Drive rod assembly and exoskeleton device

Abstract

This application provides a drive rod assembly and an exoskeleton device, belonging to the field of exoskeleton technology. The drive rod assembly includes: a first rod, a second rod, and a cam assembly; the first and second rods are slidably connected; the cam assembly includes a rotating shaft and a cam wrench; the first rod has a shaft hole structure, and the second rod has a cam groove; the rotating shaft is inserted into the shaft hole structure and rotatably connected to the cam wrench, which is located in the cam groove; when the cam wrench rotates, the outer wall of the cam wrench abuts against the inner wall of the cam groove, driving the rotating shaft to move, and the rotating shaft drives the first and second rods to press against each other. The drive rod assembly of this application is more convenient to operate, which helps to improve the ease of use of the exoskeleton device.

Description

Technical Field

[0001] This application relates to the field of exoskeleton technology, and in particular to a drive rod assembly and an exoskeleton device. Background Technology

[0002] In related technologies, in order to cope with the different application scenarios and functional requirements that mechanical exoskeletons may face, mechanical exoskeletons have been given the ability to adjust their size. The main solutions to achieve size adjustment include telescopic rods, telescopic slides, and replacing accessories of different sizes.

[0003] However, the above-mentioned size adjustment methods generally suffer from problems such as insufficient stability, limited service life, and inconvenient operation. Utility Model Content

[0004] This application provides a drive rod assembly and an exoskeleton device that can solve the problems existing in related technologies.

[0005] The technical solution is as follows:

[0006] On one hand, a drive lever assembly is provided, the drive lever assembly comprising: a first lever, a second lever, and a cam assembly;

[0007] The first rod and the second rod are slidably connected;

[0008] The cam assembly includes a rotating shaft and a cam wrench;

[0009] The first rod has a shaft hole structure, and the second rod has a cam groove;

[0010] The rotating shaft is inserted into the shaft hole structure and rotatably connected to the cam wrench, which is located in the cam groove.

[0011] When the cam wrench rotates, the outer wall of the cam wrench abuts against the inner wall of the cam groove, causing the rotating shaft to move, and the rotating shaft causes the first rod and the second rod to abut against each other.

[0012] In some embodiments, the side of the second rod is provided with a groove structure, the groove structure extending along the length direction of the second rod, and the side of the first rod is provided with a protrusion structure, the protrusion structure being located within the groove structure and slidably connected to the groove structure;

[0013] The shaft hole structure is located on the protruding structure, and the cam groove is located on the second rods on both sides of the groove structure.

[0014] In some embodiments, the first rod includes a positioning block; the protrusion structure is a hollow structure, and the positioning block is movably located within the protrusion structure;

[0015] At least a portion of the positioning block protrudes into the groove structure, the shaft hole structure is located on the positioning block, and the rotating shaft can drive the positioning block to move toward the outside of the protrusion structure;

[0016] When the positioning block moves toward the outside of the protruding structure, the positioning block presses against the outer wall of the protruding structure and protrudes outward, thus abutting against the inner wall of the groove structure.

[0017] In some embodiments, the protruding structure has an opening structure on its side facing the bottom of the groove structure, and the opening structure extends along the length direction of the first rod.

[0018] The positioning block includes a block body and a protrusion. The block body is located inside the raised structure, and the protrusion protrudes through the opening structure into the groove structure.

[0019] The positioning block is movable along the length of the first rod, so that the protrusion moves relative to the opening structure along the length of the first rod.

[0020] In some embodiments, the cam wrench includes a first cam portion and a second cam portion;

[0021] The first cam portion and the second cam portion are arranged in parallel and spaced apart.

[0022] The number of cam grooves is two, and the two cam grooves are respectively located on the outer surfaces of the second rods on both sides of the groove structure; the first cam part is located in one of the cam grooves, and the second cam part is located in the other cam groove;

[0023] Both ends of the rotating shaft protrude from both sides of the groove structure and extend into the two cam grooves respectively, and are rotatably connected to the first cam part and the second cam part respectively.

[0024] In some embodiments, the cam wrench further includes a wrench portion located on the side of the second member facing away from the first member, and connected to the first cam portion and the second cam portion respectively.

[0025] In some embodiments, the cam assembly includes at least two pivot members and at least two cam wrenches;

[0026] The at least two rotating shafts are arranged at intervals along the length of the first rod, and each rotating shaft is connected to a cam wrench.

[0027] In some embodiments, the cam assembly further includes a wrench linkage, which is rotatably connected to the at least two cam wrenches respectively, and the wrench linkage is used to drive the at least two cam wrenches to rotate synchronously.

[0028] On the other hand, an exoskeleton device is provided, which includes the drive rod assembly described in this application.

[0029] In some embodiments, the exoskeleton device further includes a drive module and a wearable module;

[0030] The drive module is connected to one of the first rod and the second rod, and the wearable module is connected to the other of the first rod and the second rod;

[0031] The drive module is used to drive the wearable module to move through the drive rod assembly. The wearable module is worn on the user's limbs to drive the user's limbs to move.

[0032] The beneficial effects of the technical solution provided in this application include at least the following:

[0033] The drive rod assembly of this application has a first rod and a second rod slidably connected, and a cam assembly between them. The rotating shaft of the cam assembly is connected to the shaft hole structure of the first rod, and the cam wrench is connected to the cam groove of the second rod. When the cam wrench rotates, under the action of the cam structure, the cam wrench will drive the rotating shaft to move, and then the rotating shaft will drive the first rod to move. When the moving direction of the first rod is closer to the second rod, the rotation of the cam wrench will cause the first rod and the second rod to press against each other, and the friction between the first rod and the second rod will increase. When the friction increases to a certain extent, the first rod and the second rod can be limited and fixed in a specific sliding position.

[0034] The cam assembly utilizes the rotation of a cam wrench to achieve the clamping and separation of the first and second rods. It has a simple structure and can be operated manually without the need for tools, making it more convenient and improving the ease of use of the exoskeleton device. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the drive rod assembly provided in an embodiment of this application;

[0037] Figure 2 This is an exploded view of the drive rod assembly provided in the embodiments of this application;

[0038] Figure 3 This is a structural cross-sectional view of the drive rod assembly provided in an embodiment of this application;

[0039] Figure 4 This is an exploded view of the drive rod assembly provided in another embodiment of this application;

[0040] Figure 5 This is a structural cross-sectional view of a drive rod assembly provided in another embodiment of this application;

[0041] Figure 6 This is a structural cross-sectional view of a drive rod assembly provided in another embodiment of this application;

[0042] Figure 7 This is a schematic diagram of the structure of a drive rod assembly provided in another embodiment of this application;

[0043] Figure 8 This is an exploded view of the drive rod assembly provided in another embodiment of this application.

[0044] The reference numerals in the figure are respectively:

[0045] 1. First member;

[0046] 11. Shaft hole structure; 12. Protrusion structure; 121. Opening structure;

[0047] 2. The second member;

[0048] 21. Cam groove; 22. Groove structure; 23. Positioning block; 231. Block body; 232. Protrusion;

[0049] 3. Cam assembly;

[0050] 31. Rotating shaft; 32. Cam wrench; 321. First cam part; 322. Second cam part; 323. Wrench part; 33. Wrench linkage. Detailed Implementation

[0051] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0052] In the description of this application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0053] Unless otherwise defined, all technical terms used in the embodiments of this application have the same meaning as commonly understood by one of ordinary skill in the art.

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0055] On the one hand, combined with Figure 1 , Figure 2 and Figure 3 As shown, this embodiment provides a drive rod assembly, which includes a first rod 1, a second rod 2, and a cam assembly 3, wherein the first rod 1 and the second rod 2 are slidably connected.

[0056] The cam assembly 3 includes a rotating shaft 31 and a cam wrench 32; the first rod 1 is provided with a shaft hole structure 11, and the second rod 2 is provided with a cam groove 21; the rotating shaft 31 is inserted into the shaft hole structure 11 and rotatably connected to the cam wrench 32, and the cam wrench 32 is located in the cam groove 21; when the cam wrench 32 rotates, the outer wall of the cam wrench 32 abuts against the inner wall of the cam groove 21, driving the rotating shaft 31 to move, and the rotating shaft 31 drives the first rod 1 and the second rod 2 to abut against each other.

[0057] In the drive rod assembly of this application, the first rod 1 and the second rod 2 are slidably connected, and a cam assembly 3 is provided between them. The rotating shaft of the cam assembly 3 is connected to the shaft hole structure 11 of the first rod 1, and the cam wrench 32 is connected to the cam groove 21 of the second rod 2. When the cam wrench 32 rotates, under the action of the cam structure, the cam wrench 32 will drive the rotating shaft 31 to move, and then the rotating shaft 31 will drive the first rod 1 to move. When the moving direction of the first rod 1 is closer to the second rod 2, the rotation of the cam wrench 32 will cause the first rod 1 and the second rod 2 to press against each other, and the friction between the first rod 1 and the second rod 2 will increase. When the friction increases to a certain extent, the first rod 1 and the second rod 2 can be limited and fixed in a specific sliding position.

[0058] The cam assembly 3 uses the rotation of the cam wrench 32 to achieve the clamping and separation of the first rod 1 and the second rod 2. The structure is simple and the user does not need to use tools. It can be operated directly by hand, which makes the operation more convenient and improves the ease of use of the exoskeleton device.

[0059] In some possible implementations, the first rod 1 is used to connect to the driving component, and the second rod 2 is used to connect to the strap component. The strap component is used to connect to the user's limbs (such as arms, thighs, or calves). The driving component can generate driving force to drive the first rod 1 to move. The first rod 1 drives the second rod 2, and the second rod 2 further drives the user's limb movement through the strap component, thereby realizing the exoskeleton device product's assistance in the movement of the user's limbs.

[0060] In this process, in order to achieve the best assist effect and user comfort, the distance between the strap component and the drive component needs to be adjusted according to the user's limb length. At this time, the first rod 1 and the second rod 2 can be controlled to move relative to each other along the length direction, and the drive rod assembly can be extended or shortened. When the positions of the strap component and the drive component are adjusted to the correct position, the cam assembly 3 is used to increase the friction between the first rod 1 and the second rod 2, thereby locking the positions of the first rod 1 and the second rod 2.

[0061] For example, with Figure 3 For example, Figure 3 The diagram shows the cam wrench 32 rotated downwards to its limit position. At this point, the pulling force exerted by the cam wrench 32 on the rotating shaft 31 is at its maximum. The pressure force between the first rod 1 and the second rod 2, driven by the rotating shaft 31, is also at its maximum. According to the principle of friction, the frictional force between the first rod 1 and the second rod 2 is at its maximum. Therefore, the first rod 1 and the second rod 2 can be locked at the length shown in the diagram. If the cam wrench 32 rotates upwards, the pulling force exerted by the cam wrench 32 on the rotating shaft 31 gradually decreases to zero. The pressure force between the first rod 1 and the second rod 2 also gradually decreases to zero, and the frictional force between the first rod 1 and the second rod 2 is reduced to its minimum. At this point, the extension and retraction lengths of the first rod 1 and the second rod 2 can be manually adjusted. After adjusting to the target length, the cam wrench 32 is rotated back to its maximum position. Figure 3 In the state shown, the first link 1 and the second link 2 can be relocked.

[0062] For example, the cam wrench 32 is provided with an eccentric shaft hole, and the rotating shaft 31 is inserted into the eccentric shaft hole. When the cam wrench 32 rotates, the outer wall of the cam wrench 32 abuts against the cam groove 21, and the eccentric shaft hole will drive the rotating shaft 31 to move. The position of the rotating shaft 31 is adjusted by using the inclined plane principle and the lever effect.

[0063] Combination Figure 2As shown, in some embodiments, the side of the second rod 2 is provided with a groove structure 22, which extends along the length of the second rod 2. The side of the first rod 1 is provided with a protrusion structure 12, which is located in the groove structure 22 and is slidably connected to the groove structure 22.

[0064] The shaft hole structure 11 is located on the protruding structure 12, and the cam groove 21 is located on the second rod 2 on both sides of the groove structure 22.

[0065] With the above arrangement, the first rod 1 uses the protrusion structure 12 to engage with the groove structure 22 of the second rod 2, thereby realizing the sliding connection between the first rod 1 and the second rod 2.

[0066] The cooperation between the protruding structure 12 and the groove structure 22 ensures that the first rod 1 and the second rod 2 have only one degree of extension and retraction freedom. The degrees of freedom of the first rod 1 and the second rod 2 in other directions are restricted, so that the drive rod assembly can better realize the transmission of driving force between the drive component and the strap component.

[0067] Combination Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, the first rod 1 includes a positioning block 23; the protruding structure 12 is a hollow structure, and the positioning block 23 is movably located within the protruding structure 12.

[0068] At least a portion of the positioning block 23 protrudes into the groove structure 22, the shaft hole structure 11 is located on the positioning block 23, and the rotating shaft 31 can drive the positioning block 23 to move toward the outside of the protrusion structure 12.

[0069] When the positioning block 23 moves toward the outside of the protruding structure 12, the positioning block 23 presses against the outer wall of the protruding structure 12 and protrudes outward, and abuts against the inner wall of the groove structure 22.

[0070] With the above arrangement, the cam wrench 32 can drive the positioning block 23 to move towards the outside of the protruding structure 12. During this process, the positioning block 23 forces the two side walls of the protruding structure 12 to bulge outward. The side walls of the protruding structure 12 and the side walls of the groove structure 22 are face to face. After the protruding structure 12 bulges outward, the pressure between it and the groove structure 22 becomes tighter, resulting in an increase in the frictional resistance between the protruding structure 12 and the groove structure 22. This achieves the target position where the first rod 1 and the second rod 2 are locked by friction, and realizes the spacing adjustment of the functional components at both ends of the drive rod assembly, so that the exoskeleton device can adapt to different usage and wearing scenarios.

[0071] In addition, by using positioning blocks 23 to support and press the protruding structure 12 from the inside out, the problem of the protruding structure 12 collapsing and deforming outward when it is directly pressed by the groove structure 22 can be avoided, which would lead to the failure of friction locking.

[0072] In some possible implementations, the positioning block 23 has a pressing wedge surface. As the positioning block 23 moves toward the outside of the protruding structure 12, the pressing position of the positioning block 23 against the inner wall of the protruding structure 12 gradually rises along the pressing wedge surface, and the supporting force exerted by the positioning block 23 on the protruding structure 12 from the inside to the outside gradually increases.

[0073] Combination Figure 5 and Figure 6 As shown, in some embodiments, the protruding structure 12 has an opening structure 121 on the side facing the bottom of the groove structure 22, and the opening structure 121 extends along the length direction of the first rod 1.

[0074] The positioning block 23 includes a block body 231 and a protrusion 232. The block body 231 is located inside the protrusion structure 12, and the protrusion 232 protrudes through the opening structure 121 into the groove structure 22.

[0075] The positioning block 23 can move along the length direction of the first rod 1 so that the protrusion 232 moves relative to the opening structure 121 along the length direction of the first rod 1.

[0076] With the above arrangement, the positioning block 23 can pass through the protrusion 232 through the raised structure 12 and the shaft hole structure 11 is arranged to pass through the rotating shaft 31. The block body 231 of the positioning block 23 is completely located inside the raised structure 12. The protrusion 232 passes through the opening structure 121 and extends into the groove structure 22. The volume of the block body 231 is larger than that of the protrusion 232, so the block body 231 has a larger internal support surface, which can make the larger area of ​​the raised structure 12 protrude outward. The contact area between the raised structure 12 and the groove structure 22 is also larger, and thus the frictional force between the first rod 1 and the second rod 2 is also greater.

[0077] Combination Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, the cam wrench 32 includes a first cam portion 321 and a second cam portion 322; the first cam portion 321 and the second cam portion 322 are arranged in parallel at intervals.

[0078] There are two cam grooves 21, which are located on the outer surfaces of the second rods 2 on both sides of the groove structure 22. The first cam part 321 is located in one of the cam grooves 21, and the second cam part 322 is located in the other cam groove 21.

[0079] The two ends of the rotating shaft 31 protrude from both sides of the groove structure 22 and extend into the two cam grooves 21 respectively, and are rotatably connected to the first cam part 321 and the second cam part 322 respectively.

[0080] With the above arrangement, the cam wrench 32 can apply force to both ends of the rotating shaft 31 by using the first cam part 321 and the second cam part 322 respectively. The middle section of the rotating shaft 31 cooperates with the shaft hole structure 11, and the driving force distribution of the rotating shaft 31 on the first rod 1 is more balanced, which helps to improve the driving effect of the cam assembly 3 on the first rod 1 and improve the pressure stability of the first rod 1 and the second rod 2.

[0081] Combination Figure 4 , Figure 5 and Figure 6 As shown, in some embodiments, the cam wrench 32 further includes a wrench portion 323, which is located on the side of the second rod 2 facing away from the first rod 1, and is connected to the first cam portion 321 and the second cam portion 322 respectively.

[0082] With the above arrangement, a wrench 323 is arranged between the first cam part 321 and the second cam part 322, which allows the user to directly operate the cam wrench 32 without the aid of tools. This makes the operation labor-saving and convenient, and helps to improve the ease of use of the exoskeleton device.

[0083] Combination Figure 7 and Figure 8 As shown, in some embodiments, the cam assembly 3 includes at least two pivot members 31 and at least two cam wrenches 32.

[0084] At least two rotating shafts 31 are arranged at intervals along the length of the first rod 1, and each rotating shaft 31 is connected to a cam wrench 32.

[0085] With the above arrangement, the cam assembly 3 can be connected to the first rod 1 by two rotating shafts 31. The two rotating shafts 31 can apply force to the first rod 1 at two points in the length direction, and the first rod 1 and the second rod 2 have higher compressive stability.

[0086] Combination Figure 7 and Figure 8 As shown, in some embodiments, the cam assembly 3 further includes a wrench linkage 33, which is rotatably connected to at least two cam wrenches 32 respectively, and the wrench linkage 33 is used to drive at least two cam wrenches 32 to rotate synchronously.

[0087] With the above arrangement, the two cam wrenches 32 are linked by the wrench linkage 33 to achieve synchronous unlocking and locking of the cam assembly 3, making operation more convenient.

[0088] On the other hand, this embodiment provides an exoskeleton device, which includes the drive rod assembly of this application.

[0089] The exoskeleton device in this embodiment uses the drive rod assembly of this application and has all the beneficial technical effects of all embodiments herein.

[0090] In some embodiments, the exoskeleton device further includes a drive module and a wearable module.

[0091] The drive module is connected to one of the first and second rods, and the wearable module is connected to the other of the first and second rods; the drive module is used to drive the wearable module to move through the drive rod assembly, and the wearable module is used to be worn on the user's limbs to drive the user's limbs to move.

[0092] In this embodiment, the wearable module can be worn and connected to the user's limbs (e.g., arms, thighs, or calves), and the drive module can be fixed to the user's limb joints (e.g., shoulder joints, elbow joints, hip joints, knee joints, etc.). The distance between the wearable module and the drive module is adjusted by the drive rod assembly, so that the exoskeleton device can adapt to the user's body shape and wearing scenario (e.g., arm wearing scenario, leg wearing scenario, etc.). The drive module drives the drive rod assembly to move around the limb joints, and the drive rod assembly drives the limb movement through the wearable module, so that the exoskeleton device product can assist the user's limb movement.

[0093] For example, the drive module is positioned at the user's hip joint, the wearable module is worn on the lower middle part of the user's thigh, and the drive rod assembly extends downward along the user's thigh (i.e., the length direction is parallel to the user's thigh direction). The top is connected to the drive module, and the bottom is connected to the transmission module. By adjusting the size of the drive rod assembly, the vertical position of the wearable module can be adjusted to accommodate the needs of users of different heights.

[0094] In some possible implementations, the wearable module is connected to the middle of the second rod, the bottom end of which extends downward to the user's knee joint. This can be used to extend the installation of an exoskeleton device that assists the user's lower leg movement. This exoskeleton device that assists the lower leg movement can also use the drive rod assembly of this application.

[0095] It should be noted that, in the description of this application, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0096] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0097] Unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0098] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0099] The above description is merely an embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A drive rod assembly, characterized by, The drive rod assembly includes: a first rod (1), a second rod (2), and a cam assembly (3); The first rod (1) and the second rod (2) are slidably connected; The cam assembly (3) includes a rotating shaft (31) and a cam wrench (32); The first rod (1) is provided with a shaft hole structure (11), and the second rod (2) is provided with a cam groove (21); The rotating shaft (31) is inserted into the shaft hole structure (11) and rotatably connected to the cam wrench (32), which is located in the cam groove (21). When the cam wrench (32) rotates, the outer wall of the cam wrench (32) abuts against the inner wall of the cam groove (21), causing the rotating shaft (31) to move, and the rotating shaft (31) causes the first rod (1) and the second rod (2) to abut against each other.

2. The drive lever assembly according to claim 1, characterized in that, The second rod (2) has a groove structure (22) on its side, the groove structure (22) extends along the length direction of the second rod (2), and the first rod (1) has a protrusion structure (12) on its side, the protrusion structure (12) is located in the groove structure (22) and is slidably connected to the groove structure (22); The shaft hole structure (11) is located on the protrusion structure (12), and the cam groove (21) is located on the second rod (2) on both sides of the groove structure (22).

3. The drive lever assembly according to claim 2, characterized in that, The first rod (1) includes a positioning block (23); the protruding structure (12) is a hollow structure, and the positioning block (23) is movably located inside the protruding structure (12); At least a portion of the positioning block (23) protrudes into the groove structure (22), the shaft hole structure (11) is located on the positioning block (23), and the rotating shaft (31) can drive the positioning block (23) to move toward the outside of the protrusion structure (12); When the positioning block (23) moves toward the outside of the protruding structure (12), the positioning block (23) presses against the outer wall of the protruding structure (12) and protrudes outward, and abuts against the inner wall of the groove structure (22).

4. The drive lever assembly according to claim 3, characterized in that, The protruding structure (12) has an opening structure (121) on the side facing the bottom of the groove structure (22), and the opening structure (121) extends along the length direction of the first rod (1). The positioning block (23) includes a block body (231) and a protrusion (232). The block body (231) is located inside the protrusion structure (12), and the protrusion (232) protrudes through the opening structure (121) into the groove structure (22). The positioning block (23) is movable along the length direction of the first rod (1) so that the protrusion (232) moves relative to the opening structure (121) along the length direction of the first rod (1).

5. The drive lever assembly according to claim 2, characterized in that, The cam wrench (32) includes a first cam portion (321) and a second cam portion (322); The first cam portion (321) and the second cam portion (322) are arranged in parallel at intervals; There are two cam grooves (21), and the two cam grooves (21) are respectively located on the outer side surface of the second rod (2) on both sides of the groove structure (22); the first cam part (321) is located in one of the cam grooves (21), and the second cam part (322) is located in the other cam groove (21); The two ends of the rotating shaft (31) protrude from both sides of the groove structure (22) and extend into the two cam grooves (21) respectively, and are rotatably connected to the first cam part (321) and the second cam part (322) respectively.

6. The drive lever assembly according to claim 5, characterized in that, The cam wrench (32) also includes a wrench part (323), which is located on the side of the second rod (2) facing away from the first rod (1) and is connected to the first cam part (321) and the second cam part (322) respectively.

7. The drive lever assembly according to any one of claims 1 to 6, characterized in that, The cam assembly (3) includes at least two pivots (31) and at least two cam wrenches (32); The at least two pivot members (31) are arranged at intervals along the length direction of the first rod (1), and each pivot member (31) is connected to a cam wrench (32).

8. The drive lever assembly according to claim 7, characterized in that, The cam assembly (3) further includes a wrench linkage (33), which is rotatably connected to the at least two cam wrenches (32) respectively, and the wrench linkage (33) is used to drive the at least two cam wrenches (32) to rotate synchronously.

9. An exoskeleton device, characterized in that, The exoskeleton device includes the drive rod assembly as described in any one of claims 1 to 8.

10. The exoskeleton device according to claim 9, characterized in that, The exoskeleton device also includes a drive module and a wearable module; The drive module is connected to one of the first rod (1) and the second rod (2), and the wearable module is connected to the other of the first rod (1) and the second rod (2); The drive module is used to drive the wearable module to move through the drive rod assembly. The wearable module is worn on the user's limbs to drive the user's limbs to move.

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