Mechanism for adjusting exoskeleton legs

Abstract

The invention discloses a mechanism for exoskeleton leg adjustment, and relates to the technical field of exoskeleton leg adjustment, the mechanism comprises a pair of upper movable rods, the inner walls of the pair of upper movable rods are rotatably connected with lower movable rods, the outer walls of the lower movable rods are sleeved with movable sleeve frames, and telescopic adjustment mechanisms are arranged in the movable sleeve frames; binding adjusting mechanisms are arranged on the outer wall of the upper movable rod and the outer wall of the movable sleeve frame, a connecting block is fixedly connected to the bottom end of the movable sleeve frame, and a bearing shoe sole is arranged at the bottom of the connecting block. Meanwhile, in the flexion and extension movement process of the wearer, when the knees are bent and the thighs and the shanks do adaptive movement, the upper movable rod and the lower movable rod are driven to deflect more flexibly, the resistance brought by the movable sleeve frame is reduced, the flexion and extension movement of the wearer is more comfortable and convenient, and the auxiliary effect of the lower limb exoskeleton is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of exoskeleton leg adjustment, and specifically to a mechanism for exoskeleton leg adjustment. Background Technique

[0002] Lower limb exoskeletons are wearable mechanical devices mainly designed to assist or enhance the functions of the human lower limbs. When in use, due to the different heights of different people, the lengths of their legs are also different. Therefore, in order to adapt to the use of different people, the legs of the lower limb exoskeleton need to be adjusted accordingly.

[0003] Currently, when the adjustment of the lower limb exoskeleton leg is completed and worn on the lower limb of a person, the skeleton of the lower limb exoskeleton bends adaptively as the person's knee bends, and the corresponding leg adjustment mechanism also bends adaptively. However, since the leg adjustment mechanism needs to be fixed after adjustment, the bending of the leg adjustment mechanism is generally a whole bending, so that the internal structural components still remain fixed, which is not convenient for adaptive bending adjustment. Moreover, the structural components in the leg adjustment mechanism are relatively numerous and heavy, which is likely to cause a certain degree of resistance when the person's knee bends, resulting in discomfort when the person's knee bends and a deterioration of the assistance effect. For this reason, the present invention proposes a mechanism for exoskeleton leg adjustment. Summary of the Invention

[0004] The purpose of the present invention is to make up for the deficiencies of the prior art and provide a mechanism for exoskeleton leg adjustment.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A mechanism for exoskeleton leg adjustment includes a pair of upper movable rods. The inner walls of the pair of upper movable rods are both rotatably connected with lower movable rods. An activity sleeve frame is sleeved on the outer wall of the lower movable rod, and a telescopic adjustment mechanism is arranged inside the activity sleeve frame. Binding adjustment mechanisms are arranged on the outer walls of the upper movable rod and the activity sleeve frame. The bottom end of the activity sleeve frame is fixedly connected with a connecting block, and a sole support is arranged at the bottom of the connecting block. A deflection adjustment mechanism is arranged at one end of the sole support, and the deflection adjustment mechanism is located at the bottom of the connecting block.

[0006] As a preferred solution of the present invention, each of the pair of telescopic adjustment mechanisms includes a fixed roller. The lower movable rod is sleeved on the outer wall of the fixed roller, and the inner wall of the lower movable rod is rotatably connected with the outer wall of the fixed roller. A threaded through groove is drilled at one end of the lower movable rod. A plurality of uniformly distributed threaded through holes are drilled on the outer wall of the activity sleeve frame, and the inner wall of the threaded through hole at the bottom is threadedly connected with a locking screw, and the locking screw is threadedly connected with the threaded through groove.

[0007] As a preferred solution of the present invention, a plurality of pairs of uniformly distributed auxiliary round rods are provided inside the movable sleeve frame, and the fixed roller is in contact with the four pairs of auxiliary round rods at the bottom. One end of the auxiliary round rod is fixedly connected with a slider. A plurality of pairs of chutes are dug on the inner wall of the movable sleeve frame, and the slider is located in the chute and is slidably connected thereto. The inner wall of the chute is fixedly connected with an inner rod, and the slider is sleeved on the outer wall of the inner rod. A telescopic spring is sleeved on the outer wall of the inner rod. One end of the telescopic spring is fixedly connected with one end of the slider, and the other end of the telescopic spring is fixedly connected with the inner wall of the chute.

[0008] As a preferred solution of the present invention, each pair of the deflection adjustment mechanisms includes an adapter seat. Multi-grooved wheels are fixedly connected to the inner walls of the adapter seat and the adapter block, and a plurality of TPE elastic bands are sleeved between the outer walls of the pair of multi-grooved wheels. An installation groove is dug at one end of the adapter seat close to the supporting sole, and a movable ball joint is embedded and connected to the inner wall of the installation groove. One end of the movable ball joint is fixedly connected with a deflection block, and the end of the deflection block away from the movable ball joint is fixedly connected with one end of the supporting sole.

[0009] As a preferred solution of the present invention, a plurality of spring strips are fixedly connected to one end of the deflection block. The ends of the plurality of spring strips away from the deflection block are all fixedly connected with sliding round blocks. An annular chute is dug on the inner wall of the installation groove, and the plurality of sliding round blocks are all located in the annular chute and are slidably connected thereto.

[0010] As a preferred solution of the present invention, a silica gel pad is fixedly connected to one end of the adapter seat close to the supporting sole, and the silica gel pad is located on the top of the deflection block.

[0011] As a preferred solution of the present invention, a pair of elastic restraint bands are fixedly connected to the top end of the supporting sole. A pair of fixed rings are fixedly connected to the top end of the supporting sole, and one end of the elastic restraint band passes through the fixed ring and extends to the outside thereof. The two ends of the elastic restraint band are adhered by a magic tape.

[0012] As a preferred solution of the present invention, each pair of the bundling adjustment mechanisms includes an elastic broadband. One ends of a pair of the elastic broadbands are respectively fixedly connected to the outer walls of the upper movable rod and the movable sleeve frame. The other end of the elastic broadband is fixedly connected with an elastic binding sleeve, and a plurality of elastic air bags are fixedly connected to the inside of the elastic binding sleeve. The top ends of the plurality of elastic air bags are all fixedly connected with inflation nozzles, and a sealing plug is sleeved on the top of the inflation nozzle. A plurality of round holes are dug on the top end of the movable sleeve frame, and the outer wall of the inflation nozzle is in contact with the inner wall of the round hole. The end of the elastic binding sleeve away from the elastic broadband is fixedly connected with an elastic binding strap.

[0013] As a preferred solution of the present invention, one end of the elastic strap away from the elastic sleeve is fixedly connected with an insertion block, and one end of the insertion block is rotatably connected with a locking block. A rectangular through groove is formed on the outer wall of the elastic broadband, and the outer wall of the insertion block is in contact with the inner wall of the rectangular through groove. One end of the locking block passes through the rectangular through groove and extends to the outside thereof, and the other end of the locking block is in contact with the outer wall of the elastic broadband.

[0014] Compared with the prior art, the mechanism for exoskeleton leg adjustment has the following beneficial effects:

[0015] First, through the telescopic adjustment mechanism provided in the present invention, telescopic adjustment can be made according to the legs of the wearer to adapt to the wear of people with different leg lengths. At the same time, during the flexion and extension movement of the wearer, when the knee bends and the thigh and calf move adaptively, the upper movable rod and the lower movable rod are driven to deflect more flexibly, reducing the resistance brought by the movable sleeve frame, making the flexion and extension movement of the wearer more comfortable and convenient, and enhancing the auxiliary effect of the lower limb exoskeleton.

[0016] Second, through the deflection adjustment mechanism provided in the present invention, when a person walks, the ankle joint performs dorsiflexion and plantar flexion movements, so that the foot can be adaptively adjusted for multi-angle deflection within the range of movement relative to the leg, not limited to the assistance of a single angle, facilitating the dorsiflexion and plantar flexion movements of the ankle joint and improving comfort.

[0017] Third, through the bundling adjustment mechanism provided in the present invention, when bundling and fixing the thighs and calves of a person, adjustment can be made according to the thigh and calf body types of different people, so that the bundling and fixing fit the thighs and calves more closely. While maintaining appropriate support and fixation, it will not overly squeeze the legs of the person, improving comfort.

[0018] Other advantages, objectives and features of the present invention will be described to some extent in the subsequent specification, and to some extent, will be obvious to those skilled in the art based on the study of the following text, or can be taught from the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the overall three-dimensional structural schematic diagram of the present invention;

[0020] Figure 2 is the partial disassembled structural schematic diagram of the telescopic adjustment mechanism in the present invention;

[0021] Figure 3 is the partial sectional structural schematic diagram of the telescopic adjustment mechanism in the present invention;

[0022] Figure 4 For the present invention Figure 3 is the enlarged structural schematic diagram at A in the present invention;

[0023] Figure 5 This is a partial exploded view of the sole support and deflection adjustment mechanism in the present invention;

[0024] Figure 6 This is a partial exploded view of the deflection adjustment mechanism in the present invention;

[0025] Figure 7 This is the present invention Figure 6 An enlarged view of the structure at position B in the present invention;

[0026] Figure 8 This is a partial exploded view of the bundling adjustment mechanism in the present invention;

[0027] Figure 9 This is a view of the bundling adjustment mechanism in another perspective of the present invention.

[0028] In the figure: 1. Upper movable rod; 2. Movable sleeve frame; 3. Lower movable rod; 4. Telescopic adjustment mechanism; 401. Fixed roller; 402. Locking screw; 403. Threaded through groove; 404. Threaded through hole; 405. Auxiliary round rod; 406. Slide block; 407. Slide groove; 408. Built-in rod; 409. Telescopic spring; 5. Connecting block; 6. Deflection adjustment mechanism; 601. Connecting seat; 602. Multi-grooved pulley; 603. TPE elastic band; 604. Installation groove; 605. Deflection block; 606. Movable ball joint; 607. Sliding round block; 608. Annular slide groove; 609. Spring strip; 7. Silicone pad; 8. Sole support; 9. Elastic restraint band; 10. Fixed ring; 11. Bundling adjustment mechanism; 1101. Elastic wide band; 1102. Elastic binding sleeve; 1103. Elastic inflatable bag; 1104. Inflation nozzle; 1105. Sealing plug; 1106. Elastic binding strap; 1107. Rectangular through groove; 1108. Insert block; 1109. Locking block. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0030] As Figures 1-9As shown in the figure, the present invention provides a technical solution: a mechanism for exoskeleton leg adjustment, including a pair of upper movable rods 1. The inner walls of the pair of upper movable rods 1 are both rotatably connected with lower movable rods 3. An activity sleeve frame 2 is sleeved on the outer wall of the lower movable rod 3, and a telescopic adjustment mechanism 4 is arranged inside the activity sleeve frame 2. Binding adjustment mechanisms 11 are arranged on the outer walls of the upper movable rod 1 and the activity sleeve frame 2. The bottom end of the activity sleeve frame 2 is fixedly connected with a connecting block 5, and a supporting sole 8 is arranged at the bottom of the connecting block 5. A deflection adjustment mechanism 6 is arranged at one end of the supporting sole 8, and the deflection adjustment mechanism 6 is located at the bottom of the connecting block 5.

[0031] According to the overall structure of the device, when a person wears it, the binding adjustment mechanism 11 can make corresponding adjustments according to the thigh and calf body shapes of the person to ensure its fixed comfort. Moreover, the telescopic adjustment mechanism 4 can make corresponding adjustments according to the leg lengths of different people, and can make more flexible adjustment assistance when the person's knee joint flexes and extends, reducing resistance. Furthermore, the deflection adjustment mechanism 6 can assist the dorsiflexion and plantar flexion movements of the ankle joint at multiple angles when the person walks, improving walking comfort, thereby realizing the improvement of lower limb movement comfort by adjusting and assisting the leg fixation, flexion and extension movements, and ankle joint movements.

[0032] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown in the figure, each of the pair of telescopic adjustment mechanisms 4 includes a fixed roller 401. The lower movable rod 3 is sleeved on the outer wall of the fixed roller 401, and the inner wall of the lower movable rod 3 is rotatably connected with the outer wall of the fixed roller 401. A threaded through groove 403 is drilled at one end of the lower movable rod 3. A plurality of uniformly distributed threaded through holes 404 are drilled on the outer wall of the activity sleeve frame 2, and a locking screw 402 is threadedly connected to the inner wall of the threaded through hole 404 at the bottom. The locking screw 402 is threadedly connected with the threaded through groove 403. A plurality of pairs of uniformly distributed auxiliary round rods 405 are arranged inside the activity sleeve frame 2, and the fixed roller 401 is in contact with the four pairs of auxiliary round rods 405 at the bottom. One end of the auxiliary round rod 405 is fixedly connected with a slider 406. A plurality of pairs of chutes 407 are drilled on the inner wall of the activity sleeve frame 2, and the slider 406 is located in the chute 407 and is slidably connected therewith. An inner rod 408 is fixedly connected to the inner wall of the chute 407, and the slider 406 is sleeved on the outer wall of the inner rod 408. A telescopic spring 409 is sleeved on the outer wall of the inner rod 408. One end of the telescopic spring 409 is fixedly connected with one end of the slider 406, and the other end of the telescopic spring 409 is fixedly connected with the inner wall of the chute 407.

[0033] Through the setting of the telescopic adjustment mechanism 4, the fixed roller 401 is locked and fixed with the locking screw 402 at different height positions, which can drive the lower movable rod 3 to perform corresponding height adjustment, so as to meet the wearing and use requirements of people with different leg lengths. When the upper movable rod 1 and the lower movable rod 3 perform corresponding bending movements during the flexion and extension of the human knee, the lower movable rod 3 can perform corresponding deflection and bending inside the movable sleeve frame 2, without carrying the movable sleeve frame 2 for overall deflection and bending, reducing the heavy resistance, making the lower movable rod 3 more flexible and fast in responding to the flexion and extension movement of the human knee, thus improving the convenience and comfort of leg movement, enhancing the auxiliary effect of the lower limb exoskeleton. Moreover, the upper movable rod 1, the lower movable rod 3 and the movable sleeve frame 2 are made of carbon fiber reinforced plastic material, which has high strength and also ensures its light weight performance, reducing the heaviness of the lower limb exoskeleton during use.

[0034] As Figure 1 , Figure 5 , Figure 6 and Figure 7 shown, a pair of deflection adjustment mechanisms 6 each include an adapter seat 601. The inner walls of the adapter seat 601 and the adapter block 5 are both fixedly connected with multiple grooved pulleys 602. A plurality of TPE elastic bands 603 are sleeved between the outer walls of the pair of grooved pulleys 602. An installation groove 604 is drilled at one end of the adapter seat 601 close to the supporting sole 8. A movable ball joint 606 is embedded and connected to the inner wall of the installation groove 604. One end of the movable ball joint 606 is fixedly connected with a deflection block 605. The end of the deflection block 605 away from the movable ball joint 606 is fixedly connected with one end of the supporting sole 8. One end of the deflection block 605 is fixedly connected with a plurality of spring strips 609. The ends of the plurality of spring strips 609 away from the deflection block 605 are all fixedly connected with sliding round blocks 607. An annular sliding groove 608 is drilled in the inner wall of the installation groove 604. The plurality of sliding round blocks 607 are all located in the annular sliding groove 608 and are slidably connected thereto. One end of the adapter seat 601 close to the supporting sole 8 is fixedly connected with a silica gel pad 7, and the silica gel pad 7 is located on top of the deflection block 605.

[0035] Through the setting of the deflection adjustment mechanism 6, during the walking process of a person, the ankle joint needs to perform dorsiflexion and plantar flexion movements, and the movement range of the ankle joint is often irregular. Multiple TPE elastic bands 603 will undergo corresponding bending deformation adjustments when the ankle joint moves relative to the calf, and their angular changes are not limited to a single angle, promoting the deformation movement to better fit the movement changes of the ankle joint, improving its comfort. Moreover, the TPE elastic band 603 has excellent elastic properties, with fast deformation and recovery responses, wear and aging resistance, is not easily affected by temperature changes, and has a long service life. At the same time, when the ankle joint performs dorsiflexion and plantar flexion movements, the sole of the foot will also perform corresponding upward or downward movements. The movable ball joint 606 and the deflection block 605 can provide corresponding assistance for the movement of the sole of the foot. At the same time, the elastic deformation effect of multiple spring strips 609 enables the deflection block 605 to adjust its angle to adapt to the upward or downward movement of the sole of the foot when undergoing corresponding stretching and deflection during the irregular movement of the sole of the foot.

[0036] As Figure 1 and Figure 5 shown, a pair of elastic restraint bands 9 are fixedly connected to the top end of the supporting sole 8. A pair of fixing rings 10 are fixedly connected to the top end of the supporting sole 8. One end of the elastic restraint band 9 passes through the fixing ring 10 and extends to its outside, and the two ends of the elastic restraint band 9 are adhered by Velcro.

[0037] By bundling the elastic restraint band 9, the sole of the person's foot can be fixed on the supporting sole 8 to facilitate subsequent assisted walking. The supporting sole 8 is made of Phy l on material, which is a foamed EVA material, lightweight and with good cushioning performance, providing a comfortable stepping experience.

[0038] As Figure 1 、 Figure 8 and Figure 9As shown in the figure, the two pairs of bundling and adjusting mechanisms 11 both include elastic wide belts 1101. One end of a pair of elastic wide belts 1101 is respectively fixedly connected to the outer wall of the upper movable rod 1 and the movable sleeve frame 2. The other end of the elastic wide belt 1101 is fixedly connected with an elastic binding sleeve 1102, and a plurality of elastic air bags 1103 are fixedly connected inside the elastic binding sleeve 1102. The tops of the plurality of elastic air bags 1103 are all fixedly connected with inflation nozzles 1104, and a sealing plug 1105 is sleeved on the top of the inflation nozzle 1104. A plurality of round holes are drilled at the top of the movable sleeve frame 2, and the outer wall of the inflation nozzle 1104 is in contact with the inner wall of the round hole. One end of the elastic binding sleeve 1102 far from the elastic wide belt 1101 is fixedly connected with an elastic binding band 1106. One end of the elastic binding band 1106 far from the elastic binding sleeve 1102 is fixedly connected with an insertion block 1108, and a locking block 1109 is rotatably connected to one end of the insertion block 1108. A rectangular through groove 1107 is drilled on the outer wall of the elastic wide belt 1101, and the outer wall of the insertion block 1108 is in contact with the inner wall of the rectangular through groove 1107. One end of the locking block 1109 passes through the rectangular through groove 1107 and extends to the outside thereof, and the other end of the locking block 1109 is in contact with the outer wall of the elastic wide belt 1101.

[0039] Through the setting of the bundling and adjusting mechanism 11, when bundling and fixing the thigh and calf parts of a person, the elastic binding band 1106 cooperates with the elastic binding sleeve 1102 to wind around the thigh and calf parts of the person, and is locked and fixed by the rotation and positioning of the locking block 1109. Among them, the plurality of elastic air bags 1103 can be independently inflated and deflated, so as to drive the elastic air bags 1103 to expand or contract, realize the corresponding inflation and deflation adjustment of the elastic air bags 1103 at the corresponding positions according to the thigh and calf body types of the person, so as to drive the elastic binding sleeve 1102 to fit the thigh and calf parts of the person more closely, thereby reducing the tight pressure feeling during lower limb movement, making the legs more comfortable. And the elastic wide belt 1101 is made of a composite material of rubber and hard plastic, having a certain elasticity and a higher hardness, so as to be clamped and fixed with the locking block 1109 to ensure its fixing effect. The elastic binding sleeve 1102 and the elastic binding band 1106 are made of polyurethane material, having excellent elasticity and wear resistance, and can perform corresponding elastic stretching and adjustment during bundling.

[0040] Working principle: When worn by a person, pulling the lower movable rod 3 and the fixed roller 401 upward causes the extrusion of multiple pairs of auxiliary round rods 405 to move away from each other with the sliding assistance of the slider 406 and the chute 407, driving the adjustment of the length between the lower movable rod 3 and the movable sleeve frame 2 to match the leg length of the person. At this time, the fixed roller 401 contacts the four pairs of auxiliary round rods 405 at the corresponding positions for limiting and supporting assistance, facilitating the connection of the locking screw 402 with the corresponding threaded through-hole 404 and inserting it into the threaded through-groove 403 for locking and fixing. Then, the person steps on the supporting sole 8 with the sole of the foot, and is bundled and fixed by the flipping and winding of the elastic binding strap 9. Immediately afterwards, a pair of elastic binding straps 1106 are pulled in sequence, driving the elastic binding sleeve 1102 to wind around the posterior regions of the person's thigh and calf. At the same time, the elastic binding straps 1106 wind around the anterior regions of the person's thigh and calf, and drive the locking block 1109 to pass through the rectangular through-groove 1107 and be rotationally locked and fixed with the elastic wide strap 1101. During the bundling and fixing process, when the elastic binding sleeve 1102 is too tightly squeezed against the thigh or calf, it drives the elastic airbag 1103 at the corresponding position to deflate to a certain extent to reduce the squeezing tightness. Then, when the person's lower limb moves and the knee bends, the upper movable rod 1 and the lower movable rod 3 that are rotationally connected move adaptively with the thigh and calf, causing the lower movable rod 3 to independently deflect adaptively along the fixed roller 401 inside the movable sleeve frame 2, reducing the resistance brought by the synchronous movement of the carrying movable sleeve frame 2. At the same time, the ankle joint also dorsiflexes and plantarflexes synchronously relative to the calf, causing the connecting seat 601 and the connecting block 5 to deflect adaptively under the deformation and bending of multiple TPE elastic bands 603 to assist the movement of the ankle joint. Moreover, the sole of the foot also moves upward or downward adaptively, causing the deflection block 605 to move adaptively with the sole of the foot and the supporting sole 8 under the drive of the movable ball joint 606 through the sliding assistance of the sliding round block 607 and the annular chute 608 and the elastic stretching of the spring strip 609, fitting the movement changes of the sole of the foot during walking of the person, and realizing the auxiliary of the lower limb movement through the movement adjustment of multiple joint parts.

[0041] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanism for adjusting the legs of an exoskeleton, comprising a pair of upper movable rods (1), characterized in that: The inner walls of a pair of upper movable rods (1) are rotatably connected to lower movable rods (3); the outer walls of the lower movable rods (3) are sleeved with movable sleeve frames (2), and the interior of the movable sleeve frames (2) is provided with telescopic adjustment mechanisms (4); the outer walls of the upper movable rods (1) and the movable sleeve frames (2) are provided with binding adjustment mechanisms (11); the bottom ends of the movable sleeve frames (2) are fixedly connected to connecting blocks (5), and the bottom of the connecting blocks (5) is provided with supporting soles (8); one end of the supporting soles (8) is provided with a deflection adjustment mechanism (6), and the deflection adjustment mechanism (6) is located at the bottom of the connecting blocks (5).

2. The mechanism for adjusting the legs of an exoskeleton according to claim 1, characterized in that: A pair of telescopic adjustment mechanisms (4) each comprises a fixed roller (401), the lower movable rod (3) is sleeved on the outer wall of the fixed roller (401), and the inner wall of the lower movable rod (3) is rotatably connected to the outer wall of the fixed roller (401), one end of the lower movable rod (3) is chiseled with a threaded through groove (403), the outer wall of the movable sleeve frame (2) is chiseled with a plurality of evenly distributed threaded through holes (404), and the inner wall of the threaded through hole (404) at the bottom is threadedly connected with a locking screw (402), and the locking screw (402) is threadedly connected to the threaded through groove (403).

3. The mechanism for adjusting the legs of an exoskeleton according to claim 2, characterized in that: The movable sleeve (2) is provided with a plurality of pairs of evenly distributed auxiliary round rods (405) inside, and the fixed roller (401) is in contact with the four pairs of auxiliary round rods (405) located at the bottom, one end of the auxiliary round rod (405) is fixedly connected with a slider (406), the inner wall of the movable sleeve (2) is provided with a plurality of pairs of slide grooves (407), and the slider (406) is located in the slide groove (407) and is slidably connected thereto, the inner wall of the slide groove (407) is fixedly connected with a built-in rod (408), and the slider (406) is sleeved on the outer wall of the built-in rod (408), and the outer wall of the built-in rod (408) is sleeved with a telescopic spring (409), one end of the telescopic spring (409) is fixedly connected to one end of the slider (406), and the other end of the telescopic spring (409) is fixedly connected to the inner wall of the slide groove (407).

4. The mechanism for adjusting the legs of an exoskeleton according to claim 1, characterized in that: A pair of the deflection adjustment mechanisms (6) each comprises a connecting seat (601), the inner walls of the connecting seat (601) and the connecting block (5) are fixedly connected with a multi-groove wheel (602), and a plurality of TPE elastic bands (603) are sleeved between the outer walls of the pair of multi-groove wheels (602), an installation groove (604) is cut at one end of the connecting seat (601) close to the supporting sole (8), and a movable ball joint (606) is embedded and connected to the inner wall of the installation groove (604), one end of the movable ball joint (606) is fixedly connected with a deflection block (605), and the end of the deflection block (605) away from the movable ball joint (606) is fixedly connected to one end of the supporting sole (8).

5. The mechanism for adjusting the legs of an exoskeleton according to claim 4, characterized in that: One end of the deflection block (605) is fixedly connected to a plurality of spring bars (609), and one end of the plurality of spring bars (609) away from the deflection block (605) is fixedly connected to a sliding round block (607). An annular sliding groove (608) is cut on the inner wall of the mounting groove (604), and the plurality of sliding round blocks (607) are located in the annular sliding groove (608) and are slidably connected thereto.

6. The mechanism for adjusting the legs of an exoskeleton according to claim 4, characterized in that: The end of the connecting seat (601) close to the supporting sole (8) is fixedly connected with a silicone pad (7), and the silicone pad (7) is located on the top of the deflection block (605).

7. The mechanism for adjusting the legs of an exoskeleton according to claim 1, characterized in that: A pair of elastic binding bands (9) are fixedly connected to the top of the supporting sole (8), and a pair of fixing rings (10) are fixedly connected to the top of the supporting sole (8), and one end of the elastic binding band (9) passes through the fixing ring (10) and extends to the outside thereof, and the two ends of the elastic binding band (9) are bonded to each other by Velcro.

8. The mechanism for adjusting the legs of an exoskeleton according to claim 1, characterized in that: The two pairs of binding adjustment mechanisms (11) each comprise an elastic wide band (1101), one end of each pair of the elastic wide bands (1101) being fixedly connected to the outer wall of the upper movable rod (1) and the movable sleeve (2), respectively; the other end of the elastic wide band (1101) is fixedly connected to an elastic binding sleeve (1102), and the interior of the elastic binding sleeve (1102) is fixedly connected to a plurality of elastic inflatable bags (1103); the top ends of the plurality of elastic inflatable bags (1103) are fixedly connected to an inflating nozzle (1104), and the top of the inflating nozzle (1104) is provided with a sealing plug (1105); the top end of the movable sleeve (2) is provided with a plurality of circular holes, and the outer wall of the inflating nozzle (1104) is in contact with the inner wall of the circular hole; and the end of the elastic binding sleeve (1102) away from the elastic wide band (1101) is fixedly connected to an elastic binding band (1106).

9. The mechanism for adjusting the legs of an exoskeleton according to claim 8, characterized in that: One end of the elastic band (1106) away from the elastic binding sleeve (1102) is fixedly connected to an insert block (1108), and one end of the insert block (1108) is rotatably connected to a locking block (1109); the outer wall of the elastic wide band (1101) is cut with a rectangular through groove (1107), and the outer wall of the insert block (1108) contacts the inner wall of the rectangular through groove (1107); one end of the locking block (1109) passes through the rectangular through groove (1107) and extends to the outside thereof, and the other end of the locking block (1109) contacts the outer wall of the elastic wide band (1101).

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