Modular continuous exoskeleton structure and exoskeleton system

Abstract

The present invention discloses a modular continuous exoskeleton structure and an exoskeleton system, and relates to the technical field of exoskeleton robots. The present invention includes a skeleton airbag, and the two ends of the skeleton airbag are respectively detachably installed with a front support ring and a rear support ring, and the skeleton airbag and the front support ring and the rear support ring are coaxially arranged; the side wall of the skeleton airbag is detachably installed with a side frame in the axial direction. The present invention can quickly realize the assembly and use of the exoskeleton through the mutual cooperation of the front support ring, the skeleton airbag, the rear support ring and other structures, and the operation is simple, and local replacement can be performed. A plurality of skeleton airbags can be freely combined, and the requirements of joint movement in different positions can be met to realize bending assistance with different degrees of freedom, so that the overall device has the characteristics of flexibility, support, bionics, flexibility, etc., which can effectively solve the problem that the rigid exoskeleton is not flexible enough and the flexible exoskeleton lacks certain support.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton robots, in particular to a modular continuous exoskeleton structure and an exoskeleton system. Background Art

[0002] The exoskeleton system uses external driving force to assist or enhance human movement. For example, it can help the wearer to carry and lift objects, improve the wearer's carrying and lifting abilities, etc. It has broad application prospects and huge economic value in the fields of medicine, military, and industrial production.

[0003] In exoskeleton robot systems, designing multiple robot joints to actively drive degrees of freedom by imitating the movement characteristics of human joints has become a common form of multi-joint drive, which can be divided into rigid exoskeletons and flexible exoskeletons. Generally, rigid exoskeletons are not flexible enough, and flexible exoskeletons lack support. In addition, most exoskeleton joints are series or parallel, which have problems of movement dislocation, lack of bionics and flexibility compared with human joints. For this reason, we propose a modular continuous exoskeleton structure and exoskeleton system. Summary of the invention

[0004] The object of the present invention is to provide a modular continuous exoskeleton to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a modular continuous exoskeleton structure, applied to assist elbow joint flexion and extension, comprising a skeleton-type airbag, wherein the two ends of the skeleton-type airbag are respectively detachably mounted with a front support ring and a rear support ring, and the skeleton-type airbag and the front support ring and the rear support ring are coaxially arranged;

[0006] The side wall of the skeleton-type airbag is axially detachably mounted with a side frame, the side frame is coaxially arranged with the skeleton-type airbag, and both ends of the side frame are fixedly connected with a first clamping block, and are detachably connected to the front support ring and the rear support ring respectively through the first clamping block.

[0007] Furthermore, the cross-sectional shape of the skeleton airbag is set to be an arc shape, and multiple airbags are arranged on the skeleton airbag. The multiple airbags are a continuous structure, the upper connections of the multiple airbags are interconnected, and the lower parts of the airbags are folded inwards.

[0008] Furthermore, the side wall of the skeleton airbag is axially fixedly connected with a second clamping block, the bottom of the side frame is provided with a second clamping groove adapted to the second clamping block, and the side frame is detachably mounted on the skeleton airbag through the second clamping block and the second clamping groove.

[0009] Furthermore, there are multiple second card blocks, each two second card blocks form a group for use, and two groups of second card blocks are provided on one side of the skeleton airbag, and the two groups of second card blocks are symmetrically arranged along the radial center line of the skeleton airbag as the symmetry axis.

[0010] Furthermore, the number of the side frames is set to two, and the side frames are set to be arc-shaped.

[0011] Furthermore, an air inlet pipe is installed on the side wall of one end of the skeleton-type airbag facing the front support ring, and a first through hole matched with the air inlet pipe is opened on the side wall of the front support ring.

[0012] Furthermore, a third clamping block is installed on the side wall of one end of the skeleton-type airbag facing the rear support ring, and a third clamping groove matched with the third clamping block is opened on the side wall of the rear support ring.

[0013] Furthermore, the side walls of the front support ring and the rear support ring are both provided with first clamping grooves adapted to the first clamping blocks.

[0014] According to another aspect of the present invention, the present invention provides an exoskeleton system, comprising the above-mentioned modular continuous exoskeleton structure, and also comprising a mounting frame, a motor is mounted on the side wall of the mounting frame, a gear is fixedly connected to the output end of the motor, a winding wheel is coaxially mounted on the side wall of the gear, a steel cable is wound around the winding wheel, and the free end of the steel cable passes through the front support ring and is fixed to the rear support ring;

[0015] The outer surface of the gear is meshed with a rack, which is slidably connected to the mounting frame, and the bottom end of the rack is fixedly connected to a piston plate, and the outer surface of the piston plate is coaxially sleeved with a piston cylinder, a conduit is installed at the bottom end of the piston cylinder, a throttle valve is installed at the end of the conduit, a three-way connector is installed at the output end of the throttle valve, and two outlet pipes of the three-way connector are respectively connected to the inlet pipe.

[0016] Furthermore, a sleeve is sleeved on the outer surface of the steel cable, one end of the sleeve is connected to the mounting frame, and the other end is connected to the front support ring;

[0017] A guide groove matched with the rack is provided on the inner wall of the mounting frame.

[0018] The present invention has at least the following beneficial effects:

[0019] 1. The present invention can quickly realize the assembly and use of the exoskeleton through the mutual cooperation of the front support ring, skeleton airbag, rear support ring and other structures. The operation is simple, partial replacement can be carried out, and multiple skeleton airbags can be freely combined. It can also meet the needs of joint movement in different positions and realize bending assistance with different degrees of freedom, so that the overall device has the characteristics of flexibility, support, bionics, flexibility, etc., which can effectively solve the problem that the rigid exoskeleton is not flexible enough and the flexible exoskeleton lacks a certain degree of support.

[0020] 2. The present invention cooperates with the motor, gear, winding wheel, piston cylinder and other structures, and can inflate the skeleton airbag while pulling the rear support ring through the steel cable. The mutual cooperation between the two driving modes of the steel cable and the skeleton airbag can drive the exoskeleton to bend upward, thereby realizing the assisted bending operation of the arm, and by controlling the rotation or locking of the motor, three modes of traction bending, stretching and resetting or maintaining the state can be realized. The operation is simple, convenient and practical.

[0021] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional schematic diagram of an exoskeleton structure according to an embodiment of the present invention;

[0023] Figure 2 This is an exploded schematic diagram of an exoskeleton structure according to a first embodiment of the present invention;

[0024] Figure 3 It is a side view schematic diagram of an exoskeleton structure according to an embodiment of the present invention;

[0025] Figure 4 It is a three-dimensional schematic diagram of the overall structure of the exoskeleton system of the present invention;

[0026] Figure 5 It is a first exploded schematic diagram of the mounting frame structure of the second embodiment of the present invention;

[0027] Figure 6 It is a second exploded schematic diagram of the mounting frame structure of the second embodiment of the present invention;

[0028] Figure 7 This is a three-dimensional schematic diagram of the exoskeleton structure of Embodiment 3 of the present invention from a first viewing angle;

[0029] Figure 8 It is a stereoscopic schematic diagram of the exoskeleton structure of the third embodiment of the present invention from a second viewing angle.

[0030] Reference numerals:

[0031] 1. Skeleton airbag; 2. Front support ring; 3. Rear support ring; 4. Side skeleton; 5. First clamping block; 6. First clamping slot; 7. Second clamping block; 8. Second clamping slot; 9. Third clamping block; 10. Third clamping slot; 11. First through hole; 12. Mounting frame; 13. Motor; 14. Gear; 15. Winding wheel; 16. Steel cable; 17. Rack; 18. Piston plate; 19. Piston cylinder; 20. Conduit; 21. Throttle valve; 22. Three-way connector; 23. Sleeve; 24. Guide groove. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0033] Embodiment 1:

[0034] See also Figure 1-Figure 8 The present invention provides a technical solution: a modular continuous exoskeleton structure, applied to assist elbow joint flexion and extension, comprising a skeleton airbag 1, a front support ring 2 and a rear support ring 3 are detachably mounted at both ends of the skeleton airbag 1, and the skeleton airbag 1 and the front support ring 2 and the rear support ring 3 are coaxially arranged;

[0035] A side frame 4 is detachably installed axially on the side wall of the skeleton-type airbag 1. The side frame 4 is coaxially arranged with the skeleton-type airbag 1, and both ends of the side frame 4 are fixedly connected with a first clamping block 5, and are detachably connected to the front support ring 2 and the rear support ring 3 respectively through the first clamping block 5.

[0036] According to the technical solution of this embodiment, the cross-sectional shape of the skeleton airbag 1 is set to be an arc shape, and multiple airbags are arranged on the skeleton airbag 1. The multiple airbags are a continuous structure. The upper connections of the multiple airbags are interconnected, and the lower part of the airbag is folded inward. When the airbag is inflated, the internal air pressure of the airbag increases and expands outward. At this time, the folded part of the lower part of the airbag will also unfold. At this time, since the deformation reserved space below is larger and the deformation reserved space above is smaller, the overall deformation direction of the airbag is bent upward, which is convenient for squeezing the rear support ring 3 and increasing the bending effect. It should be noted that in order to make the airbag produce as large a deformation effect as possible, the overall wall thickness of the airbag is 1 mm, and the airbag is made of TPU85A material.

[0037] According to the technical solution of this embodiment, the side wall of the skeleton-type airbag 1 is axially fixedly connected with a second clamp block 7, and the bottom of the side frame 4 is provided with a second clamp groove 8 adapted to the second clamp block 7. The side frame 4 is detachably mounted on the skeleton-type airbag 1 through the second clamp block 7 and the second clamp groove 8. The second clamp block 7 and the second clamp groove 8 are convenient for quickly installing and disassembling the side frame 4, and for partial replacement with an airbag or a skeleton to adapt to the movement requirements of different joint positions, that is, the requirements of different degrees of freedom.

[0038] Furthermore, there are multiple second card blocks 7, and every two second card blocks 7 are used as a group, and two groups of second card blocks 7 are arranged on one side of the skeleton airbag 1. The two groups of second card blocks 7 are symmetrically arranged along the radial center line of the skeleton airbag 1 as the symmetry axis. When the side frame 4 needs to be installed, the second card grooves 8 at both ends of the side need to be respectively inserted into the second card blocks 7. This arrangement makes it easy to keep the side frame 4 effectively fixed with the skeleton airbag 1 when it is bent, so as to avoid separation due to inconsistent bending degrees of the two.

[0039] According to the technical solution of this embodiment, the number of side frames 4 is set to two, and the side frames 4 are set to be arc-shaped. Through the two side frames 4, the user's arms can be wrapped and fixed from both sides, and the side frames 4 are made of TPU98A material.

[0040] According to the technical solution of this embodiment, an air inlet pipe is installed on the side wall of one end of the skeleton airbag 1 facing the front support ring 2, and a first through hole 11 adapted to the air inlet pipe is opened on the side wall of the front support ring 2. The air inlet pipe is used to facilitate the inflation or suction of the skeleton airbag 1, so as to realize the expansion or contraction of the skeleton airbag 1;

[0041] Furthermore, a third clamping block 9 is installed on the side wall of one end of the skeleton airbag 1 facing the rear support ring 3, and a third clamping groove 10 adapted to the third clamping block 9 is opened on the side wall of the rear support ring 3. When the rear support ring 3 bends upward, the rear support ring 3 will drive the end of the skeleton airbag 1 to bend upward accordingly. At this time, the third clamping block 9 and the third clamping groove 10 are used to enhance the connection strength between the rear support ring 3 and the skeleton airbag 1 to prevent the two from detaching.

[0042] Furthermore, the side walls of the front support ring 2 and the rear support ring 3 are provided with a first card slot 6 adapted to the first card block 5. The first card block 5 and the first card slot 6 are used to enhance the connection strength between the side frame 4 and the front support ring 2 and the rear support ring 3.

[0043] It should be noted that through holes are provided on the top of the front support ring 2 and the top of the rear support ring 3. When the steel cable 16 passes through the front support ring 2 and is fixed to the rear support ring 3, when the steel cable 16 is pulled, it will drive the rear support ring 3 to bend upward, thereby facilitating the bending operation of the user's elbow joint.

[0044] Specifically, when it is necessary to assist the user in bending the elbow joint, first, the side frame 4 is installed on the skeleton airbag 1 through the second clamping block 7 and the second clamping slot 8, and then the front support ring 2 and the rear support ring 3 are installed on the side wall frame through the first clamping block 5 and the second clamping slot 8 respectively. At the same time, by clamping the third clamping block 9 into the third clamping slot 10, the lower part of the rear support ring 3 is connected to the skeleton airbag 1 to form an exoskeleton structure, and then the exoskeleton structure is put on the user's arm as a whole, so that the front support ring 2 is located at the upper arm position, the rear support ring 3 is located at the forearm position, and the skeleton airbag 1 is located at the elbow joint, and then the steel cable is passed through the front support ring 2 and connected to the rear support ring 3. The rear support ring 3 can be driven to bend upward by pulling the steel cable, and gas is filled into the skeleton airbag 1 through the air inlet pipe to expand the airbag. At this time, the overall deformation direction of the airbag is bending upward, so as to facilitate squeezing the rear support ring 3 to make it bend upward.

[0045] Embodiment 2:

[0046] The present invention provides an exoskeleton system, comprising the modular continuous exoskeleton structure described in the first embodiment, and also comprising a mounting frame 12, a motor 13 is mounted on the side wall of the mounting frame 12, the motor 13 is powered by an external power supply, the output end of the motor 13 is fixedly connected to a gear 14, a winding wheel 15 is coaxially mounted on the side wall of the gear 14, a steel cable 16 is wound around the winding wheel 15, and the free end of the steel cable 16 passes through the front support ring 2 and is fixed to the rear support ring 3, the motor 13 is started to drive the gear 14 to rotate forward or reversely to drive the winding wheel 15 to rotate, when the winding wheel 15 rotates forwardly, the steel cable 16 is pulled, so that the rear support ring 3 can be driven to bend upward, thereby realizing the arm-assisted bending operation, when the winding wheel 15 rotates reversely, the steel cable 16 is released, and the pulling of the rear support ring 3 is stopped at this time;

[0047] The outer surface of the gear 14 is meshed with a rack 17, and the rack 17 is slidably connected to the mounting frame 12. The bottom end of the rack 17 is fixedly connected to a piston plate 18, and the outer surface of the piston plate 18 is coaxially sleeved with a piston cylinder 19. The bottom end of the piston cylinder 19 is installed with a conduit 20, and a throttle valve 21 is installed at the end of the conduit 20. A three-way connector 22 is installed at the output end of the throttle valve 21, and two outlet pipes of the three-way connector 22 are respectively connected to the air inlet pipe. When the gear 14 rotates forward and drives the winding wheel 15 to wind up the steel cable 16, it will drive the rack 17 to move downward, so that the piston squeezes the air in the piston cylinder 19 downward. At this time, the air in the piston cylinder 19 will be transported to the skeleton airbag 1 through the conduit 20 and the three-way connector 22, and the skeleton airbag 1 will be inflated to make it bend upward, which can further provide thrust to the rear support ring 3 and increase the bending assist effect.

[0048] According to the technical solution of this embodiment, a sleeve 23 is sleeved on the outer surface of the steel cable 16, one end of the sleeve 23 is connected to the mounting frame 12, and the other end is connected to the front support ring 2. The sleeve 23 is provided to facilitate storage and protection of the steel cable 16 to prevent damage to the steel cable 16;

[0049] A guide groove 24 adapted to the rack 17 is provided on the inner wall of the mounting frame 12 . The guide groove 24 is provided to provide support and guidance to the rack 17 when it moves up and down, thereby preventing the rack 17 from being dislocated and disengaged from the gear 14 .

[0050] It should be noted that the motor 13 is a servo motor 13 , and a position ring is installed on the servo motor 13 to facilitate the self-locking function, so that the motor 13 drives the gear 14 and the winding wheel 15 to remain in a fixed state when it is not in use.

[0051] Specifically, when the starting motor 13 drives the gear 14 to rotate forward, it will drive the winding wheel 15 to rotate accordingly. When the winding wheel 15 rotates, it will pull the steel cable 16, thereby driving the rear support ring 3 to bend upward, thereby realizing the arm-assisted bending operation. When the gear 14 rotates forward, it will also drive the rack 17 to move downward, so that the piston squeezes the air in the piston cylinder 19 downward. At this time, the air in the piston cylinder 19 will be transported to the skeleton airbag 1 through the conduit 20 and the three-way connector 22, and the skeleton airbag 1 will be inflated to make it bend upward, which can further provide thrust to the rear support ring 3 and increase the bending assistance effect. It should be noted that by setting the throttle valve 21 to control the inflation speed of the skeleton airbag 1, the traction speed of the steel cable 16 can also be adapted to the deformation speed of the skeleton airbag 1, so that when the steel cable 16 pulls the rear support ring 3 to the maximum bending position, the skeleton airbag 1 is also inflated to the maximum limit.

[0052] When the reel 15 rotates in the opposite direction, the steel cable 16 will be released, and the pulling of the rear support ring 3 will stop. At this time, the gear 14 will drive the rack 17 to move upward, so that the piston moves upward in the piston cylinder 19, and the air in the skeleton airbag 1 can be sucked, so that the skeleton airbag 1 shrinks and resets, thereby resetting the rear support ring 3 and achieving the extension of the arm;

[0053] When the current traction bending state needs to be maintained, the motor 13 is turned off so that the gear 14 and the rack 17 remain in the current position, thereby maintaining the traction state of the steel cable 16 and the inflation state of the skeleton airbag 1 .

[0054] Embodiment three:

[0055] The fundamental difference between the third embodiment and the first embodiment is that the side frame 4 is cancelled in the overall structure of the exoskeleton and replaced with a plurality of skeleton airbags 1, and the front support ring 2 and the rear support ring 3 are respectively installed at both ends of the skeleton airbag 1, and two air inlet pipes are installed on the side of each skeleton airbag 1 facing the front support ring 2, and the air inlet pipes are arranged through the front support ring 2, and the end of the skeleton airbag 1 facing the rear support ring is inserted into the third slot 10 through the third clamping block 9 to be installed with the rear support ring;

[0056] It should be noted that the present embodiment does not specifically limit the number of skeleton airbags 1. Multiple skeleton airbags can be arranged around the front support ring 2 and the rear support ring 3. Gas can be selectively filled into the skeleton airbags through an externally connected air pump, thereby driving the skeleton airbags 1 to achieve deflection at different angles, which is convenient for application to elbow joints, knee joints, neck joints or wrist joints, realizing multi-degree-of-freedom bending-assisted operation and improving the practicability of the device.

[0057] For the technical solution of this embodiment, Figure 7 and Figure 8 As shown, the number of skeleton airbags 1 is set to three, and the three skeleton airbags 1 are coaxially arranged with the front support ring 2 and the rear support ring 3. It should be noted that only changing the number of skeleton airbags 1 on the basis of the scheme of this embodiment still falls within the protection scope of this embodiment.

[0058] To sum up, by freely combining the skeleton-type airbags 1 or the skeleton, the needs of joint movement in different positions, that is, the needs of different degrees of freedom, are met, so that the device has the characteristics of flexibility, support, bionics, flexibility, etc., which can effectively solve the problem that the rigid exoskeleton is not flexible enough and the flexible exoskeleton lacks a certain degree of support.

[0059] The use principle and process of the present invention are as follows: when it is necessary to assist the user's arm, first, the side frame 4 is installed on the skeleton airbag 1 through the second clamping block 7 and the second clamping slot 8, and then the front support ring 2 and the rear support ring 3 are installed on the side wall frame through the first clamping block 5 and the second clamping slot 8 respectively. At the same time, by clamping the third clamping block 9 into the third clamping slot 10, the lower part of the rear support ring 3 is connected to the skeleton airbag 1 to form an exoskeleton structure, and then the exoskeleton structure is integrally sleeved on the user's arm, so that the front support ring 2 is located at the upper arm position, the rear support ring 3 is located at the forearm position, and the skeleton airbag 1 is located at the elbow joint. When bending assistance is needed, the starting motor 13 drives the gear 14 to rotate forward, which will drive the winding wheel 15 to rotate accordingly. When the winding wheel 15 rotates, it will pull the steel cable 16 The gear 14 is driven to bend the rear support ring 3 upward, thereby realizing the arm-assisted bending operation. When the gear 14 rotates forward, it will also drive the rack 17 to move downward, so that the piston squeezes the air in the piston cylinder 19 downward. At this time, the air in the piston cylinder 19 will be transported to the skeleton airbag 1 through the conduit 20 and the three-way connector 22, and the skeleton airbag 1 will be inflated to bend upward, which can further provide thrust to the rear support ring 3 and increase the bending assistance effect. It should be noted that by setting the throttle valve 21 to control the inflation speed of the skeleton airbag 1, the traction speed of the steel cable 16 can also be adapted to the deformation speed of the skeleton airbag 1, so that when the steel cable 16 pulls the rear support ring 3 to the maximum bending position, the skeleton airbag 1 is also inflated to the maximum limit.

[0060] When a certain bending degree is reached and the current traction bending state needs to be maintained, the motor 13 is turned off so that the gear 14 and the rack 17 remain in the current position, thereby maintaining the traction state of the steel cable 16 and the inflation state of the skeleton airbag 1, thereby maintaining the current bending state.

[0061] When the arm needs to be extended again, the starting motor 13 drives the gear 14 and the winding wheel 15 to rotate in the opposite direction, and the steel cable 16 is released, which stops pulling the rear support ring 3. At this time, the gear 14 drives the rack 17 to move upward, so that the piston moves upward in the piston cylinder 19, and the air in the skeleton airbag 1 can be sucked, so that the skeleton airbag 1 shrinks and resets, thereby resetting the rear support ring 3 and achieving the extension of the arm.

[0062] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0063] For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. When an element is referred to as being "assembled on", "installed on", "fixed on" or "set on" another element, it can be directly on the other element or there can also be a centered element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a centered element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are only for illustrative purposes and are not intended to be the only implementation method.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

[0065] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A modular continuous exoskeleton structure for assisting elbow flexion and extension, comprising a skeleton-type airbag (1), characterized in that: The two ends of the skeleton-type airbag (1) are respectively detachably mounted with a front support ring (2) and a rear support ring (3), and the skeleton-type airbag (1) and the front support ring (2) and the rear support ring (3) are coaxially arranged; A side frame (4) is detachably mounted on the side wall of the skeleton-type airbag (1) in the axial direction, the side frame (4) is coaxially arranged with the skeleton-type airbag (1), and both ends of the side frame (4) are fixedly connected to a first clamping block (5), and are detachably connected to the front support ring (2) and the rear support ring (3) respectively through the first clamping block (5); The cross-sectional shape of the skeleton-type airbag (1) is set to be an arc shape. A plurality of airbags are arranged on the skeleton-type airbag (1). The plurality of airbags are a continuous structure. The upper connection parts of the plurality of airbags are interconnected, and the lower parts of the airbags are folded inwards. A second clamping block (7) is fixedly connected to the side wall of the skeleton-type airbag (1) along the axial direction, and a second clamping groove (8) adapted to the second clamping block (7) is provided at the bottom of the side frame (4). The side frame (4) is detachably mounted on the skeleton-type airbag (1) via the second clamping block (7) and the second clamping groove (8); The number of the second clamping blocks (7) is plural, and every two second clamping blocks (7) form a group for use, and two groups of second clamping blocks (7) are arranged on one side of the skeleton-type airbag (1), and the two groups of second clamping blocks (7) are arranged symmetrically along the radial center line of the skeleton-type airbag (1) as the symmetry axis; An air inlet pipe is installed on the side wall of one end of the skeleton-type airbag (1) facing the front support ring (2), and a first through hole (11) adapted to the air inlet pipe is opened on the side wall of the front support ring (2); A third clamping block (9) is installed on the side wall of one end of the skeleton-type airbag (1) facing the rear support ring (3), and a third clamping groove (10) adapted to the third clamping block (9) is provided on the side wall of the rear support ring (3).

2. The modular continuous exoskeleton structure according to claim 1, characterized in that: The number of the side frames (4) is set to two, and the side frames (4) are set to be in an arc shape.

3. The modular continuous exoskeleton structure according to claim 2, characterized in that: The side walls of the front support ring (2) and the rear support ring (3) are both provided with a first clamping groove (6) adapted to the first clamping block (5).

4. An exoskeleton system, comprising the modular continuous exoskeleton structure according to any one of claims 1 to 3, characterized in that: It also comprises a mounting frame (12), a motor (13) being mounted on a side wall of the mounting frame (12), an output end of the motor (13) being fixedly connected to a gear (14), a winding wheel (15) being coaxially mounted on the side wall of the gear (14), a steel cable (16) being wound around the winding wheel (15), and a free end of the steel cable (16) passing through the front support ring and being fixed on the rear support ring; The outer surface of the gear (14) is meshingly connected with a rack (17), the rack (17) is slidably connected to the mounting frame (12), the bottom end of the rack (17) is fixedly connected with a piston plate (18), the outer surface of the piston plate (18) is coaxially sleeved with a piston cylinder (19), the bottom end of the piston cylinder (19) is mounted with a guide tube (20), the end of the guide tube (20) is mounted with a throttle valve (21), the output end of the throttle valve (21) is mounted with a three-way connector (22), and two outlet pipes of the three-way connector (22) are respectively connected to the intake pipe.

5. The exoskeleton system according to claim 4, characterized in that: The outer surface of the steel cable (16) is sleeved with a sleeve (23), one end of the sleeve (23) is connected to the mounting frame (12), and the other end is connected to the front support ring; A guide groove (24) adapted to the rack (17) is provided on the inner wall of the mounting frame (12).

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