Exoskeleton auxiliary hanging bracket

Abstract

The utility model provides an exoskeleton auxiliary hanging bracket. The exoskeleton auxiliary hanging bracket comprises a chassis, a vertical guide rail frame and a handrail device installed on the vertical guide rail frame in a sliding mode. The handrail device comprises two force arms and a force arm connecting piece used for connecting the two force arms. The force arms are vertically installed on the force arm connecting piece in a sliding mode, and a spring supporting base is arranged below each force arm. The spring supporting seats are installed on the force arm connecting pieces, and vertical springs are arranged between the force arms and the corresponding spring supporting seats in a coupling mode. A force arm detection sensor is arranged on the force arm connecting piece and used for detecting the position of the force arm so as to determine the compression degree of the vertical spring. When the height of the armrest device is adjusted, whether the height of the armrest device is adjusted in place or not can be determined by recognizing the compression degree of the vertical spring, the situation that the feet of a patient connected to the armrest device are suspended or the patient is excessively impacted by the ground is avoided, and the height adjusting accuracy of the armrest device is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of auxiliary exercise, and in particular relates to an exoskeleton auxiliary hanger. Background Art

[0002] Exoskeleton robots are used for rehabilitation or walking for people with lower limb disabilities. When walking, the combined weight of the user's own weight and the weight of the exoskeleton robot is heavy, which will place a heavy burden on the user. The user and the exoskeleton robot need to be lifted by an exoskeleton auxiliary hanger to achieve a weight reduction effect.

[0003] Patent No. 202311808996.4, the patent name is an invention patent for an auxiliary mobility device for a lower limb exoskeleton rehabilitation system, which provides a similar exoskeleton auxiliary hanger. The patent discloses a main frame, a lifting mechanism, a suspension arm, a lateral expansion mechanism, a supporting mechanism and a communication mechanism; wherein, the main frame includes a movable chassis and a supporting component arranged above the chassis; the supporting component includes a supporting member and a lifting member, the supporting member is fixed on the chassis, and the lifting member slides up and down along the supporting member under the drive of the lifting mechanism to meet the use needs of patients of different heights; however, the height adjustment of the lifting member currently requires knowing the patient's height in advance to achieve one-time adjustment. Otherwise, the patient can only be on the machine, while adjusting the height of the lifting member, while observing with the naked eye whether the lifting member is adjusted in place, and it is very easy to have a situation where the adjustment is not in place due to errors in naked eye observation. Utility Model Content

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide an exoskeleton auxiliary hanger, which uses a lever arm detection sensor to identify whether the vertical spring under the lever arm is extended, so as to determine whether the height of the armrest device is adjusted in place, thereby avoiding the situation where the patient's feet are suspended in the air or the ground has excessive impact on the patient.

[0005] To achieve the above-mentioned purpose and other related purposes, the utility model provides an exoskeleton auxiliary hanger, comprising a chassis, a vertical guide rail frame arranged on the chassis, and an armrest device slidably mounted on the vertical guide rail frame; the armrest device comprises two lever arms and a lever arm connector for connecting the two lever arms; the lever arms are vertically slidably mounted on the lever arm connector, and a spring support seat is provided under each lever arm; the spring support seat is mounted on the lever arm connector, and a vertical spring is coupled between the lever arm and the corresponding spring support seat; a lever arm detection sensor is provided on the lever arm connector, and the lever arm detection sensor is used to detect the position of the lever arm to determine the degree of compression of the vertical spring. The present invention provides a lever arm that can slide up and down to adapt to the up and down floating of the patient's left and right hips when exercising and walking, thereby improving the patient's exercise effect and exercise comfort; in addition, the present invention adjusts the height of the armrest device after the patient is on the machine. The patient is suspended in the air after getting on the machine. At this time, the vertical spring is compressed under the action of the exoskeleton robot and the patient's own weight, so that the lever arm is away from the corresponding lever arm detection sensor; then the armrest device is lowered to move the exoskeleton robot and the patient down together. When the patient contacts the ground, the weight borne by the vertical spring disappears. At this time, the vertical spring is reset to make the lever arm close to the corresponding lever arm detection sensor; in this way, it can be determined whether the armrest device is adjusted in place through the sensing of the lever arm detection sensor, thereby improving the adjustment accuracy.

[0006] Preferably, the force arm connecting member includes a back plate, on which a left mounting plate and a right mounting plate are horizontally slidably mounted; two force arms are vertically slidably mounted on the two mounting plates respectively; spring support seats are installed on both the left mounting plate and the right mounting plate, and a force arm detection sensor is installed on at least one mounting plate; a synchronous adjustment component is provided on the back plate to make the left mounting plate and the right mounting plate synchronously approach or move away from each other; the distance between the two force arms is adjusted by the synchronous adjustment component to meet the usage requirements of patients with different widths.

[0007] Preferably, the synchronous adjustment assembly includes a first push rod, a second push rod and an intermediate rotating rod; the left end of the first push rod is hinged to the left mounting plate, and the right end of the second push rod is hinged to the right mounting plate; the first push rod is parallel to the second push rod, and the first push rod and the second push rod are connected by an intermediate rotating rod; the intermediate rotating rod is rotatably set on the back plate to achieve synchronous approach or synchronous distance between the left mounting plate and the right mounting plate, thereby meeting the usage needs of patients with different widths.

[0008] Preferably, the synchronous adjustment component includes a first rack, a second rack and an intermediate gear; the first rack is fixed on the left mounting plate, and the second rack is fixed on the right mounting plate; the first rack is parallel to the second rack, and the first rack and the second rack are both engaged with the intermediate gear; the intermediate gear is rotatably set on the back plate to achieve synchronous approach or synchronous distance between the left mounting plate and the right mounting plate, thereby meeting the usage needs of patients with different widths.

[0009] Preferably, the chassis is composed of two load-bearing beams spaced apart in the left-right direction; there are two vertical guide rail frames, and the two vertical guide rail frames are respectively fixed on the two load-bearing beams; each vertical guide rail frame is slidably mounted with a movable seat, and the left mounting plate and the right mounting plate are respectively fixedly connected to the two movable seats. In this way, the width of the entire exoskeleton auxiliary hanger can be adjusted by adjusting the spacing between the two vertical guide rail frames, thereby facilitating the entry and exit requirements of narrower elevators.

[0010] Preferably, the movable seat is provided with a movable seat lifting device, so that the height of the armrest device can be adjusted by utilizing the movable seat lifting device to improve the adjustment convenience.

[0011] Preferably, the movable seat lifting device includes a vertical lead screw, a lead screw nut sleeved on the vertical lead screw, and a lead screw motor driving the vertical lead screw to rotate; the lead screw nut is fixedly connected to the corresponding movable seat.

[0012] Preferably, a screw top plate is provided at the top end of the vertical guide rail frame, and the top end of the vertical screw is rotatably mounted on the corresponding screw top plate; the screw motor is mounted on the corresponding screw top plate through a shock-absorbing support, so as to utilize the shock-absorbing support to alleviate the vibration of the screw motor and avoid the vibration of the screw motor being transmitted to the armrest device, thereby affecting the patient's exercise comfort.

[0013] Preferably, a noise-isolating cover housing the lead screw motor is provided on the lead screw top plate to reduce interference of the motor noise on the patient.

[0014] Preferably, universal wheels are provided at the bottom of the chassis to facilitate the exoskeleton auxiliary hanger to move with the patient.

[0015] As described above, the exoskeleton auxiliary hanger of the present invention has the following beneficial effects:

[0016] (1) When a patient exercises and walks, his left and right hips will float up and down alternately, and the vertical spring under the lever arm can ensure that the lever arm can float up and down with the patient's corresponding hip, effectively improving the patient's comfort when exercising and walking; and the lever arm detection sensor above the lever arm can identify the compression degree of the vertical spring to determine whether the patient is in a suspended state or the sole of the foot is in contact with the ground, thereby facilitating the accurate adjustment of the armrest device height;

[0017] (2) The synchronous adjustment component in the present invention can achieve synchronous approach or synchronous separation of the left mounting plate and the right mounting plate, so as to facilitate adjustment of the distance between the two lever arms; in addition, since the chassis is composed of two load-bearing beams arranged at intervals, and the two vertical guide rails are respectively fixed on the two load-bearing beams and connected to the two mounting plates, the synchronous adjustment component can be used to adjust the exoskeleton auxiliary hanger to a width that is convenient for entering and exiting narrow elevators, effectively reducing the difficulty of the exoskeleton auxiliary hanger entering a house;

[0018] (3) The setting of shock-absorbing supports and noise-isolating covers can effectively alleviate the impact of motor vibration and noise on patients; BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional diagram of the exoskeleton auxiliary hanger in the utility model.

[0020] Figure 2 This is a front view of the exoskeleton auxiliary hanger in the utility model.

[0021] Figure 3 It is a left view of the exoskeleton auxiliary hanger in the utility model.

[0022] Figure 4 This is a schematic diagram of the internal structure of the armrest device in one embodiment of the present utility model.

[0023] Figure 5 for Figure 4 Front view without the lever arm.

[0024] Figure 6 for Figure 4 Left side view after removing the lever arm.

[0025] Figure 7 This is a front view of a synchronous adjustment component in one embodiment of the present invention.

[0026] Figure 8 This is a diagram showing the coordination relationship between the movable seat, the movable seat lifting drive device and the vertical guide rail frame in one embodiment of the present utility model.

[0027] Figure 9 A three-dimensional diagram of the exoskeleton robot installed on the exoskeleton auxiliary hanger.

[0028] Description of Reference Numerals

[0029] Chassis 1, load-bearing beam 11, universal wheel 111, vertical guide rail frame 2, vertical guide rail 21, handrail device 3, lever 31, lever arm connecting seat 311, lever arm connecting piece 32, back plate 321, left transverse guide rail 322a, right transverse guide rail 322b, left mounting plate 323a, right mounting plate 323b, spring support seat 3231, vertical slide rail 3232, first push rod 324a, second push rod 324b, intermediate rotating rod 325, first rack 326a, second rack 326b, intermediate gear 327, vertical spring 33, spring guide shaft 331, lever arm detection sensor 34, movable seat 4, vertical screw 51, screw top plate 511, screw bottom plate 512, screw nut 52, screw motor 53, shock-absorbing support 54, exoskeleton robot 6. DETAILED DESCRIPTION

[0030] The following describes the implementation of the present invention through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0031] See also Figures 1 to 9 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of this utility model. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by this utility model without affecting the efficacy and purpose that can be achieved by this utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of this utility model. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this utility model without substantially changing the technical content.

[0032] The utility model provides an exoskeleton auxiliary hanger for lifting an exoskeleton robot 6 and a patient, so as to reduce the impact of the weight of the exoskeleton robot and the patient on the patient and improve the patient's exercise comfort.

[0033] like Figure 1 、 Figure 2 、 Figure 3 and Figure 9As shown, the exoskeleton auxiliary hanger involved in the present invention includes a chassis 1, a vertical guide frame 2 installed on the chassis 1, and an armrest device 3 slidably installed on the vertical guide frame 2, and the armrest device 3 is used to connect the exoskeleton robot 6. For the convenience of description. In the following embodiment, the width direction of the armrest device 3 is defined as the left-right direction, the sliding direction of the armrest device 3 is defined as the up-down direction, and the direction orthogonal to the front-back direction and the up-down direction is defined as the front-back direction. Based on this, Figure 3 In the view shown, the left and right sides of the paper are the rear and front directions respectively, the upper and lower sides of the paper are the upper and lower directions respectively, and the inside and outside of the paper are the right and left directions respectively.

[0034] like Figures 1 to 3 As shown, the armrest device 3 includes a lever arm connector 32 and two lever arms 31 ; wherein the lever arm connector 32 is slidably disposed on the vertical guide rail frame 2 to enable the entire armrest device 3 to slide up and down.

[0035] like Figures 4 to 7 As shown, the lever arm connecting member 32 is provided with two groups of vertical slide rails 322a spaced apart in the left and right directions, and the two lever arms 31 are slidably mounted on the two groups of vertical slide rails 3232, so that the lever arms 31 can slide vertically relative to the lever arm connecting member 32; a spring support seat 3231 is provided under each lever arm 31, and the spring support seats 3231 are all mounted on the lever arm connecting member 32; a vertical spring 33 is provided between the spring support seat 3231 and the lever arm 31 above it, and the vertical spring 33 is compressed when the lever arm 31 moves downward; when the exoskeleton robot 6 drives the patient During walking exercise, the lever arm 31 can float up and down following the patient's corresponding hip, thereby improving the patient's walking comfort; and the setting of the vertical spring 33 can effectively reduce the impact on the patient's hip when floating upward; in addition, a lever arm detection sensor 34 is provided on the lever arm connector 32, and the lever arm detection sensor 34 is an existing position detection sensor such as a proximity switch or a distance sensor. The position of the lever arm 31 is detected by the lever arm detection sensor 34 to determine the degree of compression of the vertical spring 33; in this embodiment, the lever arm detection sensor 34 is preferably a proximity switch.

[0036] Since the length of the calf and thigh of each patient is different, the height of the armrest device 3 and the leg length of the exoskeleton robot 6 need to be adjusted according to the conditions of different patients to meet the needs of different patients. At present, the height adjustment amount of the armrest device 3 and the leg length adjustment amount of the exoskeleton robot 6 are completely confirmed by human observation, and it is very easy to have the situation of inadequate adjustment; when the patient has exercise needs, the exoskeleton robot 6 must first be connected to the arm 31 in the armrest device 3, and the armrest device 3 must be moved up to the state where the exoskeleton robot 6 is suspended, and then the patient must be docked with the exoskeleton robot 6 on the exoskeleton auxiliary hanger (that is, the patient stands on the soles of the exoskeleton robot 6), and then the legs of the exoskeleton robot 6 are adjusted according to the patient's leg conditions, and the connection with the exoskeleton robot 6 is completed; in this process, the exoskeleton robot 6 starts Finally, the armrest device 3 is in a suspended state, so that the vertical spring 33 is compressed under the weight of the exoskeleton robot 6 and the patient, and the lever 31 is away from the lever arm detection sensor 34; finally, the armrest device 3 is adjusted so that the armrest device 3 drives the exoskeleton robot 6 and the patient to descend together. When the sole of the exoskeleton robot 6 contacts the ground, the weight on the vertical spring 33 disappears (the weight is borne by the ground), so that the vertical spring 33 is reset and pushes the lever arm 31 upward; when the lever arm detection sensor 34 senses the upward lever arm 31, it indicates that the height of the armrest device 3 has been adjusted to the right position, effectively overcoming the problem of inaccurate adjustment when observing the adjustment situation with the naked eye in the traditional way.

[0037] Therefore, the present application uses the arm detection sensor 34 to sense the arm 31 to identify the degree of compression of the vertical spring 33, so as to determine whether the patient wearing the exoskeleton robot 6 on the armrest device 3 is in a suspended state or in a grounded state, thereby facilitating accurate determination of whether the height of the armrest device 3 is adjusted in place, effectively avoiding the shortcomings of traditional adjustment based on naked eye observation.

[0038] Further, if Figure 5 and Figure 6As shown, the arm connecting member 32 includes a back plate 321, a left mounting plate 323a and a right mounting plate 323b. The back plate 321 is provided with a left transverse guide rail 322a and a right transverse guide rail 322b; the left mounting plate 323a is slidably mounted on the left transverse guide rail 322a, and the right mounting plate 323b is slidably mounted on the left transverse guide rail 322a, and the back plate 321 is provided with a synchronous adjustment component that allows the left mounting plate 323a and the right mounting plate 323b to move synchronously closer or farther away; the left mounting plate 323a and A set of vertical slide rails 3232 is provided on each of the right mounting plates 323b, and a force arm connecting seat 311 is slidably mounted on each set of vertical slide rails 3232; the two force arms 31 are fixed on the two force arm connecting seats 311 respectively, so that the two force arms 31 can be vertically slidably mounted on the left mounting plate 323a and the right mounting plate 323b respectively; a spring support seat 3231 is installed on each of the left mounting plate 323a and the right mounting plate 323b, and the spring support seat 3231 is located below the corresponding force arm connecting seat 311 ; A vertical spring 33 is provided above each spring support 3231, and the two ends of the vertical spring 33 are respectively in contact with the spring support seat 3231 and the corresponding force arm connecting seat 311, so as to couple the vertical spring 33 between the spring support seat 3231 and the corresponding force arm 31; a force arm detection sensor 34 is installed on at least one mounting plate, and the force arm detection sensor 34 is located above the corresponding force arm connecting seat 311; when the armrest device 3 is high and the patient is suspended in the air, the vertical spring 33 will be compressed under the action of the weight of the exoskeleton robot and the patient's own weight. When the armrest device 3 is lowered to the bottom of the patient's feet and contacts the ground, the weight of the exoskeleton robot and the patient's own weight are borne by the ground, so that the vertical spring 33 resets and pushes the corresponding force arm 31 to move up close to the corresponding force arm detection sensor 34; the force arm detection sensor 34 is used to determine whether the position height of the armrest device 3 is appropriate; in this embodiment, the left transverse guide rail 322a and the right transverse guide rail 322b are separately provided or connected to form a transverse guide rail.

[0039] It is understandable that there are many types of lever arm detection sensors 34 , which may be proximity sensors, laser ranging sensors, inductive ranging sensors, etc., without limitation. In this embodiment, the lever arm detection sensor 34 is a proximity sensor.

[0040] It is understandable that the synchronous adjustment component can be in various forms, including but not limited to the following two forms:

[0041] The first setting form: Figure 5As shown, the synchronous adjustment component includes a first push rod 324a, a second push rod 324b and an intermediate rotating rod 325; the left end of the first push rod 324a is hinged to the left mounting plate 323a, and the right end of the second push rod 324b is hinged to the right mounting plate 323b; the first push rod 324a is parallel to the second push rod 324b, and the right end of the first push rod 324a and the left end of the second push rod 324b are respectively hinged to different positions of the intermediate rotating rod 325; the intermediate rotating rod 325 is rotatably set on the back plate 321 to realize the synchronous approach or synchronous distance of the left mounting plate 323a and the right mounting plate 323b.

[0042] The second setting form: the synchronous adjustment component includes a first rack 326a, a second rack 326b and an intermediate gear 327 rotatably set on the back plate 321; the first rack 326a is fixed on the left mounting plate 323a, and the second rack 326b is fixed on the right mounting plate 323b; the first rack 326a is parallel to the second rack 326b, and the first rack 326a and the second rack 326b are both in transmission engagement with the intermediate gear 327; in this way, when the intermediate gear 327 rotates, the left mounting plate 323a and the right mounting plate 323b can be synchronously approached or synchronously moved away.

[0043] Further, if Figure 1 、 Figure 2 and Figure 8 As shown, the chassis 1 is composed of two load-bearing beams 11 arranged at intervals along the left and right directions, and each load-bearing beam 11 is provided with a vertical guide rail frame 2; a movable seat 4 is slidably installed on each vertical guide rail frame 2, and the two movable seats 4 are fixedly connected to the left mounting plate 323a and the right mounting plate 323b respectively; when the distance between the left mounting plate 323a and the right mounting plate 323b is adjusted, the distance between the two vertical guide rail frames 2 can be adjusted at the same time; that is, when the exoskeleton auxiliary hanger is idle or transferred upstairs and downstairs, the width of the entire exoskeleton auxiliary hanger can be adjusted so that the width of the exoskeleton auxiliary hanger is reduced to the length of the backboard 321 (generally 0.6m~0.7m), which is convenient for reducing the occupied space and also convenient for the exoskeleton auxiliary hanger to enter and exit narrow elevators for transfer between downstairs and upstairs; in order to reduce the difficulty of adjusting the width of the exoskeleton auxiliary hanger and facilitate the follow-up exercise of the exoskeleton auxiliary hanger, universal wheels are provided at the bottom of the two load-bearing beams 11.

[0044] like Figure 6 As shown, the vertical guide rail frame 2 includes at least one vertical guide rail 21, and the movable seat 4 is slidably installed on the vertical guide rail 21 of the corresponding vertical guide rail frame 2; in this embodiment, each vertical guide rail frame 2 has two vertical guide rails 21, and the two vertical guide rails 21 need to be spaced apart in the front-to-back direction to avoid increasing the minimum width of the exoskeleton auxiliary hanger.

[0045] It can be understood that the guide rails in the present invention have various cross-sectional shapes, such as rectangular, circular, dovetail, triangular and other shapes, and the guide rails with different cross-sectional shapes all belong to the technical features protected by the present invention; the optical axis of the circular cross-section in the accompanying drawings is only one of the forms of expression, and is not a specific limitation on the content of protection.

[0046] In order to reduce the difficulty of adjusting the height of the armrest device 4, each movable seat 4 is provided with a movable seat lifting device that drives the movable seat 4 to move up and down. The movable seat lifting device is controlled by a controller to achieve synchronous lifting of the two movable seats 4.

[0047] It is understandable that the movable seat lifting device can be in various forms, including but not limited to hydraulic rods, pneumatic push rods, electric push rods, motor + screw, gear + rack, etc. In this embodiment, the preferred structure of the movable seat lifting device is as follows: Figure 8 As shown, it includes a vertical screw 51, a screw nut 52 mounted on the vertical screw 51 and a screw motor 53 for driving the vertical screw 51 to rotate; wherein the screw nut 52 is fixedly connected to the corresponding movable seat 4; the vertical screw 51 is located between the two vertical guide rails 21 in the corresponding vertical guide rail frame 2, the tops of the two vertical guide rails 21 are connected to the screw top plate 511, the lower parts of the two vertical guide rails 21 are connected through the screw bottom plate 512, and the two ends of the vertical screw 51 are respectively rotatably mounted on the screw top plate 511 and the screw bottom plate 512; the screw motor 53 is preferably arranged on the screw top plate 511 and connected to the vertical screw 51; in addition to playing the role of installing the vertical screw 51, the screw top plate 511 and the screw bottom plate 512 are also used to achieve a reinforced connection between the two vertical screws 51.

[0048] Since the screw motor 53 generates vibration and noise during operation, in order to prevent the vibration and noise of the screw motor 53 from disturbing the patient, the screw motor 53 needs to be installed on the screw top plate 51 through a shock-absorbing bracket, and a noise-isolating cover that covers the screw motor 53 is installed on the screw top plate 51.

[0049] In order to improve the aesthetics of the entire exoskeleton auxiliary hanger, a bracket shell is provided under the partition cover to cover the vertical screw 51 and the vertical guide rail 21, a fixed shielding shell is provided on the back plate 321 to block the synchronous adjustment component, and a follower shielding shell that slides with the fixed shielding shell is provided on the left mounting plate 323a and the right mounting plate 323b; the fixed shielding shell and the follower shielding shell cooperate to block various components on the force arm connector 32 except the force arm 31.

[0050] In summary, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0051] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed in the present invention are intended to be covered by the claims of the present invention.

Claims

1. An exoskeleton auxiliary hanger, comprising a chassis (1), a vertical guide rail frame (2) arranged on the chassis (1), and an armrest device (3) slidably mounted on the vertical guide rail frame (2); the armrest device (3) comprises two lever arms (31) and a lever arm connector (32) for connecting the two lever arms (31); characterized in that: The force arm (31) is vertically slidably mounted on the force arm connecting member (32), and a spring support seat (3231) is provided below each force arm (31); the spring support seat (3231) is mounted on the force arm connecting member (32), and a vertical spring (33) is coupled between the force arm (31) and the corresponding spring support seat (3231); a force arm detection sensor (34) is provided on the force arm connecting member (32), and the force arm detection sensor (34) is used to detect the position of the force arm (31) to determine the compression degree of the vertical spring (33).

2. The exoskeleton auxiliary hanger according to claim 1, characterized in that: The force arm connecting member (32) comprises a back plate (321), on which a left mounting plate (323a) and a right mounting plate (323b) are horizontally slidably mounted; two force arms (31) are respectively vertically slidably mounted on the two mounting plates; a spring support seat (3231) is mounted on each of the left mounting plate (323a) and the right mounting plate (323b), and a force arm detection sensor (34) is mounted on at least one of the mounting plates; and a synchronous adjustment component is provided on the back plate (321) for making the left mounting plate (323a) and the right mounting plate (323b) move closer to or farther away from each other synchronously.

3. The exoskeleton auxiliary hanger according to claim 2, characterized in that: The synchronous adjustment component includes a first push rod (324a), a second push rod (324b) and an intermediate rotating rod (325); the left end of the first push rod (324a) is hinged to the left mounting plate (323a), and the right end of the second push rod (324b) is hinged to the right mounting plate (323b); the first push rod (324a) and the second push rod (324b) are parallel, and the first push rod (324a) and the second push rod (324b) are connected through the intermediate rotating rod (325); the intermediate rotating rod (325) is rotatably set on the back plate (321) to achieve synchronous approach or synchronous separation of the left mounting plate (323a) and the right mounting plate (323b).

4. The exoskeleton auxiliary hanger according to claim 2, characterized in that: The synchronous adjustment component includes a first rack (326a), a second rack (326b) and an intermediate gear (327); the first rack (326a) is fixed on the left mounting plate (323a), and the second rack (326b) is fixed on the right mounting plate (323b); the first rack (326a) is parallel to the second rack (326b), and the first rack (326a) and the second rack (326b) are both engaged with the intermediate gear (327); the intermediate gear (327) is rotatably set on the back plate (321) to achieve synchronous approach or synchronous separation of the left mounting plate (323a) and the right mounting plate (323b).

5. An exoskeleton auxiliary hanger according to any one of claims 2 to 4, characterized in that: The chassis (1) is composed of two load-bearing beams (11) spaced apart in the left-right direction; there are two vertical guide rail frames (2), and the two vertical guide rail frames (2) are respectively fixed on the two load-bearing beams (11); a movable seat (4) is slidably mounted on each vertical guide rail frame (2), and the left mounting plate (323a) and the right mounting plate (323b) are respectively fixedly connected to the two movable seats (4).

6. The exoskeleton auxiliary hanger according to claim 5, characterized in that: A movable seat lifting device is provided on the movable seat (4).

7. The exoskeleton auxiliary hanger according to claim 6, characterized in that: The movable seat lifting device comprises a vertical lead screw (51), a lead screw nut (52) sleeved on the vertical lead screw (51), and a lead screw motor (53) driving the vertical lead screw (51) to rotate; the lead screw nut (52) is fixedly connected to the corresponding movable seat (4).

8. The exoskeleton auxiliary hanger according to claim 7, characterized in that: The top end of the vertical guide rail frame (2) is provided with a screw top plate (511), and the top end of the vertical screw (51) is rotatably mounted on the corresponding screw top plate (511); The lead screw motor (53) is mounted on the corresponding lead screw top plate (511) via a shock-absorbing support (54).

9. The exoskeleton auxiliary hanger according to claim 8, characterized in that: The screw top plate (511) is provided with a noise-isolating cover housing the screw motor (53).

10. An exoskeleton auxiliary hanger according to any one of claims 1 to 4, characterized in that: Universal wheels (111) are provided at the bottom of the chassis (1).

Images