for the elderly and other frail groups, to reduce exercise fatigue and improve the sports experience.

[0025] The dual-function exoskeleton assistive device comprises four core components: a waist mechanism 100, a leg mechanism 200, a drive motor assembly 300, and a synchronous clutch assembly 400, enabling the switching between high-speed and low-speed assistance.

[0026] Reference Figure 1The waist mechanism 100, as a key component connecting the entire device to the human waist and supporting other parts, includes a waist belt 110 and shoulder straps 120 that wrap around the waist. The waist belt 110 has a constricting function, allowing it to fit snugly and comfortably around the waist, preventing the device from wobbling or shifting during user movement. The shoulder straps 120 are worn on the user's shoulders to prevent the waist mechanism 100 from falling off. A main unit 130 is located on the front of the waist belt 110, and the main unit 130 has important control functions. Inside the main unit 130 are parallel-arranged high-speed shafts 140 and a main shaft. The high-speed shafts 140 and the main shaft are connected by a transmission structure, which can be a gear drive or a synchronous belt drive. If gear transmission is used, gears with appropriate tooth count and module must be installed on the high-speed shaft 140 and the main shaft respectively. Power is transmitted through the meshing of the gears, resulting in high transmission accuracy and good stability. If synchronous belt transmission is used, synchronous pulleys must be installed on the high-speed shaft 140 and the main shaft, and a synchronous belt must be fitted on them. Synchronous belt transmission has advantages such as smooth transmission and low noise, and can be selected according to actual design requirements and cost factors. The main unit 130 also contains a controller, which acts as the brain of the entire device, responsible for receiving and processing various signals and controlling the operating status of the device. For example, it can control the action of the synchronous clutch assembly 400 according to the user's needs to achieve switching between high-speed and low-speed assistance.

[0027] Reference Figure 1 The leg mechanism 200 includes two thigh swing arms 210. The upper ends of the two thigh swing arms 210 are fixed to both ends of the main shaft, so that the rotation of the main shaft can directly drive the thigh swing arms 210 to swing. The lower ends of the thigh swing arms 210 are provided with thigh straps 220. The thigh straps 220 are typically made of a soft and elastic material, such as highly elastic fabric, which ensures that the straps fit snugly against the thighs, providing stable power transfer, while avoiding excessive restraint or friction on the user's thighs, thus improving wearing comfort. The thigh swing arms 210, driven by the main shaft, simulate the movement of the human leg, providing assistance to the user.

[0028] Reference Figure 2 and Figure 3The drive motor assembly 300 is the power source for the leg mechanism 200 and is located inside the main unit 130. The drive motor assembly 300 includes a housing 310 and a planetary gear reducer 320. The housing 310 serves as the foundation of the entire drive motor assembly 300, with a front cover 311 and a rear cover 312 connected to its two ends, forming a closed space to protect the internal components. A stator 330 is connected to the inner wall of the housing 310. The stator 330 is the fixed part of the motor that generates the magnetic field, and its inner cavity houses a rotor 340, which is the rotatable part of the motor and has a shaft 341. One end of the shaft 341 extends to the outside of the front cover 311 and faces the high-speed shaft 140. The planetary gear reducer 320 is connected to the rear cover 312 and has an input shaft 321 and an output shaft 322. The input shaft 321 faces the rotating shaft 341 to receive power from the rotor 340. One end of the output shaft 322 extends to the outside of the rear end cover 312 and is connected to the main shaft via a transmission structure, which can also be a gear or synchronous belt. The planetary gear reducer 320 reduces the speed and increases the torque of the high-speed rotation of the rotor 340 to meet the power and speed requirements in different assist scenarios. After being reduced by the planetary gear reducer 320, the output shaft 322 can drive the main shaft at a lower speed, thereby causing the thigh swing arm 210 of the leg mechanism 200 to swing powerfully at a low speed.

[0029] Reference Figure 3The synchronous clutch assembly 400 is the component that enables switching. The synchronous clutch assembly 400 includes a first transmission sleeve 410, a second transmission sleeve 420, two support arms 430, and a drive component 440. The first transmission sleeve 410 can move between the rotating shaft 341 and the high-speed shaft 140 to achieve transmission and disengagement. The second transmission sleeve 420 can move between the input shaft 321 and the rotating shaft 341 to achieve transmission and disengagement. When the user requires higher-speed assistance, the drive unit 440 pushes the two support arms 430 to move synchronously, causing the first transmission sleeve 410 to move between the rotating shaft 341 and the high-speed shaft 140, connecting the rotating shaft 341 and the high-speed shaft 140 through the first transmission sleeve 410. At this time, the power of the rotor 340 is directly transmitted to the high-speed shaft 140 through the rotating shaft 341 and the first transmission sleeve 410, and then the high-speed shaft 140 drives the main shaft, which in turn drives the two thigh swing rods 210 of the leg mechanism 200 to swing at high speed, providing rapid assistance to the user and helping the user climb mountains quickly on gentle slopes, reducing fatigue. At this time, the input shaft 321 and the rotating shaft 341 are in a separated state. When the user is on a steep slope and needs a lower assisted climbing speed, the drive unit 440 moves again, pushing the two support arms 430 to move, causing the second transmission sleeve 420 to move between the input shaft 321 and the rotating shaft 341. At the same time, the first transmission sleeve 410 separates the rotating shaft 341 and the high-speed shaft 140. At this time, the power of the rotor 340 is first transmitted to the input shaft 321. After being reduced in speed by the planetary gear reducer 320, the output shaft 322 drives the main shaft, thereby causing the two thigh swing rods 210 of the leg mechanism 200 to swing at low speed, providing users with stable and powerful low-speed assistance.

[0030] The drive element 440 of the synchronous clutch assembly 400 can be an electric actuator, a common linear drive device with advantages such as simple structure and convenient control. The electric actuator pushes the two support arms 430 to move synchronously. By precisely controlling the extension and retraction length and speed of the electric actuator, the positions of the first transmission sleeve 410 and the second transmission sleeve 420 can be accurately controlled, realizing the transmission connection and disengagement operation between the rotating shaft 341 and the high-speed shaft 140 and the input shaft 321. Of course, the drive element 440 is not limited to an electric actuator; other linear drive devices, such as a lead screw and nut pair, can also be used, as long as they can meet the requirement of pushing the two support arms 430.

[0031] In actual use, after wearing the dual-function exoskeleton assistive device, the user selects the assist mode according to the environment and usage needs. When on a gentle slope and the user desires a higher assisted climbing speed, a command is issued through the controller, and the drive component 440 (such as an electric actuator) starts working, pushing the two support arms 430 to move synchronously. This moves the first transmission sleeve 410 between the rotating shaft 341 and the high-speed shaft 140, connecting the rotating shaft 341 and the high-speed shaft 140. At this time, the rotor 340 of the drive motor assembly 300 rotates at high speed, and the power is transmitted sequentially through the rotating shaft 341 and the first transmission sleeve 410 to the high-speed shaft 140. The high-speed shaft 140 then drives the main shaft to rotate, which in turn drives the two thigh swing arms 210 of the leg mechanism 200 to swing at high speed, providing high-speed assistance to the user. This high-speed assist mode helps users move forward quickly, reduces physical exertion, and enhances the outdoor sports experience.

[0032] When the user is on a steep slope and needs a lower auxiliary climbing speed to obtain more stable support and greater assistance, the controller issues a command, the drive component 440 actuates, and pushes the two support arms 430 to move the second transmission sleeve 420 between the input shaft 321 and the rotating shaft 341. At the same time, the first transmission sleeve 410 separates the rotating shaft 341 from the high-speed shaft 140. At this time, the power of the rotor 340 is transmitted to the input shaft 321 and enters the planetary gear reducer 320 for deceleration. The decelerated power is transmitted to the main shaft through the output shaft 322, and the main shaft drives the two thigh swing arms 210 of the leg mechanism 200 to swing at a low speed. Due to the deceleration and torque amplification by the planetary gear reducer 320, the output shaft 322 can drive the main shaft at a lower speed but with greater torque, thus providing the user with stable and powerful low-speed assistance to help the user move steadily forward on steep slopes.

[0033] This dual-function exoskeleton assistive device combines high-speed and low-speed assistance, catering to various application scenarios with different slopes and terrains. Furthermore, the electric assistance can quickly and automatically switch modes according to the usage scenario, eliminating the need for complex manual operations. Users simply issue commands via the controller to switch assistance modes, making it extremely convenient. Beyond outdoor mountain climbing, it can be extended to other scenarios requiring assistance, such as carrying heavy objects and prolonged walking, demonstrating broad market application prospects.

[0034] In some embodiments, the first transmission sleeve 410 and the second transmission sleeve 420 are key components for realizing power transmission and switching. The first transmission sleeve 410 and the second transmission sleeve 420 are provided with internal gear rings. At the same time, the rotating shaft 341, the high-speed shaft 140 and the input shaft 321 are all provided with external teeth that cooperate with the internal gear rings. Power transmission is realized through the cooperation of the internal gear rings and the external teeth.

[0035] Furthermore, in order to ensure smooth operation at one end of the first transmission sleeve 410 and the second transmission sleeve 420, each tooth end of the internal gear ring is provided with a chamfer, and the outer teeth ends of the rotating shaft 341, the high-speed shaft 140 and the input shaft 321 are also provided with chamfers. The chamfer can be an angle or a rounded corner, which can ensure that when the transmission sleeve is connected to the shaft, the outer teeth can slide smoothly into the internal gear ring, reducing jamming and impact during the connection process.

[0036] In other embodiments, the first transmission sleeve 410 and the second transmission sleeve 420 are provided with through cross grooves, and the ends of the rotating shaft 341, high-speed shaft 140, and input shaft 321 are provided with cross pins. The four arms of the cross pin have uniform length and diameter to ensure that the force is evenly distributed when engaging with the cross groove, avoiding damage caused by local stress concentration. In use, the cross pin is inserted into the cross groove, and the power transmission between the transmission sleeve and the shaft is realized through the mutual cooperation between the cross pin and the cross groove.

[0037] Understandably, in order to ensure that the first transmission sleeve 410 and the second transmission sleeve 420 can move accurately under the drive of the support arm 430, such as Figure 3 and Figure 4 As shown, the end of the support arm 430 is provided with a groove 431, which is rectangular in shape. A guide ring 450 is provided on the outer periphery of the middle portion of the first transmission sleeve 410 and the second transmission sleeve 420, and the guide ring 450 is engaged in the groove 431. Its dimensions are designed based on the outer diameter and thickness of the guide ring 450. For example, the width of the groove 431 can be designed to be 0.2 to 0.5 mm larger than the thickness of the guide ring 450. This gap ensures that the guide ring 450 can rotate within the groove 431 while also meeting the requirement that the support arm 430 drives the first transmission sleeve 410 and the second transmission sleeve 420 to move via the guide ring 450.

[0038] Furthermore, the rotating shaft 341, high-speed shaft 140, and input shaft 321 are all equipped with magnetic chucks. These chucks are located at the inner ends of the external teeth, and the first transmission sleeve 410 and the second transmission sleeve 420 are made of iron. The magnetic chucks are designed in a ring shape, tightly fitting around the outer circumference of the external teeth, and can attract the iron first transmission sleeve 410 and the second transmission sleeve 420. When the first transmission sleeve 410 or the second transmission sleeve 420 moves to the corresponding position, the strong magnetic force generated by the magnetic chucks quickly attracts the transmission sleeve onto the shaft, causing the external teeth to mesh tightly with the internal gear ring, or causing the cross pin to accurately engage with the cross groove, thereby achieving a stable and reliable transmission connection. At this time, the guide ring 450 is located in the center of the slot 431, and the guide ring 450 does not contact the support arm 430, allowing the first transmission sleeve 410 or the second transmission sleeve 420 to rotate without wear, while reducing resistance.

[0039] Reference Figure 5 and Figure 6In some embodiments, a slot 431 is provided at the end of the support arm 430, and a guide ring 450 is provided on the outer periphery of the middle part of the first transmission sleeve 410 and the second transmission sleeve 420. The guide ring 450 is engaged in the slot 431. To reduce friction and wear, a raised ceramic spherical piece 432 is provided on the inner sidewall of the slot 431, and the ceramic spherical piece 432 abuts against the guide ring 450. During transmission, the guide ring 450 rotates in the slot 431, and relative friction occurs between the guide ring 450 and the ceramic spherical piece 432. The ceramic spherical piece 432 can be made of high-hardness, high-wear-resistant zirconia ceramic material, which has excellent wear resistance and self-lubricating properties, and can maintain a smooth surface during long-term use, reducing wear between it and the guide ring 450.

[0040] Reference Figure 5 and Figure 6 In some embodiments, a slot 431 is provided at the end of the support arm 430, and a guide ring 450 is provided on the outer periphery of the middle part of the first transmission sleeve 410 and the second transmission sleeve 420. The guide ring 450 is inserted into the slot 431. In order to achieve non-contact rotation of the guide ring 450 in the slot 431, a first magnetic pole 433 is provided on the inner sidewall of the slot 431, and a second magnetic pole 451 is provided on both sidewalls of the guide ring 450. The polarities of the first magnetic pole 433 and the second magnetic pole 451 are repulsive. Through the repulsive magnetic pole arrangement, when the support arm 430 pushes the first transmission sleeve 410 or the second transmission sleeve 420 to move, a repulsive force is generated between the guide ring 450 and the inner sidewall of the slot 431, so that a certain gap is maintained between the guide ring 450 and the inner sidewall of the slot 431, thereby achieving non-contact. When the first transmission sleeve 410 or the second transmission sleeve 420 rotates, the non-contact structure can completely eliminate mechanical friction, greatly improving the smoothness of the rotation of the guide ring 450 and reducing energy loss and component wear. At the same time, due to the magnetic force, the position of the guide ring 450 in the slot 431 can remain approximately stable without deviation, ensuring the stability of the transmission.

[0041] In other embodiments, the outer periphery of the middle portion of the first transmission sleeve 410 and the second transmission sleeve 420 is provided with a guide groove, and the end of the support arm 430 is engaged in the guide groove. The shape of the end of the support arm 430 matches the guide groove, and it is usually designed as a rectangle with chamfered corners. During assembly, the end of the support arm 430 is accurately engaged in the guide groove, and the guide groove guides the support arm 430, enabling the support arm 430 to drive the first transmission sleeve 410 and the second transmission sleeve 420 to move accurately in a straight line.

[0042] Understandably, to further improve the stability and accuracy of the movement of the support arm 430, an optical axis 150 is provided inside the main unit 130, and the support arm 430 is provided with a guide hole that matches the optical axis 150. The optical axis 150 is made of high-precision, high-hardness stainless steel, and its surface has undergone precision grinding. The high-precision optical axis 150 can provide a precise guiding reference for the movement of the support arm 430. The guide hole on the support arm 430 can be formed by a sliding sleeve. The sliding sleeve cooperates with the optical axis 150, allowing the support arm 430 to slide smoothly on the optical axis 150, while preventing the support arm 430 from shaking during movement, which would affect the movement accuracy of the transmission sleeve. This, in turn, drives the first transmission sleeve 410 and the second transmission sleeve 420 to accurately achieve transmission connection and separation with each axis, ensuring that the synchronous clutch assembly 400 of the entire dual-function exoskeleton assistive device can work stably and reliably, providing users with efficient and precise assistance.

[0043] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A dual-function exoskeleton assistive device, characterized in that, include: A waist mechanism, comprising a waist belt and shoulder straps for wrapping around the waist of a human body, a main unit on the front of the waist belt, the main unit having a controller, and a high-speed shaft and a main shaft arranged in parallel inside the main unit, the high-speed shaft being drivenly connected to the main shaft; The leg mechanism includes two thigh swing rods, the upper ends of which are fixed to both ends of the main shaft, and the lower ends of which are provided with thigh straps. A drive motor assembly is located inside the main unit. The drive motor assembly includes a housing and a planetary gear reducer. A front cover and a rear cover are respectively connected to both ends of the housing. A stator is connected to the inner wall of the housing. A rotor is disposed in the inner cavity of the stator. The rotor has a rotating shaft. One end of the rotating shaft extends to the outside of the front cover and faces the high-speed shaft. The planetary gear reducer is connected to the rear cover. The planetary gear reducer has an input shaft and an output shaft. The input shaft faces the rotating shaft. One end of the output shaft extends to the outside of the rear cover and is drively connected to the main shaft. A synchronous clutch assembly is connected to the host computer. The synchronous clutch assembly includes a first transmission sleeve, a second transmission sleeve, two support arms, and a driving component. The first transmission sleeve can move between the rotating shaft and the high-speed shaft to achieve transmission and separation. The second transmission sleeve can move between the input shaft and the rotating shaft to achieve transmission and separation. The driving component synchronously drives the two support arms to drive the first transmission sleeve and the second transmission sleeve.

2. The dual-function exoskeleton assistive device according to claim 1, characterized in that, The first transmission sleeve and the second transmission sleeve are provided with internal gear rings, and the rotating shaft, the high-speed shaft and the input shaft are all provided with external teeth that cooperate with the internal gear rings.

3. The dual-function exoskeleton assistive device according to claim 2, characterized in that, Each tooth end of the internal gear ring is chamfered, and the outer teeth ends of the rotating shaft, the high-speed shaft, and the input shaft are chamfered.

4. The dual-function exoskeleton assistive device according to claim 1, characterized in that, The first transmission sleeve and the second transmission sleeve are provided with through cross grooves, and the ends of the rotating shaft, the high-speed shaft and the input shaft are all provided with cross pins that cooperate with the cross grooves.

5. The dual-function exoskeleton assistive device according to claim 2, characterized in that, The end of the support arm is provided with a slot, and the middle outer periphery of the first transmission sleeve and the second transmission sleeve is provided with a guide ring, which is engaged in the slot.

6. The dual-function exoskeleton assistive device according to claim 5, characterized in that, The rotating shaft, the high-speed shaft, and the input shaft are all equipped with magnetic suction components, which are located at the inner end of the external teeth. The first transmission sleeve and the second transmission sleeve are made of iron.

7. The dual-function exoskeleton assistive device according to any one of claims 2 to 4, characterized in that, The end of the support arm is provided with a slot, and the outer periphery of the middle part of the first transmission sleeve and the second transmission sleeve is provided with a guide ring. The guide ring is inserted into the slot, and the inner sidewall of the slot is provided with a protruding ceramic spherical piece, which abuts against the guide ring.

8. The dual-function exoskeleton assistive device according to any one of claims 2 to 4, characterized in that, The end of the support arm is provided with a slot, and the outer periphery of the middle part of the first transmission sleeve and the second transmission sleeve is provided with a guide ring. The guide ring is inserted into the slot. The inner side wall of the slot is provided with a first magnetic pole, and the two side walls of the guide ring are provided with a second magnetic pole. The polarities of the first magnetic pole and the second magnetic pole are repulsive.

9. The dual-function exoskeleton assistive device according to any one of claims 2 to 4, characterized in that, The first transmission sleeve and the second transmission sleeve are provided with guide grooves on the outer periphery of their middle parts, and the end of the support arm is inserted into the guide grooves.

10. The dual-function exoskeleton assistive device according to claim 1, characterized in that, The host is equipped with an optical axis, and the support arm is equipped with a guide hole that matches the optical axis.

Images