An exoskeleton handling robot

Abstract

The invention discloses an exoskeleton handling robot, comprising a back frame structure, a rigid waist belt, a hip joint assembly, a leg assembly and a foot assembly; the upper part of the back frame structure extends to the shoulders of a human body, and the lower part of the back frame structure is located at both sides of the hip of a human body; the bottom of the back frame structure is connected to the rigid waist belt; the hip joint assembly is connected to the rigid waist belt; the bottom of the hip joint assembly is provided with a leg assembly; the bottom of the leg assembly is provided with a foot assembly; and a power-assisting device is provided at the rear side of the foot assembly. The weight can be transferred to the ground, which has a weight-reducing effect. The back frame is connected to the leg structure through an elastic drawstring to assist when carrying and getting up. The power-assisting device at the calf helps the calf to return to the right position during walking, which has a power-assisting effect. The width, height and waist circumference can be adjusted to match people of different body shapes. Matching joint devices are provided at the joints of human body movement to match human body movement. There are bindings on the thighs, calves, waist, chest and feet, which well ensures the fit between man and machine.

Description

Technical Field

[0001] The present invention relates to the technical field of power-assisted exoskeleton robots, and in particular to an exoskeleton transport robot. Background Art

[0002] An exoskeleton robot is a wearable mechanical integrated system used to assist movement or enhance movement ability. It is mainly used in military, medical, logistics, factory operations and other fields. Based on the power source, exoskeleton robots can be divided into active exoskeleton robots and passive exoskeleton robots. Among them, a passive exoskeleton robot is an exoskeleton without a power source. It mainly assists by directing gravity to the ground and mechanically storing energy. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an exoskeleton carrying robot, which can guide the weight of the heavy object to the ground after grabbing the heavy object and play a supporting role during walking and climbing, thereby reducing the energy consumption of the human body during the carrying process.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an exoskeleton handling robot, comprising a back frame structure, a rigid waist belt, a hip joint assembly, a leg assembly and a foot assembly; the upper part of the back frame structure extends to the shoulders of a human body, and the lower part of the back frame structure is located on both sides of the hip of a human body; the bottom of the back frame structure is connected to the rigid waist belt; the hip joint assembly is located directly below the connection between the back frame structure and the rigid waist belt and is connected to the rigid waist belt; the leg assembly is arranged at the bottom of the hip joint assembly; the foot assembly is arranged at the bottom of the leg assembly; and a power assist device is arranged on the rear side of the foot assembly.

[0006] Optionally, the back frame structure includes shoulder struts, a back frame and hip struts; the shoulder struts are arranged on both sides of the back frame, and the upper part of the shoulder struts extends along the shoulders of the human body toward the front of the human body, and the lower part of the back frame is connected to the top of the hip struts; the bottom of the hip struts is connected to the rigid waist belt; the bottom of the back clip is connected to the leg assembly through an elastic drawstring.

[0007] Optionally, the backpack structure also includes a hand hook; the top of the hand hook is connected to the upper front end of the shoulder support rod through a connecting belt.

[0008] Optionally, the hip joint assembly includes a connecting seat and a rotating head; the upper part of the connecting seat is rotatably connected to the rigid waist belt; the lower part of the connecting seat is rotatably connected to the upper part of the rotating head, and the lower part of the rotating head is rotatably connected to the leg assembly.

[0009] Optionally, the rotating head and the connecting seat are connected via a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged at the middle part of the rotating head.

[0010] Optionally, the leg assembly includes a thigh adjustment member, a thigh assembly, a calf assembly and a calf adjustment member connected in sequence from top to bottom; the top of the thigh adjustment member is connected to the hip joint assembly, and the bottom of the calf adjustment member is connected to the foot assembly;

[0011] in,

[0012] The thigh adjustment member is provided with a rotation limit seat at the top, a vertical connection hole is provided in the middle of the rotation limit seat, and a rotation limit portion extending upward is provided at the top of the rotation limit seat; a plurality of first adjustment holes are provided at the middle and lower part of the thigh adjustment member, and the plurality of first adjustment holes are used for adjustably connecting with the thigh component;

[0013] And / or, the thigh assembly includes a thigh component; the top of the thigh component is connected to the thigh adjustment component, and the bottom of the thigh component is rotatably connected to the calf assembly;

[0014] And / or, the calf assembly includes a calf member and a calf strap; the top of the calf member is rotatably connected to the thigh assembly, and the bottom of the calf member is connected to the calf adjustment member; the calf strap is connected to the calf member through a binding belt;

[0015] And / or, the bottom of the calf adjustment component is rotatably connected to the foot component, and a plurality of second adjustment holes are provided in the upper middle portion of the calf adjustment component.

[0016] Optionally, a limit adjustment groove is provided at the bottom of the calf component, and a calf limit groove is provided on the side wall of the calf component, and the calf limit groove is communicated with the limit adjustment groove; a calf height adjustment handle is provided on the side wall of the calf component, one end of the calf height adjustment handle is rotatably connected to the side wall of the calf component, and a fixed block is provided at the other end of the calf height adjustment handle, and the fixed block passes through the calf limit groove, is inserted into the limit adjustment groove, and is connected to the calf adjustment component.

[0017] Optionally, the rigid waist belt includes a binding block located at the front end of the hip joint assembly, a fixing block connected to the hip joint assembly, a plurality of connecting blocks located at the rear end of the hip joint assembly, and a waist belt adjustment assembly arranged in the middle of the plurality of connecting blocks.

[0018] Optionally, the belt adjustment assembly includes a belt adjustment fixing plate and a belt adjustment movable plate; the belt adjustment fixing plate and the belt adjustment movable plate are limitedly connected; one end of the belt adjustment fixing plate is connected to the connecting block, a first semi-cylindrical optical groove is provided in the middle of one side of the belt adjustment fixing plate toward the belt adjustment movable plate, a fifth limiting semi-groove is provided at one end of the first semi-cylindrical optical groove, one end of the belt adjustment movable plate is connected to the connecting block, a first semi-cylindrical threaded groove is provided in the middle of one side of the belt adjustment fixing plate toward the belt adjustment fixing plate, a sixth limiting semi-groove is provided at one end of the first semi-cylindrical threaded groove, the fifth limiting semi-groove and the sixth limiting semi-groove form a third limiting adjustment groove, the first semi-cylindrical optical groove and the first semi-cylindrical threaded groove match to form a third adjusting screw hole, a first adjusting bolt is provided in the third adjusting screw hole, and the end of the first adjusting bolt is located in the third limiting adjustment groove.

[0019] Optionally, the power-assisting device includes a base, a movable block, a preload and an elastic member; the inner wall of the bottom of the base is provided with an internal thread, the bottom of the base is connected to the foot assembly, the movable block is slidably arranged in the base, the outer wall of the preload is provided with an external thread, the preload is threadedly connected to the inner wall of the bottom of the base, the top of the preload is connected to the bottom of the movable member, one end of the elastic member is connected to the top of the movable block, the other end of the elastic member is connected to the top of the base, and the top of the movable block is connected to the calf through a drawstring;

[0020] Alternatively, the power assist device comprises a pre-tightening structure movable end, a pre-tightening end, a pre-tightening seat, a mounting seat and an elastic member; the mounting seat comprises an upper part and a lower part, the upper part and the lower part are rotatably connected via a rotating shaft, the lower part is connected to the foot assembly, and the upper part is connected to the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end is adjustable; a pre-tightening structure movable end is provided above the pre-tightening end, the elastic member is an elastic belt, and the elastic belt is wound around the seat shaft and the pre-tightening structure movable end.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] The exoskeleton carrying robot of the present invention can transfer part of the carried weight to the bottom surface through the back frame, thigh structure, calf structure, and sole structure, thereby achieving a weight reduction effect.

[0023] The back frame is connected to the leg structure through elastic straps, which can store energy when bending down and provide assistance when lifting up.

[0024] The power-assisting device designed at the calf can help the calf return to the correct position during walking, thereby achieving a power-assisting effect.

[0025] There are multiple adjustment devices so that the width, height and waist circumference can be adjusted to suit people of different body shapes.

[0026] Matching joint devices are arranged at the joints of human body movement, so as to achieve the purpose of matching human body movement.

[0027] There are bindings on the thighs, calves, waist, chest and feet to ensure a good fit between the person and the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 This is a schematic diagram of the structure of the exoskeleton handling robot of the present invention;

[0030] Figure 2 It is a schematic diagram of the structure of the rigid belt in the exoskeleton handling robot of the present invention;

[0031] Figure 3 It is a structural schematic diagram of a waist belt adjustment assembly in an exoskeleton handling robot of the present invention;

[0032] Figure 4 A schematic structural diagram of a waist belt adjustment assembly in an exoskeleton handling robot of the present invention from another perspective;

[0033] Figure 5 It is a structural schematic diagram of a waist belt adjustment movable plate in the exoskeleton handling robot of the present invention;

[0034] Figure 6 This is a schematic diagram of the structure of a waist belt adjustment fixing plate in the exoskeleton handling robot of the present invention;

[0035] Figure 7 It is a schematic diagram of the structure of the first semi-cylindrical optical slot in the exoskeleton handling robot of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the adjustment seat in the exoskeleton handling robot of the present invention;

[0037] Fig. 9 It is a schematic structural diagram of the hip joint assembly in the exoskeleton handling robot of the present invention;

[0038] Fig.10 It is a schematic structural diagram of a thigh adjustment member and a thigh assembly in the exoskeleton handling robot of the present invention;

[0039] Fig.11 It is a schematic structural diagram of a thigh adjustment component in the exoskeleton handling robot of the present invention;

[0040] Fig.12 It is a schematic diagram of the structure of the thigh component and the shank component of the exoskeleton handling robot of the present invention;

[0041] Fig.13 This is a schematic diagram of the structure of the lower leg component and the foot component of the exoskeleton handling robot of the present invention;

[0042] Fig.14 This is a schematic diagram of the structure of the calf height adjustment handle in the exoskeleton handling robot of the present invention;

[0043] Fig.15 This is a schematic diagram of the structure of the bottom of the lower leg component of the exoskeleton handling robot of the present invention;

[0044] Fig.16 It is a schematic structural diagram of a power-assisting device in the exoskeleton load-bearing robot of the present invention;

[0045] Fig.17 It is a schematic structural diagram of another power-assisting device in the exoskeleton load-bearing robot of the present invention.

[0046] Description of the accompanying drawings: 1. shoulder support rod; 2. hip support rod; 3. waist belt adjustment assembly; 4. rigid waist belt; 5. hip joint assembly; 6. hand hook; 7. thigh adjustment member; 8. thigh member; 9. calf member; 10. calf strap; 11. power assist device; 12. calf adjustment member; 13. foot assembly;

[0047] 111. movable end of pre-tightening structure; 112. pre-tightening end; 113. elastic member; 114. mounting seat; 115. pre-tightening seat; 116. base; 117. pull rope;

[0048] 31. Waist belt adjustment fixing plate; 32. Waist belt adjustment movable plate; 33. Waist belt connecting seat; 34. First adjustment bolt; 35. First semi-cylindrical optical groove; 36. First semi-cylindrical threaded groove;

[0049] 41. Binding block; 42. Fixing block; 43. Connecting block;

[0050] 51. Joint connection seat; 52. Connection seat; 53. Connection shaft; 54. Rotating head;

[0051] 541, limit block; 542, rotating shaft;

[0052] 71. vertical connection hole; 72. rotation limiter;

[0053] 731, first adjustment hole; 732, vertical through hole;

[0054] 91. calf limit slot; 92. reset spring hole; 93. limit adjustment slot;

[0055] 121. Second adjustment hole; 122. Calf height adjustment handle;

[0056] 1221. fixing block; 1222. resetting connection hole. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Embodiment 1:

[0059] like Figures 1 to 16 As shown, this embodiment provides an exoskeleton handling robot, including a back frame structure, a rigid waist belt 4, a hip joint assembly 5, a leg assembly and a foot assembly 13; the upper part of the back frame structure extends to the shoulders of the human body, and the lower part of the back frame structure is located on both sides of the hip of the human body; the bottom of the back frame structure is connected to the rigid waist belt 4; the hip joint assembly 5 is located directly below the connection between the back frame structure and the rigid waist belt 4 and is connected to the rigid waist belt 4; the leg assembly is arranged at the bottom of the hip joint assembly 5; the foot assembly 13 is arranged at the bottom of the leg assembly; and the power assist device 11 is arranged on the rear side of the foot assembly 13.

[0060] In this specific embodiment, the back frame structure includes a shoulder brace 1, a back frame and a hip brace 2; the shoulder brace 1 is arranged on both sides of the back frame, and the upper part of the shoulder brace 1 extends along the shoulders of the human body to the front of the human body, and the lower part of the back frame is connected to the top of the hip brace 2; the bottom of the hip brace 2 is connected to the rigid waist belt; the bottom of the back frame is connected to the leg assembly 13 through an elastic drawstring, one end of the elastic drawstring is connected to the strip opening at the bottom of the back frame, and the other end is connected to the top of the thigh strap 6. The shoulder brace 1 is connected to the back frame through a slide groove and fixed with a pin, and the length of the shoulder brace 1 extending out of the back frame can be adjusted by adjusting the hole position of the pin.

[0061] The back frame structure also includes a hand hook 6; the top of the hand hook 6 is connected to the upper front end of the shoulder support rod 1.

[0062] The hip joint assembly 5 includes a connecting seat 52 and a rotating head 54; the upper part of the connecting seat 52 is rotatably connected to the hip plate 1; the lower part of the connecting seat 52 is rotatably connected to the upper part of the rotating head 54, and the lower part of the rotating head 54 is rotatably connected to the leg assembly.

[0063] The rotation limiter 72 between the rotating head 54 and the connecting seat 52 is connected by a rotating shaft, a rotating shaft 542 is provided at the lower part of the rotating head 54, and a limiting block 541 is provided at the middle part of the rotating head 54. The rotating shaft 542 is inserted into the bearings in the vertical connecting hole 71 and the vertical through hole 732, and the limiting block 541 is located between the rotation limiter 72, so that the rotating head 54 can rotate within a certain range.

[0064] The thigh assembly includes a thigh component 8 and a thigh band plate; the top of the thigh component 8 is connected to the thigh adjustment component 7, and the bottom of the thigh component 8 is rotatably connected to the calf assembly; the thigh band plate is connected to the thigh component 8 by a binding belt;

[0065] The calf assembly includes a calf component 9 and a calf strap 10; the top of the calf component 9 is rotatably connected to the thigh component, and the bottom of the calf component 9 is connected to the calf adjustment component; the calf strap 10 is connected to the calf component 9 by a binding belt;

[0066] The bottom of the calf adjustment component 12 is rotatably connected to the foot component 13 , and a plurality of second adjustment holes 121 are provided in the upper middle portion of the calf adjustment component 12 .

[0067] A limit adjustment groove 93 is provided at the bottom of the calf component 9, and a calf limit groove 91 is provided on the side wall of the calf component 9, and the calf limit groove 91 is communicated with the limit adjustment groove 93; a calf height adjustment handle 122 is provided on the side wall of the calf component 9, one end of the calf height adjustment handle 122 is rotatably connected to the side wall of the calf component 9, and a fixing block 42 is provided at the other end of the calf height adjustment handle 122, and the fixing block 42 passes through the calf limit groove 91 and is inserted into the limit adjustment groove 93 to be connected to the calf adjustment component 12.

[0068] Furthermore, a return spring hole 92 is provided at the bottom of the calf component 9, and a return connection hole 1222 is provided on the calf height adjustment handle 122. The return spring hole 92 and the return connection hole 1222 are coaxially arranged, and a return spring is provided. The elastic force of the return spring keeps the fixing block 42 inserted into the calf limiting groove 91.

[0069] The foot assembly 13 includes a vertical connection seat 52 and a foot plate, the top of the vertical connection seat 52 is connected to the bottom of the leg assembly, and the bottom of the vertical connection seat 52 is rotatably connected to one side of the foot plate; the power assist device 11 is arranged at the rear end of the foot plate.

[0070] The power assist device includes a base 116, a movable block, a preload and an elastic member; the inner wall of the bottom of the base 116 is provided with an internal thread, the bottom of the base is connected to the foot assembly 13, the movable block is slidably arranged in the base 116, the outer wall of the preload is provided with an external thread, the preload is threadedly connected to the inner wall of the bottom of the base 116, and the elongation of the elastic member is adjusted by adjusting the depth of the preload screwed into the base 116 to adjust the preload force; the top of the preload is connected to the bottom of the movable member, one end of the elastic member is connected to the top of the movable block, the other end of the elastic member is connected to the top of the base, and the top of the movable block is connected to the calf bundle plate 10 through a pull rope 117. The elastic member adopts a coil spring. During the walking process of the human body, the elastic member stretches and stores energy, and releases and pulls the calf position back to the normal position during the next step, thereby playing a power assist role.

[0071] Embodiment 2:

[0072] like Fig.17 As shown, in this embodiment, the power assist device 11 includes a pre-tightening structure movable end 111, a pre-tightening end 112, a pre-tightening seat 115, a mounting seat 114 and an elastic member 113; the mounting seat 114 includes an upper portion and a lower portion, the upper portion and the lower portion are rotatably connected via a rotating shaft, the lower portion is connected to the foot assembly 13, and the upper portion is connected to the bottom of the pre-tightening seat 115; the relative height between the pre-tightening seat 115 and the pre-tightening end 112 is adjustable, specifically, an internal thread is provided in the pre-tightening seat 115, an external threaded rod is provided at the bottom of the pre-tightening end 112, the external threaded rod matches the internal thread, and the relative height between the pre-tightening seat 115 and the pre-tightening end 112 is adjusted by adjusting the depth of the external threaded rod screwed into the internal thread; a pre-tightening structure movable end 111 is provided above the pre-tightening end 112, and the elastic member 113 is an elastic belt, and the elastic belt 113 is wound around the seat shaft and the pre-tightening structure movable end. The movable end 111 of the pre-tightening structure is connected to the calf strap 10 through a drawstring. When a person walks, the elastic member 113 stretches to store energy, and releases it during the next step to pull the calf back to the correct position, thereby providing assistance.

[0073] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any figure mark in the claims should not be regarded as limiting the claims involved.

[0074] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An exoskeleton handling robot, characterized in that: It comprises a back frame structure, a rigid waist belt, a hip joint assembly, a leg assembly and a foot assembly; the upper part of the back frame structure extends to the shoulders of the human body, and the lower part of the back frame structure is located on both sides of the hip of the human body; the bottom of the back frame structure is connected to the rigid waist belt; the hip joint assembly is located directly below the connection between the back frame structure and the rigid waist belt and is connected to the rigid waist belt; the leg assembly is arranged at the bottom of the hip joint assembly; the foot assembly is arranged at the bottom of the leg assembly; a power assist device is arranged at the rear side of the foot assembly; The rigid waist belt includes a binding block located at the front end of the hip joint assembly, a fixing block connected to the hip joint assembly, a plurality of connecting blocks located at the rear end of the hip joint assembly, and a waist belt adjustment assembly disposed in the middle of the plurality of connecting blocks; The belt adjustment assembly comprises a belt adjustment fixing plate and a belt adjustment movable plate; the belt adjustment fixing plate and the belt adjustment movable plate are limitedly connected; one end of the belt adjustment fixing plate is connected to the connecting block, the belt adjustment fixing plate is provided with a first semi-cylindrical optical groove in the middle of one side of the belt adjustment movable plate toward the belt adjustment movable plate, and a fifth limiting semi-groove is provided at one end of the first semi-cylindrical optical groove, the belt adjustment movable plate is connected to the connecting block at one end, the belt adjustment movable plate is provided with a first semi-cylindrical threaded groove in the middle of one side of the belt adjustment fixing plate toward the belt adjustment fixing plate, a sixth limiting semi-groove is provided at one end of the first semi-cylindrical threaded groove, the fifth limiting semi-groove and the sixth limiting semi-groove form a third limiting adjustment groove, the first semi-cylindrical optical groove and the first semi-cylindrical threaded groove match to form a third adjusting screw hole, a first adjusting bolt is provided in the third adjusting screw hole, and the end of the first adjusting bolt is located in the third limiting adjustment groove; The power-assisting device comprises a base, a movable block, a preload and an elastic member; the inner wall of the bottom of the base is provided with an internal thread, the bottom of the base is connected to the foot assembly, the movable block is slidably arranged in the base, the outer wall of the preload is provided with an external thread, the preload is threadedly connected to the inner wall of the bottom of the base, the top of the preload is connected to the bottom of the movable block, one end of the elastic member is connected to the top of the movable block, the other end of the elastic member is connected to the top of the base, and the top of the movable block is connected to the calf through a drawstring; Alternatively, the power assist device comprises a pre-tightening structure movable end, a pre-tightening end, a pre-tightening seat, a mounting seat and an elastic member; the mounting seat comprises an upper part and a lower part, the upper part and the lower part are rotatably connected via a rotating shaft, the lower part is connected to the foot assembly, and the upper part is connected to the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end is adjustable; a pre-tightening structure movable end is provided above the pre-tightening end, the elastic member is an elastic belt, and the elastic belt is wound around the seat shaft and the pre-tightening structure movable end.

2. The exoskeleton handling robot according to claim 1, characterized in that: The back frame structure includes shoulder support rods, a back frame and hip support rods; the shoulder support rods are arranged on both sides of the back frame, and the upper part of the shoulder support rods extends along the shoulders of the human body to the front of the human body, and the lower part of the back frame is connected to the top of the hip support rod; the bottom of the hip support rod is connected to the rigid waist belt; the bottom of the back frame is connected to the leg assembly through an elastic drawstring.

3. The exoskeleton handling robot according to claim 2, characterized in that: The back frame structure also includes a hand hook; the top of the hand hook is connected to the upper front end of the shoulder support rod through a connecting belt.

4. The exoskeleton handling robot according to claim 1, characterized in that: The hip joint assembly includes a connecting seat and a rotating head; the upper part of the connecting seat is rotatably connected to the rigid waist belt; the lower part of the connecting seat is rotatably connected to the upper part of the rotating head, and the lower part of the rotating head is rotatably connected to the leg assembly.

5. The exoskeleton handling robot according to claim 4, characterized in that: The rotating head is connected to the connecting seat via a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged at the middle part of the rotating head.

6. The exoskeleton handling robot according to claim 1, characterized in that: The leg assembly includes a thigh adjustment member, a thigh assembly, a calf assembly and a calf adjustment member which are sequentially connected from top to bottom; the top of the thigh adjustment member is connected to the hip joint assembly, and the bottom of the calf adjustment member is connected to the foot assembly; in, The thigh adjustment member is provided with a rotation limit seat at the top, a vertical connection hole is provided in the middle of the rotation limit seat, and a rotation limit portion extending upward is provided at the top of the rotation limit seat; a plurality of first adjustment holes are provided at the middle and lower part of the thigh adjustment member, and the plurality of first adjustment holes are used for adjustably connecting with the thigh component; And / or, the thigh assembly includes a thigh component; the top of the thigh component is connected to the thigh adjustment component, and the bottom of the thigh component is rotatably connected to the calf assembly; And / or, the calf assembly includes a calf member and a calf strap; the top of the calf member is rotatably connected to the thigh assembly, and the bottom of the calf member is connected to the calf adjustment member; the calf strap is connected to the calf member through a binding belt; And / or, the bottom of the calf adjustment component is rotatably connected to the foot component, and a plurality of second adjustment holes are provided in the upper middle portion of the calf adjustment component.

7. The exoskeleton handling robot according to claim 6, characterized in that: A limit adjustment groove is provided at the bottom of the calf component, and a calf limit groove is provided on the side wall of the calf component, and the calf limit groove is communicated with the limit adjustment groove; a calf height adjustment handle is provided on the side wall of the calf component, one end of the calf height adjustment handle is rotatably connected to the side wall of the calf component, and a fixing block is provided at the other end of the calf height adjustment handle, and the fixing block passes through the calf limit groove, is inserted into the limit adjustment groove, and is connected to the calf adjustment component.

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