Multifunctional exoskeleton

Abstract

The utility model provides a multifunctional exoskeleton belongs to wearable exoskeleton technical field, in order to solve the problem that the existing exoskeleton robot cannot change back plate according to work demand quickly and does not accord with human knee joint torque curve, and then leads to inconvenient use, the exoskeleton of the application includes carrying assembly, back assembly and two leg structure members, the fixed part of carrying assembly is set in the back of back assembly, and the execution part of carrying assembly extends to the front side of back assembly, two leg structure members are all set in the lower part of back assembly, and two leg structure members are symmetrically set along the center line of back assembly width direction, and every leg structure member is detachably connected with back assembly, the leg structure member includes crotch assembly, leg assembly and foot assembly, and crotch assembly, leg assembly and foot assembly are sequentially connected from top to bottom, the application is mainly used as the exoskeleton robot of the auxiliary personnel carrying.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wearable exoskeletons, and particularly relates to a multifunctional exoskeleton. BACKGROUND

[0002] Exoskeleton originally refers to a hard external structure in biology for protecting internal soft organs of organisms, and now exoskeleton robots refer to a kind of mechanical devices that imitate human motion states and strengthen human motion capabilities, and are worn on the outside of human limbs, which can improve the capabilities of people in specific aspects such as walking endurance and load-carrying capability. Since exoskeleton robots involve human-machine ergonomics, they are required to have strong adaptability, not only to be suitable for wearers of different body types, but also to protect human joints from danger and prevent human body damage during wearing;

[0003] Many existing lower limb exoskeleton robots have single functions, cannot quickly install or dismount carrying modules according to task requirements, cannot replace different types of back plates according to different carrying tasks, and have relatively single functions and application scenarios. At the same time, the change of the assistive torque of the knee joint of the existing exoskeleton is linear, which does not conform to the human knee joint torque curve. The clear assistive effect of the knee joint will affect normal walking, the assistive effect that does not affect normal walking is not obvious, and the freedom of action of the wearer is greatly affected. Therefore, it is very practical to develop an exoskeleton structure that can quickly replace the back plate according to the work requirement and conforms to the human knee joint torque curve. SUMMARY

[0004] The present application is to solve the problem that the existing exoskeleton robot cannot quickly replace the back plate according to the work requirement and does not conform to the human knee joint torque curve, thereby causing inconvenience in use, and further provides a multifunctional exoskeleton.

[0005] A multifunctional exoskeleton, the exoskeleton comprises a carrying assembly, a back assembly and two leg structure members, the fixed part of the carrying assembly is arranged on the back side of the back assembly, and the carrying assembly and the back assembly are detachably connected, the execution part of the carrying assembly extends to the front side of the back assembly, and the execution part of the carrying assembly and the front side of the back assembly are fixedly connected, the two leg structure members are arranged on the lower part of the back assembly, and the two leg structure members are symmetrically arranged along the center line of the width direction of the back assembly, and each leg structure member is detachably connected with the back assembly, the leg structure member comprises a crotch assembly, a leg assembly and a foot assembly, which are arranged in sequence from top to bottom, the top end of the crotch assembly is detachably connected with the back assembly through an adjusting mechanism, the bottom end of the crotch assembly is connected with the top end of the leg assembly through an adjusting mechanism, and the bottom end of the leg assembly is connected with the top end of the foot assembly through an adjusting mechanism.

[0006] Further, the carrying assembly comprises a shell, a bottom shell, two reel modules and two power-assisted carrying mechanisms, the bottom shell is arranged on the back side of the back assembly and detachably connected with the back side of the back assembly, the shell is buckled on the bottom shell, the two reel modules are arranged in the cavity formed by the shell and the bottom shell, and the fixed part of each reel module is fixedly connected with the bottom shell, one end of each power-assisted carrying mechanism penetrates through the shell and is connected with the execution part of the reel module, and the other end of each power-assisted carrying mechanism extends to the front side of the back assembly and is fixedly connected with the back assembly;

[0007] Further, the power-assisted carrying mechanism comprises a carrying handle, a limit switch, a load-bearing belt, a rope, a handle lower cover, a handle upper cover and a switch fixing seat, the carrying handle is hollow inside, the switch fixing seat is embedded in the cavity of the carrying handle and fixedly connected with the carrying handle, the limit switch is mounted on the switch fixing seat, the switch fixing seat is provided with a flexible pivot, the flexible pivot is arranged between the limit switch and the switch fixing seat and hingedly connected with the switch fixing seat, one end of the load-bearing belt is fixedly connected with the front side of the back assembly, the other end of the load-bearing belt penetrates through the carrying handle and extends to the outside of the carrying handle through the flexible pivot, the limit switch is used for locking and positioning the load-bearing belt, one end of the rope penetrates through the shell and is wound on one reel module, the other end of the rope is connected with the other end of the load-bearing belt, the palm side of the carrying handle is embedded with the handle lower cover, the handle lower cover is detachably connected with the carrying handle, and the back side of the carrying handle is embedded with the handle upper cover, the handle upper cover is detachably connected with the carrying handle;

[0008] Further, the back assembly comprises a back binding, a connecting frame, a back rod, a cross rod, a waist binding and a back plate, the connecting frame is arranged on the back side of the back binding and fixedly connected with the back binding, the bottom of the connecting frame is processed with a guide hole, the top end of the back rod is inserted into the guide hole, the back rod is slidably connected with the connecting frame and locked and positioned with the connecting frame through the adjusting mechanism, the waist binding is arranged directly below the back binding, the cross rod is arranged on the back of the waist binding and fixedly connected with the waist binding, the bottom end of the back rod is arranged on the cross rod in the vertical direction and fixedly connected with the cross rod, the back plate is arranged on the outside of the cross rod and detachably connected with the cross rod, and the bottom shell is arranged on the outside of the connecting frame and detachably connected with the connecting frame;

[0009] Further, the crotch assembly comprises a waist rod, a storage bin, a first fixing unit and a second fixing unit, the first fixing unit is detachably connected with the cross rod through the adjusting mechanism, one end of the waist rod is inserted into the first fixing unit, the other end of the waist rod is inserted into the second fixing unit, the second fixing unit is detachably connected with the top of the storage bin, and the bottom of the storage bin is detachably connected with the top end of the leg assembly through the adjusting mechanism;

[0010] Further, the first fixing unit comprises an adjusting rod, a first fixing block, a first elastic ring and a Y-shaped block, one end of the adjusting rod is detachably connected with the cross rod through an adjusting mechanism, one side of the other end of the adjusting rod is provided with the first fixing block, the first fixing block and the adjusting rod are provided with the first elastic ring therebetween, the other end of the adjusting rod and the first fixing block are inserted into the connecting lug at one end of the Y-shaped block, one end of the rotating pin shaft is sequentially inserted into one side lug of the Y-shaped block, the adjusting rod, the first elastic ring, the first fixing block, the other side lug of the Y-shaped block and is inserted into the limiting cap outside the other side lug of the Y-shaped block, one end of the waist rod is inserted into the connecting plug hole at the other end of the Y-shaped block;

[0011] Further, the second fixing unit comprises a head, a bearing, a rotating block, a second fixing block, a second elastic ring and a third elastic ring, one end of the waist rod is inserted into the connecting plug hole at one end of the head, the upper surface of the other end of the head is processed with a through hole, the rotating block is arranged below the other end of the head, the top of the rotating block is processed with a bearing arrangement groove, the bearing is arranged in the bearing arrangement groove at the top of the rotating block, the bearing outer ring of the bearing is fixedly connected with the inner wall of the bearing arrangement groove, one end of the rotating pin shaft is inserted into the bearing through the through hole at the other end of the head, the rotating pin shaft is fixedly connected with the bearing inner ring of the bearing, the rotating pin shaft and the head are provided with the second elastic ring, the other end of the rotating block is provided with a connecting lug, the connecting lug is provided with the second fixing block, one side of the second fixing block is processed with an embedded hole close to the side of the storage bin, the third elastic ring is embedded in the embedded hole on the second fixing block, one end of the rotating pin shaft is sequentially inserted into one side lug of the rotating block, the second fixing block, the third elastic ring, the storage bin and the other side lug of the rotating block and is inserted into the limiting cap outside the other side lug of the storage bin:

[0012] Further, the leg assembly comprises a thigh unit and a calf unit, one end of the thigh unit is connected with the bottom end of the storage bin through an adjusting mechanism, the other end of the thigh unit is hingedly connected with the calf unit, and the other end of the calf unit is connected with the foot assembly through an adjusting mechanism.

[0013] The thigh unit comprises a thigh rod, an upper knee joint, a rope, a guide wheel, a thigh shell, a thigh bottom shell, an elastic mechanism and two thigh binding plates, one end of the thigh rod is connected with the bottom end of the storage bin through an adjusting mechanism, the other end of the thigh rod is inserted into one end of the upper knee joint, the guide wheel is arranged in the upper knee joint and is rotatably connected with the upper knee joint, the other end of the upper knee joint is hingedly connected with the calf unit, the two thigh binding plates are oppositely arranged on the front and rear sides of the thigh rod, each thigh binding plate is fixedly connected with the thigh rod, the thigh shell and the thigh bottom shell are oppositely arranged on the left and right sides of the thigh rod, the thigh shell and the thigh bottom shell are snap-fit connected, the elastic mechanism is arranged in the cavity formed by the thigh shell and the thigh bottom shell, one end of the elastic mechanism is fixedly connected with the inner wall of the thigh shell, the other end of the elastic mechanism is threadedly connected with the upper knee joint, and the elastic mechanism is connected with the calf unit through the rope.

[0014] The elastic mechanism comprises a guide pipe, an elastic body and a compression ring, one end of the guide pipe is fixedly connected with the inner wall of the thigh shell, the other end of the guide pipe is threadedly connected with the upper knee joint, the compression ring and the elastic body are arranged in the guide pipe, the compression ring is arranged close to the end of the guide pipe far from the lower leg unit, one end of the elastic body is connected with one end of the compression ring, the other end of the elastic body is connected with the upper knee joint, one end of the rope is connected with the compression ring, the other end of the rope passes through the elastic body and is connected with the lower leg unit through a guide wheel;

[0015] The lower leg unit comprises a lower knee joint, a lower leg shell, a lower leg bottom shell and two lower leg binding plates, one end of the lower knee joint is hingedly connected with the upper knee joint, and the other end of the rope is connected with the lower knee joint, the other end of the lower knee joint is connected with the foot assembly through an adjusting mechanism, the front and rear sides of the lower knee joint are respectively provided with a lower leg binding plate, and each lower leg binding plate is fixedly connected with the lower knee joint, the lower leg shell and the lower leg bottom shell are respectively arranged on the front and rear sides of the lower knee joint, and the lower leg shell and the lower leg bottom shell are detachably arranged

[0016] Further, the foot assembly comprises an adjusting rod, an ankle rotation block, a fourth elastic ring, a third fixed block, an ankle turnover block, a lateral support, a instep energy buckle, a sole, a sole rubber, a wear-resistant bottom plate, an ankle energy buckle, a fifth elastic ring and a fourth fixed block, one end of the adjusting rod is connected with the other end of the lower knee joint through an adjusting mechanism, the other end of the adjusting rod is inserted into the ankle rotation block, the ankle rotation block and the third fixed block are arranged in the connecting lug on the upper part of the ankle turnover block, the third fixed block is arranged on one side of the ankle rotation block, the fourth elastic ring is embedded on the side of the third fixed block close to the ankle rotation block, one end of the rotating pin shaft passes through the side lug plate on the upper part of the ankle turnover block, the ankle rotation block, the fourth elastic ring, the third fixed block, the other side lug plate on the upper part of the ankle turnover block in sequence and is installed in the limiting cap arranged on the outer side of the upper part of the ankle turnover block, the lateral support and the fourth fixed block are arranged in the connecting lug on the lower part of the ankle turnover block, the fourth fixed block is arranged on one side of the lateral support, the fifth elastic ring is embedded on the side of the fourth fixed block close to the lateral support, one end of the rotating pin shaft passes through the side lug plate on the lower part of the ankle turnover block, the lateral support, the fifth elastic ring, the fourth fixed block, the other side lug plate on the lower part of the ankle turnover block in sequence and is installed in the limiting cap arranged on the outer side of the lower part of the ankle turnover block, the bottom of the lateral support is fixedly connected with the upper surface of the sole, the bottom of the sole is provided with the sole rubber, the sole rubber is of L-shaped structure, the sole is arranged on the horizontal part of the sole rubber, the lateral support and the vertical part in the sole are arranged in parallel, the bottom of the sole rubber is provided with the wear-resistant bottom plate, and the sole, the sole rubber and the wear-resistant bottom plate are connected in a bolt fastening mode, the instep energy buckle and the ankle energy buckle are symmetrically arranged along the center line in the width direction of the sole, one end of the instep energy buckle is fastened with the lateral support through a bolt, the other end of the instep energy buckle is fastened with the vertical part of the sole rubber through a bolt, one end of the ankle energy buckle is fastened with the lateral support through a bolt, and the other end of the ankle energy buckle is fastened with the vertical part of the sole rubber through a bolt;

[0017] Further, the adjusting mechanism comprises a base, a handle, an adjusting sheet, two column pins and two magnets, the base and the handle are arranged oppositely, the handle is buckled on the base, the upper part of the handle is hinged with the upper part of the base through one column pin, one end of the adjusting sheet is connected with the handle through the other column pin, the other column pin is movably connected with the handle, the other end of the adjusting sheet passes through the base and is arranged on the outer side of the base, a plurality of fixed screw holes are processed on the side of the base away from the handle, one magnet is embedded on the side of the base towards the handle, the other magnet is embedded on the side of the handle towards the base, and the two magnets are attracted together through magnetic force;

[0018] The beneficial effects of the present application relative to the prior art are:

[0019] The multifunctional exoskeleton provided in the application adopts a detachable carrying assembly and a back plate structure compared with the existing exoskeleton structure, the carrying assembly and the back plate structure can be replaced according to different working conditions, the application range of the exoskeleton robot is improved, the leg structure of the exoskeleton robot is optimized, the knee joint adopts a bionic design, the knee joint structure designed according to ergonomics and the replaceable elastic body can provide assistance when squatting without affecting human walking, relative to the optimization of the leg structure, in order to increase the application range of the application, the foot bottom in the foot structure is also provided with a multi-layer structure, and the multi-layer structure in the foot bottom is detachably connected through bolts, the user can replace the foot bottom according to different working conditions and working environments, finally, a new type of adjusting mechanism is adopted in the application as a connecting part, the adjusting mechanism is connected with each part in the exoskeleton, the adjusting mechanism is provided with a magnet structure, the reliability of the adjusting mechanism is improved through the magnet structure, and the stability and reliability of locking can be ensured under the premise that the adjusting piece fails. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 It is a schematic view of the overall structure of the exoskeleton described in the application;

[0021] Figure 2 It is a schematic view of the carrying structure in the exoskeleton described in the application;

[0022] Figure 3 It is an exploded view of the carrying structure in the exoskeleton described in the application;

[0023] Figure 4 It is an exploded view of the back structure in the exoskeleton described in the application;

[0024] Figure 5 It is an exploded view of the crotch structure in the exoskeleton described in the application;

[0025] Figure 6 It is an exploded view of the leg structure in the exoskeleton described in the application;

[0026] Figure 7 It is an exploded view of the foot structure in the exoskeleton described in the application;

[0027] Figure 8 It is an exploded view of the adjusting mechanism in the exoskeleton described in the application;

[0028] Figure 9 It is a schematic view of the knee joint structure in the exoskeleton described in the application;

[0029] Figure 10 It is a schematic view of the foot structure in the exoskeleton described in the application;

[0030] The diagram shows: 1. Handling assembly; 11. Handling handle; 12. Limit switch; 13. Load-bearing belt; 14. Rope; 15. Reel module; 16. Housing; 17. Bottom shell; 18. Handle lower cover; 19. Handle upper cover; 20. Switch mounting base; 2. Back assembly; 21. Back binding; 22. Connecting frame; 23. Back bar; 24. Horizontal bar; 25. Waist binding; 26. Back plate; 3. Hip assembly; 31. Adjustment rod; 32. Fixing block 1; 33. Elastic ring 1; 34. Y-shaped block; 35. Waist bar; 36. End; 37. Bearing; 38. Rotating block; 39. Storage compartment; 310. Fixing block 2; 311. Elastic ring 2; 312. Elastic ring 3; 4. Leg assembly; 411. Thigh bar; 412. Thigh binding plate; 413. Upper knee. 414 Joint, 415 Conduit, 415 Elastomer, 416 Compression Ring, 417 Rope, 418 Guide Wheel, 419 Thigh Shell, 420 Thigh Bottom Shell, 421 Lower Knee Joint, 422 Lower Leg Binding Plate, 423 Lower Leg Shell, 424 Lower Leg Bottom Shell, 5 Foot Components, 511 Adjustment Rod, 512 Ankle Rotation Block, 513 Elastic Ring No. 4, 514 Fixing Block No. 3, 515 Ankle Flip Block, 516 Foot Side Support, 517 Foot Energy Buckle, 518 Foot Sole, 519 Foot Sole Rubber, 520 Wear-Resistant Sole Plate, 521 Ankle Energy Buckle, 522 Elastic Ring No. 5, 523 Fixing Block No. 4, 6 Adjustment Mechanism, 61 Base, 62 Handle, 63 Adjustment Plate, 64 Magnet, and 65 Pin. Detailed Implementation

[0031] Specific implementation method one: Combining Figures 1 to 10 This embodiment describes a multifunctional exoskeleton, characterized in that: the exoskeleton includes a transport component 1, a back component 2, and two leg structural components. The fixing part of the transport component 1 is disposed on the back side of the back component 2, and the transport component 1 is detachably connected to the back component 2. The execution part of the transport component 1 extends to the front side of the back component 2, and the execution part of the transport component 1 is fixedly connected to the front side of the back component 2. The two leg structural components are disposed at the lower part of the back component 2, and the two leg structural components are symmetrically arranged along the center line of the width direction of the back component 2. Each leg structural component is detachably connected to the back component 2. The leg structural components include a hip component 3, a leg component 4, and a foot component 5, which are arranged sequentially from top to bottom. The top end of the hip component 3 is detachably connected to the back component 2 through an adjustment mechanism 6, and the bottom end of the hip component 3 is connected to the top end of the leg component 4 through the adjustment mechanism 6. The bottom end of the leg component 4 is connected to the top end of the foot component 5 through the adjustment mechanism 6.

[0032] This embodiment provides a multifunctional exoskeleton that, compared to existing exoskeleton structures, adopts detachable transport components and a backplate structure. The transport components and backplate structure can be replaced according to different working conditions, thereby improving the overall applicability of the exoskeleton robot.

[0033] Specific implementation two: combination Figures 1 to 10 The difference between this embodiment and the specific implementation one is that the carrying assembly 1 comprises a shell 16, a bottom shell 17, two reel modules 15 and two power-assisted carrying mechanisms. The bottom shell 17 is arranged on the back side of the back assembly 2 and detachably connected with the back side of the back assembly 2. The shell 16 is buckled on the bottom shell 17. The two reel modules 15 are arranged in the cavity formed by the shell 16 and the bottom shell 17, and the fixed part of each reel module 15 is fixedly connected with the bottom shell 17. One end of each power-assisted carrying mechanism penetrates through the shell 16 and is connected with the execution part of the reel module 15. The other end of each power-assisted carrying mechanism extends to the front side of the back assembly 2 and is fixedly connected with the back assembly 2. The other components and connection modes are the same as those of the specific implementation one.

[0034] In this embodiment, the reel module 15 is composed of an elastic torsion spring wire reel and a shell. One or more can be installed in the shell 16 and the bottom shell 17 according to task requirements. The application provides power assistance for object carrying through elastic force.

[0035] Specific implementation three: combination Figures 1 to 10 The difference between this embodiment and the specific implementation two is that the power-assisted carrying mechanism comprises a carrying handle 11, a limit switch 12, a load-bearing belt 13, a rope 14, a handle lower cover 18, a handle upper cover 19 and a switch fixing seat 20. The carrying handle 11 is hollow inside. The switch fixing seat 20 is embedded in the cavity of the carrying handle 11 and fixedly connected with the carrying handle 11. The limit switch 12 is installed on the switch fixing seat 20. A flexible hinge shaft is arranged on the switch fixing seat 20 and arranged between the limit switch 12 and the switch fixing seat 20 and hingedly connected with the switch fixing seat 20. One end of the load-bearing belt 13 is fixedly connected with the front side of the back assembly 2. The other end of the load-bearing belt 13 penetrates through the carrying handle 11 and extends to the outside of the carrying handle 11 through the flexible hinge shaft. The limit switch 12 locks and positions the load-bearing belt 13. One end of the rope 14 penetrates through the shell 16 and is wound around one reel module 15. The other end of the rope 14 is connected with the other end of the load-bearing belt 13. The palm side of the carrying handle 11 is embedded with the handle lower cover 18, which is detachably connected with the carrying handle 11. The back side of the carrying handle 11 is embedded with the handle upper cover 19, which is detachably connected with the carrying handle 11. The other components and connection modes are the same as those of the specific implementation two.

[0036] In this embodiment, the limit switch 12 is in the closed state in the normal state, that is, under the action of the flexible rotating shaft, the limit switch will be pressed and prevent the relative movement of the carrying handle 11 and the load-bearing belt 13, at this time, the position of the carrying handle 11 is fixed, and when carrying heavy objects, the weight of the heavy objects can be transmitted to the ground through the exoskeleton, reducing the force on the user's arm; after pressing the limit switch 12, the carrying handle 11 and the load-bearing belt 13 can move relative to each other, at this time, the load-bearing belt 13 is stretched and contracted under the action of the rope 14 and the reel module 15 to adjust the length of the load-bearing belt 13, that is, the adjustment of the position of the user's hand and the carrying assistance.

[0037] Specific implementation four: combined Figures 1 to 10 In this embodiment, the difference between this embodiment and the specific implementation three is that the back assembly 2 includes a back strap 21, a connecting frame 22, a back rod 23, a cross rod 24, a waist strap 25, and a back plate 26, the connecting frame 22 is arranged on the back side of the back strap 21, and the connecting frame 22 is fixedly connected with the back strap 21, the bottom of the connecting frame 22 is processed with a guide hole, the top end of the back rod 23 is inserted into the guide hole, the back rod 23 is slidingly connected with the connecting frame 22, and the back rod 23 is locked and positioned with the connecting frame 22 through the adjusting mechanism 6, the waist strap 25 is arranged directly below the back strap 21, the cross rod 24 is arranged on the back of the waist strap 25, and the cross rod 24 is fixedly connected with the waist strap 25, the bottom end of the back rod 23 is arranged on the cross rod 24 in the vertical direction, and the bottom end of the back rod 23 is fixedly connected with the cross rod 24, the back plate 26 is arranged on the outside of the cross rod 24, and the back plate 26 is detachably connected with the cross rod 24, and the bottom shell 17 is arranged on the outside of the connecting frame 22, and the bottom shell 17 is detachably connected with the connecting frame 22. The other components and connection modes are the same as those of the specific implementation three.

[0038] In this embodiment, the distance between the back strap 21 and the waist strap 25 is adjusted by the cooperation of the back rod 23 and the cross rod 24, so as to be suitable for people of different heights, the connecting frame 22 is used for adjusting the back rod 23 and providing guidance for the movement of the back rod 23, and the connecting frame 22 is also a component connected with the carrying mechanism, the plug hole on the connecting frame 22 and the plug pin on the bottom shell 17 of the carrying mechanism are inserted and matched, the stability after insertion is ensured, and the connecting frame 22 is also convenient for disassembly and replacement according to the working conditions and requirements, and the back plate 26 is detachably connected with the cross rod 24 through bolts.

[0039] Specific implementation five: combined Figures 1 to 10The difference between the embodiment and the fourth embodiment is that the crotch assembly 3 comprises a waist rod 35, a storage bin 39, a first fixing unit and a second fixing unit, the first fixing unit is detachably connected with the cross rod 24 through the adjusting mechanism 6, one end of the waist rod 35 is inserted into the first fixing unit, the other end of the waist rod 35 is inserted into the second fixing unit, the second fixing unit is detachably connected with the top of the storage bin 39, and the bottom of the storage bin 39 is detachably connected with the top end of the leg assembly 4 through the adjusting mechanism 6. The other components and connection modes are the same as those in the fourth embodiment.

[0040] The sixth embodiment is combined with the fifth embodiment. Figures 1 to 10 The difference between the embodiment and the fifth embodiment is that the first fixing unit comprises an adjusting rod 31, a first fixing block 32, a first elastic ring 33 and a Y-shaped block 34, one end of the adjusting rod 31 is detachably connected with the cross rod 24 through the adjusting mechanism 6, one side of the other end of the adjusting rod 31 is provided with the first fixing block 32, the first elastic ring 33 is arranged between the first fixing block 32 and the adjusting rod 31, the other end of the adjusting rod 31 and the first fixing block 32 are inserted into the connecting lug at one end of the Y-shaped block 34, one end of the rotating pin shaft passes through one side of the lug plate in the Y-shaped block 34, the adjusting rod 31, the first elastic ring 33, the first fixing block 32 and the other side of the lug plate in the Y-shaped block 34 in sequence and is inserted into the limiting cap outside the other side of the lug plate in the Y-shaped block 34, and one end of the waist rod 35 is inserted into the connecting plug hole at the other end of the Y-shaped block 34; the second fixing unit comprises an end head 36, a bearing 37, a rotating block 38, a second fixing block 310, a second elastic ring 311 and a third elastic ring 312, one end of the waist rod 35 is inserted into the connecting plug hole at one end of the end head 36, the upper surface of the other end of the end head 36 is processed with a through hole, the rotating block 38 is arranged below the other end of the end head 36, the top of the rotating block 38 is processed with a bearing arrangement groove, the bearing 37 is arranged in the bearing arrangement groove at the top of the rotating block 38, the outer ring of the bearing 37 is fixedly connected with the inner wall of the bearing arrangement groove, one end of the rotating pin shaft passes through the through hole at the other end of the end head 36 and is inserted into the bearing 37, the rotating pin shaft is fixedly connected with the inner ring of the bearing 37, the second elastic ring 311 is arranged between the rotating pin shaft and the end head 36, the other end of the rotating block 38 is provided with a connecting lug, the connecting lug is provided with the second fixing block 310, one side of the second fixing block 310 is processed with an embedded hole close to the side of the storage bin 39, the third elastic ring 312 is embedded in the embedded hole on the second fixing block 310, and one end of the rotating pin shaft passes through one side of the lug plate in the rotating block 38, the second fixing block 310, the third elastic ring 312, the storage bin 39 and the other side of the lug plate in the rotating block 38 in sequence and is inserted into the limiting cap outside the other side of the lug plate in the storage bin 39. The other components and connection modes are the same as those in the fifth embodiment.

[0041] As explained in connection with the fifth and sixth embodiments, the hip assembly is an important component connecting the leg assembly and the back assembly, which is designed bionically and can be turned over and bent in the medial and lateral directions by the first and second fixing units, so that the user can be comfortable when wearing the exoskeleton, and the exoskeleton structure can be fitted to the human body contour to the greatest extent.

[0042] The seventh embodiment is described in connection with the sixth embodiment. Figures 1 to 10 In this embodiment, the leg assembly 4 includes a thigh unit and a calf unit, one end of the thigh unit is connected to the bottom end of the storage bin 39 through the adjusting mechanism 6, the other end of the thigh unit is hingedly connected to the calf unit, and the other end of the calf unit is connected to the foot assembly 5 through the adjusting mechanism 6.

[0043] The thigh unit includes a thigh rod 411, an upper knee joint 413, a rope 417, a guide wheel 418, a thigh shell 419, a thigh bottom shell 420, an elastic mechanism, and two thigh binding plates 412, one end of the thigh rod 411 is connected to the bottom end of the storage bin 39 through the adjusting mechanism 6, the other end of the thigh rod 411 is inserted into one end of the upper knee joint 413, the guide wheel 418 is arranged in the upper knee joint 413 and is rotatably connected to the upper knee joint 413, the other end of the upper knee joint 413 is hingedly connected to the calf unit, the two thigh binding plates 412 are oppositely arranged on the front and back sides of the thigh rod 411, and each thigh binding plate 412 is fixedly connected to the thigh rod 411, the thigh shell 419 and the thigh bottom shell 420 are oppositely arranged on the left and right sides of the thigh rod 411, and the thigh shell 419 and the thigh bottom shell 420 are screw-connected, the elastic mechanism is arranged in a cavity formed by the thigh shell 419 and the thigh bottom shell 420, one end of the elastic mechanism is fixedly connected to the inner wall of the thigh shell 419, the other end of the elastic mechanism is screw-connected to the upper knee joint 413, and the elastic mechanism is connected to the calf unit through the rope 417.

[0044] The elastic mechanism includes a catheter 414, an elastic body 415, and a compression ring 416, one end of the catheter 414 is fixedly connected to the inner wall of the thigh shell 419, the other end of the catheter 414 is screw-connected to the upper knee joint 413, the compression ring 416 and the elastic body 415 are arranged in the catheter 414, the compression ring 416 is arranged near the end of the catheter 414 away from the calf unit, one end of the elastic body 415 is connected to one end of the compression ring 416, the other end of the elastic body 415 is connected to the upper knee joint 413, one end of the rope 417 is connected to the compression ring 416, and the other end of the rope 417 passes through the elastic body 415 and is connected to the calf unit through the guide wheel 418.

[0045] The lower leg unit comprises a lower knee joint 421, a lower leg shell 423, a lower leg bottom shell 424 and two lower leg binding plates 422, one end of the lower knee joint 421 is hinged with the upper knee joint 413, the other end of the rope 417 is connected with the lower knee joint 421, the other end of the lower knee joint 421 is connected with the foot assembly 5 through the adjusting mechanism 6, the front and rear sides of the lower knee joint 421 are respectively provided with a lower leg binding plate 422, and each lower leg binding plate 422 is fixedly connected with the lower knee joint 421, the lower leg shell 423 and the lower leg bottom shell 424 are respectively arranged on the front and rear sides of the lower knee joint 421, and the lower leg shell 423 and the lower leg bottom shell 424 are snap-fitted. The other components and connection modes are the same as those in the sixth embodiment.

[0046] In the embodiment, the range of motion of the knee joint in the leg structure is 0-140°, and the profile of the knee joint is involute. By calculating, when the knee joint is bent by 20°, the arc length accounts for 7% of the total length, and the torque is 0.7 N.m; when the knee joint is bent by 90°, the arc length accounts for 80% of the total length, and the torque is 8 N.m; and when the knee joint is bent by 140°, the arc length is the total length, and the torque is 10 N.m. The full-motion joint used in the leg structure in the application is provided with an elastic ring to ensure that the device can still maintain an upright state when suspended, and is convenient to wear; the knee joint can replace the elastic body 415 according to actual scene requirements to change the assistance size; the lower knee joint head sliding groove profile changes little in the first 20° stroke, and changes greatly after 20°, that is, the resistance is small when walking, and the assistance is large when squatting; the back of the back structure can be replaced according to task requirements to meet different carrying requirements; the carrying module can be quickly disassembled to meet different task requirements.

[0047] Eighth embodiment: combination Figures 1 to 10The difference between the embodiment and the seventh specific embodiment is that the foot assembly 5 comprises an adjusting rod 511, an ankle rotating block 512, a fourth elastic ring 513, a third fixed block 514, an ankle turning block 515, a lateral foot support 516, a instep energy buckle 517, a foot bottom 518, a foot bottom rubber 519, a wear-resistant bottom plate 520, an ankle energy buckle 521, a fifth elastic ring 522 and a fourth fixed block 523. One end of the adjusting rod 511 is connected to the other end of the lower knee joint 421 through the adjusting mechanism 6, and the other end of the adjusting rod 511 is inserted into the ankle rotating block 512. The ankle rotating block 512 and the third fixed block 514 are arranged in the connecting lug on the upper part of the ankle turning block 515. The third fixed block 514 is arranged on one side of the ankle rotating block 512. The fourth elastic ring 513 is embedded on the side of the third fixed block 514 close to the ankle rotating block 512. One end of the rotating pin shaft passes through the lug on one side of the upper part of the ankle turning block 515, the ankle rotating block 512, the fourth elastic ring 513, the third fixed block 514, the lug on the other side of the upper part of the ankle turning block 515 and is installed in the limiting cap arranged on the outside of the upper part of the ankle turning block 515. The lateral foot support 516 and the fourth fixed block 523 are arranged in the connecting lug on the lower part of the ankle turning block 515. The fourth fixed block 523 is arranged on one side of the lateral foot support 516. The fifth elastic ring 522 is embedded on the side of the fourth fixed block 523 close to the lateral foot support 516. One end of the rotating pin shaft passes through the lug on one side of the lower part of the ankle turning block 515, the lateral foot support 516, the fifth elastic ring 522, the fourth fixed block 523, the lug on the other side of the lower part of the ankle turning block 515 and is installed in the limiting cap arranged on the outside of the lower part of the ankle turning block 515. The bottom of the lateral foot support 516 is fixedly connected to the upper surface of the foot bottom 518. The bottom of the foot bottom 518 is provided with the foot bottom rubber 519. The foot bottom rubber 519 has an L-shaped structure. The foot bottom 518 is arranged on the horizontal part of the foot bottom rubber 519. The lateral foot support 516 is arranged in parallel with the vertical part of the foot bottom 519. The bottom of the foot bottom rubber 519 is provided with the wear-resistant bottom plate 520. The foot bottom 518, the foot bottom rubber 519 and the wear-resistant bottom plate 520 are connected through bolts. The instep energy buckle 517 and the ankle energy buckle 521 are symmetrically arranged along the center line in the width direction of the foot bottom 518. One end of the instep energy buckle 517 is fixedly connected to the lateral foot support 516 through a bolt. The other end of the instep energy buckle 517 is fixedly connected to the vertical part of the foot bottom rubber 519 through a bolt. One end of the ankle energy buckle 521 is fixedly connected to the lateral foot support 516 through a bolt. The other end of the ankle energy buckle 521 is fixedly connected to the vertical part of the foot bottom rubber 519 through a bolt. The other components and connection modes are the same as those in the seventh specific embodiment.

[0048] In this embodiment, the foot assembly 5 also adopts a bionic design, and the pitch swing and left-right swing of the robot foot are realized through the ankle rotating block 512 and the ankle overturning block 515. Meanwhile, the front and rear parts of the foot are fixed by the foot surface energy buckle 517 and the ankle energy buckle 521 to ensure the stability of the fixation. Meanwhile, the foot bottom in the foot structure is also provided with multiple layers, and the multiple layers in the foot bottom are detachably connected through bolts, so that the user can replace the foot bottom according to different working conditions and working environments.

[0049] Specific embodiment nine: combination Figures 1 to 10 In this embodiment, the adjusting mechanism 6 includes a base 61, a buckle hand 62, an adjusting sheet 63, two column pins 65 and two magnets 64. The base 61 and the buckle hand 62 are oppositely arranged, and the buckle hand 62 is buckled on the base 61. The upper part of the buckle hand 62 is hingedly connected with the upper part of the base 61 through one column pin 65. One end of the adjusting sheet 63 is connected with the buckle hand 62 through another column pin 65. The other end of the adjusting sheet 63 is arranged outside the base 61 by penetrating through the base 61. A plurality of fixed screw holes are formed on the side of the base 61 away from the buckle hand 62. One magnet 64 is embedded on the side of the base 61 towards the buckle hand 62. Another magnet 64 is embedded on the side of the buckle hand 62 towards the base 61, and the two magnets 64 are attracted together by magnetic force. The other components and connection modes are the same as those in specific embodiment eight.

[0050] In this embodiment, a new type of adjusting mechanism is used as a connecting component to connect various components in the exoskeleton. The magnet structure is added in the new type of adjusting mechanism to increase the reliability of the adjusting mechanism. In the case that the adjusting sheet fails, the stability and reliability of the locking can still be ensured. The leg structure and the foot structure are connected through the adjusting mechanism,

[0051] The present application has been disclosed in the above-mentioned preferred embodiments, but is not intended to limit the present application. Any person skilled in the art can make some changes or modifications to the above-mentioned disclosed structures and technical contents without departing from the technical solution range of the present application to obtain equivalent embodiments. However, any simple modification, equivalent change and modification made to the above-mentioned embodiments according to the technical essence of the present application without departing from the technical solution range of the present application still belong to the technical solution range of the present application.

[0052] Working principle

[0053] The application firstly adjusts the distance between the back binding 21 and the waist binding 25 according to the height of the user during use, which is realized by pulling the back rod 3. After adjusting the position of the back rod 3, the back rod 3 is locked by the adjusting mechanism 6 to ensure the accuracy of the position. At this time, the back binding 21 and the waist binding 25 are worn on the user, and the carrying handle 11 is worn on the hand. When carrying heavy objects, the weight of the heavy objects can be transmitted to the ground through the exoskeleton, reducing the force on the user's arms. After pressing the limit switch 12, the carrying handle 11 and the load-bearing belt 13 can move relatively. At this time, the length of the load-bearing belt 13 is adjusted under the action of the rope 14 and the reel module 15, that is, the position of the user's hand is adjusted and the carrying force is adjusted. During this process, the squatting and standing state will be accompanied. When the knee joint is bent, the rope 417 compresses the elastic body 415 to store energy through the guide wheel 418 and the compression ring 416. When the knee joint returns to the upright state, the elastic body 415 releases the stored energy to provide recovery assistance for the knee joint.

Claims

1. A multi-functional exoskeleton, characterized by: The exoskeleton comprises a carrying assembly (1), a back assembly (2) and two leg structure members, the fixed part of the carrying assembly (1) is arranged on the back side of the back assembly (2), and the carrying assembly (1) is detachably connected with the back assembly (2); the execution part of the carrying assembly (1) extends to the front side of the back assembly (2), and the execution part of the carrying assembly (1) is fixedly connected with the front side of the back assembly (2); the two leg structure members are both arranged on the lower part of the back assembly (2), and the two leg structure members are symmetrically arranged along the center line of the width direction of the back assembly (2); each leg structure member is detachably connected with the back assembly (2); the leg structure member comprises a crotch assembly (3), a leg assembly (4) and a foot assembly (5), which are arranged in sequence from top to bottom; the top end of the crotch assembly (3) is detachably connected with the back assembly (2) through an adjusting mechanism (6); the bottom end of the crotch assembly (3) is connected with the top end of the leg assembly (4) through the adjusting mechanism (6); the bottom end of the leg assembly (4) is connected with the top end of the foot assembly (5) through the adjusting mechanism (6).

2. The multi-functional exoskeleton according to claim 1, characterized in that: The carrying assembly (1) comprises a shell (16), a bottom shell (17), two reel modules (15) and two power-assisted carrying mechanisms; the bottom shell (17) is arranged on the back side of the back assembly (2), and the bottom shell (17) is detachably connected with the back side of the back assembly (2); the shell (16) is buckled on the bottom shell (17); the two reel modules (15) are arranged in the cavity formed by the shell (16) and the bottom shell (17), and the fixed part of each reel module (15) is fixedly connected with the bottom shell (17); one end of each power-assisted carrying mechanism penetrates through the shell (16) and is connected with the execution part of the reel module (15); the other end of each power-assisted carrying mechanism extends to the front side of the back assembly (2), and the other end of each power-assisted carrying mechanism is fixedly connected with the back assembly (2).

3. The multi-functional exoskeleton according to claim 2, characterized in that: The assisting carrying mechanism comprises a carrying handle (11), a limit switch (12), a load-bearing belt (13), a rope (14), a handle lower cover (18), a handle upper cover (19) and a switch fixing seat (20), the carrying handle (11) is hollow inside, the switch fixing seat (20) is embedded in the cavity of the carrying handle (11), and the switch fixing seat (20) is fixedly connected with the carrying handle (11), the limit switch (12) is installed on the switch fixing seat (20), the switch fixing seat (20) is provided with a flexible pivot, the flexible pivot is arranged between the limit switch (12) and the switch fixing seat (20), and the flexible pivot is hinged with the switch fixing seat (20), one end of the load-bearing belt (13) is fixedly connected with the front side of the back assembly (2), the other end of the load-bearing belt (13) passes through the carrying handle (11) and extends to the outside of the carrying handle (11) through the flexible pivot, the limit switch (12) locks and positions the load-bearing belt (13), one end of the rope (14) passes through the shell (16) and is wound on a reel module (15), the other end of the rope (14) is connected with the other end of the load-bearing belt (13), the palm side of the carrying handle (11) is embedded with the handle lower cover (18), the handle lower cover (18) is detachably connected with the carrying handle (11), and the back side of the carrying handle (11) is embedded with the handle upper cover (19), the handle upper cover (19) is detachably connected with the carrying handle (11).

4. The multi-functional exoskeleton according to claim 3, characterized in that: The back assembly (2) comprises a back binding (21), a connecting frame (22), a back rod (23), a cross rod (24), a waist binding (25) and a back plate (26), the connecting frame (22) is arranged on the back side of the back binding (21) and fixedly connected with the back binding (21), the bottom of the connecting frame (22) is processed with a guide hole, the top end of the back rod (23) is inserted into the guide hole, the back rod (23) is slidably connected with the connecting frame (22), and the back rod (23) is locked and positioned with the connecting frame (22) through the adjusting mechanism (6), the waist binding (25) is arranged directly below the back binding (21), the cross rod (24) is arranged on the back of the waist binding (25) and fixedly connected with the waist binding (25), the bottom end of the back rod (23) is arranged on the cross rod (24) in the vertical direction and fixedly connected with the cross rod (24), the back plate (26) is arranged on the outside of the cross rod (24) and detachably connected with the cross rod (24), and the bottom shell (17) is arranged on the outside of the connecting frame (22) and detachably connected with the connecting frame (22).

5. The multi-functional exoskeleton according to claim 4, characterized in that: The crotch assembly (3) comprises a waist rod (35), a storage bin (39), a first fixing unit and a second fixing unit, the first fixing unit is detachably connected with the cross rod (24) through the adjusting mechanism (6), one end of the waist rod (35) is inserted into the first fixing unit, the other end of the waist rod (35) is inserted into the second fixing unit, the second fixing unit is detachably connected with the top of the storage bin (39), and the bottom of the storage bin (39) is detachably connected with the top end of the leg assembly (4) through the adjusting mechanism (6).

6. The multi-functional exoskeleton according to claim 5, characterized in that: The first fixing unit comprises an adjusting rod (31), a first fixing block (32), a first elastic ring (33) and a Y-shaped block (34), one end of the adjusting rod (31) is detachably connected with the cross rod (24) through the adjusting mechanism (6), one side of the other end of the adjusting rod (31) is provided with the first fixing block (32), the first elastic ring (33) is arranged between the first fixing block (32) and the adjusting rod (31), and the other end of the adjusting rod (31) and the first fixing block (32) are both inserted into the connecting lug at one end of the Y-shaped block (34). One end of the rotating pin shaft passes through a side lug plate of the Y-shaped block (34), the adjusting rod (31), the first elastic ring (33), the first fixing block (32) and the other side lug plate of the Y-shaped block (34) in sequence and is inserted into the limiting cap outside the other side lug plate of the Y-shaped block (34), and one end of the waist rod (35) is inserted into the connecting plug hole at the other end of the Y-shaped block (34).

7. The multi-functional exoskeleton according to claim 6, characterized by: The second fixing unit comprises a head (36), a bearing (37), a rotating block (38), a second fixing block (310), a second elastic ring (311) and a third elastic ring (312), one end of the waist rod (35) is inserted into the connecting plug hole at one end of the head (36), the upper surface of the other end of the head (36) is processed into a through hole, the rotating block (38) is arranged below the other end of the head (36), the top of the rotating block (38) is processed into a bearing arrangement groove, the bearing (37) is arranged in the bearing arrangement groove at the top of the rotating block (38), the bearing outer ring of the bearing (37) is fixedly connected with the inner wall of the bearing arrangement groove, one end of the rotating pin shaft passes through the through hole at the other end of the head (36) and is inserted into the bearing (37), the rotating pin shaft is fixedly connected with the bearing inner ring of the bearing (37), the second elastic ring (311) is arranged between the rotating pin shaft and the head (36), the other end of the rotating block (38) is provided with a connecting lug, the connecting lug is provided with the second fixing block (310), the side of the second fixing block (310) is processed into a embedding hole near the side of the storage bin (39), the third elastic ring (312) is embedded in the embedding hole on the second fixing block (310), and one end of the rotating pin shaft passes through a side lug plate of the rotating block (38), the second fixing block (310), the third elastic ring (312), the storage bin (39) and the other side lug plate of the rotating block (38) in sequence and is inserted into the limiting cap outside the other side lug plate of the storage bin (39).

8. The multi-functional exoskeleton according to claim 7, characterized by: The leg assembly (4) comprises a thigh unit and a calf unit, one end of the thigh unit is connected with the bottom end of the storage bin (39) through the adjusting mechanism (6), the other end of the thigh unit is hingedly connected with the calf unit, and the other end of the calf unit is connected with the foot assembly (5) through the adjusting mechanism (6); The thigh unit comprises a thigh rod (411), an upper knee joint (413), a rope (417), a guide wheel (418), a thigh shell (419), a thigh bottom shell (420), an elastic mechanism and two thigh binding plates (412), one end of the thigh rod (411) is connected with the bottom end of the storage bin (39) through the adjusting mechanism (6), the other end of the thigh rod (411) is inserted into one end of the upper knee joint (413), the guide wheel (418) is arranged in the upper knee joint (413) and is rotationally connected with the upper knee joint (413), the other end of the upper knee joint (413) is hingedly connected with the calf unit, the two thigh binding plates (412) are oppositely arranged on the front and back sides of the thigh rod (411), and each thigh binding plate (412) is fixedly connected with the thigh rod (411), the thigh shell (419) and the thigh bottom shell (420) are oppositely arranged on the left and right sides of the thigh rod (411), and the thigh shell (419) and the thigh bottom shell (420) are detachably connected, the elastic mechanism is arranged in a cavity formed by the thigh shell (419) and the thigh bottom shell (420), one end of the elastic mechanism is fixedly connected with the inner wall of the thigh shell (419), and the other end of the elastic mechanism is threadedly connected with the upper knee joint (413); The elastic mechanism comprises a guide pipe (414), an elastic body (415) and a compression ring (416), one end of the guide pipe (414) is fixedly connected with the inner wall of the thigh shell (419), the other end of the guide pipe (414) is threadedly connected with the upper knee joint (413), the compression ring (416) and the elastic body (415) are arranged in the guide pipe (414), the compression ring (416) is arranged close to one end of the guide pipe (414) away from the calf unit, one end of the elastic body (415) is connected with one end of the compression ring (416), the other end of the elastic body (415) is connected with the upper knee joint (413), one end of the rope (417) is connected with the compression ring (416), and the other end of the rope (417) passes through the elastic body (415) and is connected with the calf unit through the guide wheel (418); The lower leg unit comprises a lower knee joint (421), a lower leg shell (423), a lower leg bottom shell (424) and two lower leg binding plates (422), one end of the lower knee joint (421) is hinged with the upper knee joint (413), the other end of the cable (417) is connected with the lower knee joint (421), the other end of the lower knee joint (421) is connected with the foot assembly (5) through the adjusting mechanism (6), the front and back sides of the lower knee joint (421) are respectively provided with a lower leg binding plate (422), each lower leg binding plate (422) is fixedly connected with the lower knee joint (421), the lower leg shell (423) and the lower leg bottom shell (424) are respectively arranged on the front and back sides of the lower knee joint (421), and the lower leg shell (423) and the lower leg bottom shell (424) are buckled and arranged.

9. The multi-functional exoskeleton according to claim 8, characterized in that: The foot assembly (5) comprises an adjusting rod (511), an ankle rotation block (512), a fourth elastic ring (513), a third fixed block (514), an ankle turnover block (515), a lateral foot support (516), a foot surface energy buckle (517), a foot bottom (518), a foot bottom rubber (519), a wear-resistant bottom plate (520), an ankle energy buckle (521), a fifth elastic ring (522), and a fourth fixed block (523). One end of the adjusting rod (511) is connected to the other end of the lower knee joint (421) through an adjusting mechanism (6), and the other end of the adjusting rod (511) is inserted into the ankle rotation block (512). The ankle rotation block (512) and the third fixed block (514) are arranged in the connecting ears on the upper part of the ankle turnover block (515). The third fixed block (514) is arranged on one side of the ankle rotation block (512). The third fixed block (514) is embedded with the fourth elastic ring (513) on the side close to the ankle rotation block (512). One end of the rotating pin shaft passes through the side ear plate on the upper part of the ankle turnover block (515), the ankle rotation block (512), the fourth elastic ring (513), the third fixed block (514), the other side ear plate on the upper part of the ankle turnover block (515), and is installed in the limiting cap arranged on the outside of the upper part of the ankle turnover block (515). The lateral foot support (516) and the fourth fixed block (523) are arranged in the connecting ears on the lower part of the ankle turnover block (515). The fourth fixed block (523) is arranged on one side of the lateral foot support (516). The fourth fixed block (523) is embedded with the fifth elastic ring (522) on the side close to the lateral foot support (516). One end of the rotating pin shaft passes through the side ear plate on the lower part of the ankle turnover block (515), the lateral foot support (516), the fifth elastic ring (522), the fourth fixed block (523), the other side ear plate on the lower part of the ankle turnover block (515), and is installed in the limiting cap arranged on the outside of the lower part of the ankle turnover block (515). The bottom of the lateral foot support (516) is fixedly connected to the upper surface of the foot bottom (518). The bottom of the foot bottom (518) is provided with the foot bottom rubber (519). The foot bottom rubber (519) is of an L-shaped structure. The foot bottom (518) is arranged on the horizontal part of the foot bottom rubber (519). The lateral foot support (516) and the vertical part in the foot bottom (519) are arranged in parallel. The bottom of the foot bottom rubber (519) is provided with the wear-resistant bottom plate (520). The foot bottom (518), the foot bottom rubber (519), and the wear-resistant bottom plate (520) are connected by bolts. The foot surface energy buckle (517) and the ankle energy buckle (521) are symmetrically arranged along the center line in the width direction of the foot bottom (518). One end of the foot surface energy buckle (517) is connected to the lateral foot support (516) by a bolt. The other end of the foot surface energy buckle (517) is connected to the vertical part of the foot bottom rubber (519) by a bolt. One end of the ankle energy buckle (521) is connected to the lateral foot support (516) by a bolt. The other end of the ankle energy buckle (521) is connected to the vertical part of the foot bottom rubber (519) by a bolt.

10. The multi-functional exoskeleton according to claim 9, characterized in that: The adjusting mechanism (6) comprises a base (61), a handle (62), an adjusting piece (63), two column pins (65) and two magnets (64), the base (61) and the handle (62) are oppositely arranged, the handle (62) is buckled on the base (61), and the upper part of the handle (62) is hinged with the upper part of the base (61) through a column pin (65), one end of the adjusting piece (63) is connected with the handle (62) through another column pin (65), the other column pin (65) is movably connected with the handle (62), the other end of the adjusting piece (63) penetrates through the base (61) and is arranged outside the base (61), a plurality of fixed screw holes are formed on the side of the base (61) away from the handle (62), one magnet (64) is embedded on the side of the base (61) towards the handle (62), the other magnet (64) is embedded on the side of the handle (62) towards the base (61), and the two magnets (64) are adsorbed together through magnetic force.

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