Exoskeleton

Abstract

The invention relates to the technical field of human body auxiliary instruments, in particular to an exoskeleton. Comprising a trunk connecting mechanism and a leg connecting mechanism, the trunk connecting mechanism is used for installing the exoskeleton at the trunk position of a user, and the leg connecting mechanism is located at the bottom end of the trunk connecting mechanism and used for installing the exoskeleton at the legs of the user; the trunk connecting mechanism comprises a back assembly used for connecting structures of the trunk part of the exoskeleton; the connecting assembly is used for connecting the back assembly and the leg connecting mechanism; the leg connecting mechanism thigh assembly is used for connecting the connecting assembly and the shank assembly and can be mounted on the outer side of the thigh of the user; the shank assembly is used for being installed on the outer side of the shank of the user. According to the exoskeleton provided by the invention, through the cooperation of the trunk connecting mechanism and the leg connecting mechanism, the exoskeleton can be suitable for crowds with different heights and weights during use, and meanwhile, the exoskeleton can keep certain mobility after being worn.

Description

Technical Field

[0001] The present invention relates to the technical field of human auxiliary devices, and more particularly to exoskeletons. Background Art

[0002] Bulletproof vests or stab-proof vests (hereinafter referred to as armor) are equipped with eight components and have a load of about 10 KG. The duty personnel work 3 - 4 hours per shift. The armor has poor breathability and is very stuffy when worn close to the body. To reduce weight and improve breathability, it is planned to develop a new type of exoskeleton to be worn inside the bulletproof vest and stab-proof vest to support the weight of the armor and the equipment carried, and form a gap of about 1.5 CM between the human body and the "armor" to facilitate air flow.

[0003] Therefore, an exoskeleton is designed to provide another technical solution to the above technical problems. Summary of the Invention

[0004] Based on this, it is necessary to provide an exoskeleton for solving the technical problems raised in the above background art in view of the above technical problems.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An exoskeleton, comprising a torso connection mechanism and a leg connection mechanism. The torso connection mechanism is used to mount the exoskeleton at the torso position of the user, and the leg connection mechanism is located at the bottom of the torso connection mechanism and is used to mount the exoskeleton on the user's legs;

[0007] The torso connection mechanism includes:

[0008] A back component for connecting the structure of the exoskeleton torso part;

[0009] A connection component for connecting between the back component and the leg connection mechanism;

[0010] The leg connection mechanism

[0011] A thigh component for connecting the connection component and the calf component and capable of being mounted on the outer side of the user's thigh;

[0012] A calf component for being mounted on the outer side of the user's calf to provide support assistance.

[0013] As a preferred embodiment of the exoskeleton provided by the present invention, the back component includes a back support plate, a waist integrated plate and a back height adjustment plate. An elastic band is connected to the front surface of the back support plate, and shoulder support members are bolted to both ends of the back support plate and on top of the elastic band. The bottom of the back support plate is bolted with the back height adjustment plate, and the bottom of the back height adjustment plate is slidably connected with the waist integrated plate.

[0014] As a preferred embodiment of the exoskeleton provided by the present invention, the connection assembly includes a waist-leg connecting rod and a thigh joint assembly. Both ends of the waist integrated plate are bolt-fixed with the waist-leg connecting rods, and the bottom end of the waist-leg connecting rod is equipped with a thigh joint assembly for connecting the thigh assembly.

[0015] As a preferred embodiment of the exoskeleton provided by the present invention, the thigh joint assembly is composed of a first thigh joint and a second thigh joint. The bottom of the waist-leg connecting rod is rotatably connected to the first thigh joint, the bottom of the first thigh joint is rotatably connected to the second thigh joint, and the bottom of the second thigh joint is connected to the thigh assembly.

[0016] As a preferred embodiment of the exoskeleton provided by the present invention, the thigh assembly includes a thigh guard, a knee joint fitting, and a thigh adjusting plate. The bottom of the thigh guard is bolt-connected with the knee joint fitting, the top of the thigh guard is slidably connected with the thigh adjusting plate, and the top of the thigh adjusting plate is bolt-connected to the second thigh joint.

[0017] As a preferred embodiment of the exoskeleton provided by the present invention, the calf assembly includes a calf guard, an ankle joint assembly, and a calf adjusting plate. The top of the calf guard is bolt-connected to the bottom of the knee joint fitting, the inside of the bottom end of the calf guard is slidably connected with the calf adjusting plate, and the bottom of the calf adjusting plate is provided with an ankle joint assembly.

[0018] As a preferred embodiment of the exoskeleton provided by the present invention, the ankle joint assembly includes a first ankle joint, a second ankle joint, and a third ankle joint. The outside of the bottom end of the calf adjusting plate is rotatably connected to the first ankle joint by bolts, the bottom of the first ankle joint is rotatably connected to the second ankle joint by bolts, the bottom of the second ankle joint is rotatably connected to the third ankle joint by bolts, and the bottom of the third ankle joint is fixedly bolt-connected to a shoe cover base.

[0019] As a preferred embodiment of the exoskeleton provided by the present invention, one end of the waist integrated plate is equipped with a first positioning component for connecting a back height adjusting plate, one side of the thigh guard is equipped with a second positioning component for connecting the thigh adjusting plate, and one side of the calf guard is equipped with a third positioning component for connecting the calf adjusting plate.

[0020] As a preferred embodiment of the exoskeleton provided by the present invention, the first positioning assembly, the second positioning assembly and the third positioning assembly all include adjusting buckles. One end inside the waist integrated plate, one side inside the thigh guard plate and one side inside the calf guard plate are all rotatably connected with adjusting buckles. One end of the adjusting buckle is fixed with a positioning post, and the positioning post is slidably connected with the back height adjusting plate, the calf adjusting plate and the thigh adjusting plate.

[0021] As a preferred embodiment of the exoskeleton provided by the present invention, the first positioning assembly, the second positioning assembly and the third positioning assembly all include a pressing plate, a limiting post, a baffle plate, a synchronous shaft and a limiting assembly. One end inside the waist integrated plate, one side inside the thigh guard plate and one side inside the calf guard plate are all provided with pressing plates. One side of the pressing plate is fixed with a limiting post, and the limiting post is slidably connected between the back height adjusting plate, between the limiting post and the calf adjusting plate, and between the limiting post and the thigh adjusting plate. One end of the pressing plate and on both sides of the limiting post are fixed with baffle plates. The inside of the bottom end of the pressing plate is fixed with a synchronous shaft, and the synchronous shaft is rotatably connected with the waist integrated plate or the thigh guard plate or the calf guard plate. A limiting assembly for limiting the synchronous shaft is installed on one side of the waist integrated plate;

[0022] The limiting assembly includes a fixed ring, a limiting disc, a first limiting block, a second limiting block, a displacement rod and a compression spring. Fixed rings are fixed on both sides of the waist integrated plate and outside the synchronous shaft. Displacement rods are slidably connected inside both sides of the synchronous shaft. Compression springs are sleeved on the outside of the displacement rods. A limiting disc is arranged on the side of the fixed ring away from the waist integrated plate, and the limiting disc is fixed with the displacement rod. Second limiting blocks are uniformly fixed on the side of the fixed ring close to the limiting disc and outside the displacement rod. First limiting blocks are uniformly fixed on the side of the limiting disc close to the fixed ring and outside the displacement rod.

[0023] It can be undoubtedly seen that through the above technical solutions of the present application, the technical problems to be solved by the present application can surely be solved.

[0024] Meanwhile, through the above technical solutions, the present invention has at least the following beneficial effects:

[0025] The exoskeleton provided by the present invention, through the cooperation of the torso connection mechanism and the leg connection mechanism, can enable the exoskeleton to be applicable to people of different heights and weights during use, and at the same time can maintain a certain activity ability after wearing, at least not affecting normal walking and sitting too much, achieving more than % static weight reduction and more than % walking weight reduction;

[0026] Through the cooperation of the back height adjustment plate, calf adjustment plate and thigh adjustment plate, the height between the back support plate and the waist integrated plate in the trunk connection mechanism can be adjusted through the back height adjustment plate, so that the height can be adjusted according to the needs of the user. At the same time, the leg connection mechanism can be adjusted according to the calf and thigh heights of the user through the calf adjustment plate and thigh adjustment plate;

[0027] Through the thigh joint assembly, ankle joint assembly and knee joint fittings, when the exoskeleton is in use, through the rotational connection of the first thigh joint and the second thigh joint, the connection between the thigh guard and the calf guard through the knee joint fittings, and the connection in the ankle joint assembly, the exoskeleton can also perform certain activities after being worn during use;

[0028] Through the cooperation of the pressure plate, limit posts, synchronous shaft and limit components, when the pressure plate rotates inside the waist integrated plate, thigh guard or calf guard through the synchronous shaft, the height of the back height adjustment plate, calf adjustment plate or thigh adjustment plate can be fixed through the limit posts. At the same time, through the limit components, the reverse rotation of the synchronous shaft driven by the pressure plate can be prevented;

[0029] Through the cooperation of the limit disc, first limit block, second limit block and displacement rod, the rotation of the synchronous shaft driven by the pressure plate can be achieved. Through the cooperation of the first limit block and the second limit block, reverse rotation can be prevented. At the same time, by pulling the limit disc, the limit disc can drive the displacement rod to drive the compression of the compression spring, so that the pressure plate and the synchronous shaft can achieve reverse rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 It is a side view of the present invention;

[0033] Figure 3 It is a schematic diagram of the shoulder support of the present invention;

[0034] Figure 4 It is a schematic diagram of the back support plate of the present invention;

[0035] Figure 5 It is a schematic diagram of the waist integrated plate of the present invention;

[0036] Figure 6Schematic diagram of the structure of the waist-leg connecting rod of the present invention;

[0037] Figure 7 Schematic diagram of the structure of the thigh joint assembly of the present invention;

[0038] Figure 8 Schematic diagram of the structure of the thigh guard plate of the present invention;

[0039] Figure 9 Schematic diagram of the structure of the tension adjustment knob of the present invention;

[0040] Figure 10 Schematic diagram of the structure of the calf guard plate of the present invention;

[0041] Figure 11 Schematic diagram of the structure of the ankle joint assembly of the present invention;

[0042] Figure 12 Schematic diagram of the structure of the shoe cover base of the present invention;

[0043] Figure 13 Schematic diagram of the structure of the waist integrated board of the present invention;

[0044] Figure 14 Schematic diagram of the open structure of the pressing plate of the present invention;

[0045] Figure 15 Schematic diagram of the structure of the limiting post of the present invention;

[0046] Figure 16 Schematic diagram of the internal structure of the synchronizing shaft of the present invention.

[0047] In the figure: 1. Elastic band; 2. Shoulder support; 3. Back support plate; 4. Waist integrated board; 5. Waist-leg connecting rod; 6. Thigh joint assembly; 61. First thigh joint; 62. Second thigh joint; 7. Thigh guard plate; 8. Tension adjustment knob; 9. Calf guard plate; 10. Ankle joint assembly; 10A. First ankle joint; 10B. Second ankle joint; 10C. Third ankle joint; 11. Back height adjustment plate; 12. Calf adjustment plate; 13. Shoe cover base; 14. Adjustment buckle; 15. Knee joint fitting; 16. Thigh adjustment plate; 17. Connection hole; 18. Pressing plate; 19. Limiting post; 20. Baffle; 21. Synchronizing shaft; 22. Fixed ring; 23. Limiting disc; 24. First limiting block; 25. Second limiting block; 26. Displacement rod; 27. Compression spring. Detailed implementation manners

[0048] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0049] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0050] It should be noted that, without conflict, the embodiments in the present invention and the features and technical solutions in the embodiments can be combined with each other.

[0051] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0052] Embodiment 1

[0053] Referring to Figures 1-12 , the exoskeleton includes a torso connection mechanism and a leg connection mechanism. The torso connection mechanism is used to mount the exoskeleton at the torso position of the user. The leg connection mechanism is located at the bottom of the torso connection mechanism and is used to mount the exoskeleton on the user's legs, so that the exoskeleton can be worn on the user's body through the torso connection mechanism and the leg connection mechanism;

[0054] The torso connection mechanism includes:

[0055] A back component for connecting the structure of the exoskeleton torso part;

[0056] The back component includes a back support plate 3, a waist integrated plate 4 and a back height adjustment plate 11. An elastic band 1 is connected to the front of the back support plate 3, and the elastic band 1 is made of an elastic material. Therefore, the back support plate 3 can be assembled on the user's shoulders through the elastic band 1 to provide fixation for the position of the back support plate 3 on the back. Shoulder support members 2 are bolted to both ends of the back support plate 3 and on top of the elastic band 1, and one end of the shoulder support member 2 away from the back support plate 3 is connected to the elastic band 1. The bottom of the back support plate 3 is bolted to the back height adjustment plate 11, so that the height of the back support plate 3 can be adjusted by the height of the back height adjustment plate 11. The bottom of the back height adjustment plate 11 is slidably connected to the waist integrated plate 4, so that the height of the back support plate 3 can be adjusted according to the different height ratios of the user by adjusting the height of the back height adjustment plate 11 on the waist integrated plate 4;

[0057] Preferably, a waist fixing band is further fixed to the front of the waist integrated plate 4, so as to enable connection at the waist.

[0058] In this embodiment, connection holes 17 are evenly distributed inside one end of the shoulder support member 2, and the shoulder support member 2 is connected to the back support plate 3 through the connection holes 17 and bolts.

[0059] In this embodiment, the shoulder support member 2 can be made of hard and elastic plastic or carbon fiber material, and the elastic band 1 adopts a weight-reducing airbag-type shoulder strap.

[0060] A connecting component for connecting between the back component and the leg connecting mechanism;

[0061] The connecting component includes a waist-leg connecting rod 5 and a thigh joint component 6. Both ends of the waist integrated plate 4 are bolt-fixed with the waist-leg connecting rod 5, so that the waist-leg connecting rod 5 is assembled on the back of the waist integrated plate 4. The bottom end of the waist-leg connecting rod 5 is installed with a thigh joint component 6 for connecting the thigh component, and through the thigh joint component 6, the angle adaptation adjustment between the waist-leg connecting rod 5 and the thigh guard 7 can be carried out;

[0062] The thigh joint component 6 is composed of a first thigh joint 61 and a second thigh joint 62. The bottom of the waist-leg connecting rod 5 is rotatably connected with the first thigh joint 61, so that the angle between the waist-leg connecting rod 5 and the first thigh joint 61 can be adjusted. The bottom of the first thigh joint 61 is rotatably connected with the second thigh joint 62, and the rotational connection between the top of the first thigh joint 61 and the waist-leg connecting rod 5 is horizontal, and the rotational connection between the first thigh joint 61 and the second thigh joint 62 is vertical, so that multi-angle adjustment can be carried out. The bottom of the second thigh joint 62 is connected to the thigh component;

[0063] Leg connecting mechanism

[0064] The thigh component is used to connect the connecting component and the calf component and can be installed on the outer side of the user's thigh;

[0065] Preferably, there are two thigh components.

[0066] The thigh component includes a thigh guard 7, a knee joint fitting 15 and a thigh adjusting plate 16. The bottom of the thigh guard 7 is bolt-connected with the knee joint fitting 15, and the top of the thigh guard 7 is slidably connected with the thigh adjusting plate 16, so that the thigh adjusting plate 16 can be adjusted in height inside the top end of the thigh guard 7. The top of the thigh adjusting plate 16 is bolt-connected with the second thigh joint 62. Furthermore, by adjusting the height of the thigh adjusting plate 16, the height adjustment of the thigh guard 7 can be adjusted to adapt to users with different thigh heights;

[0067] Preferably, fixing straps are connected to the adjacent sides of the two thigh guards 7, and a tension adjustment knob 8 is installed at one end of one side of the thigh guard 7, so that the length of one side of the fixing strap inside the thigh guard 7 can be adjusted through the tension adjustment knob 8, and then the tightness of the fixing strap on the outer side of the user's leg can be adjusted;

[0068] In other embodiments, the tension adjustment knob 8 can be rotatably connected to the thigh guard 7, and a rack can be fixed to the top or bottom of the fixing strap, such that a gear is fixed at the top or bottom position of the fixing strap where the tension adjustment knob 8 is located, and a torsion spring is arranged on the side of the tension adjustment knob 8 away from the fixing strap. When the tension adjustment knob 8 rotates, the torsion spring stores energy. At this time, the fixing strap moves away from the thigh guard 7. After the fixing strap is inserted into the interior of the thigh guard 7, the tension adjustment knob 8 drives the fixing strap into the interior of the thigh guard 7 through the stored energy rebound.

[0069] The calf assembly is used for being installed on the outer side of the user's calf to provide support assistance;

[0070] The calf assembly includes a calf guard 9, an ankle joint assembly 10, and a calf adjustment plate 12. The top of the calf guard 9 is bolted to the bottom of the knee joint fitting 15, so that the calf guard 9 and the thigh guard 7 can be connected as a whole through the knee joint fitting 15. The calf adjustment plate 12 is slidably connected to the interior of the bottom end of the calf guard 9, and the ankle joint assembly 10 is arranged at the bottom of the calf adjustment plate 12, such that the height of the calf adjustment plate 12 inside the calf guard 9 adjusts the distance between the ankle joint assembly 10 and the calf guard 9;

[0071] The ankle joint assembly 10 includes a first ankle joint 10A, a second ankle joint 10B, and a third ankle joint 10C. The outer side of the bottom end of the calf adjustment plate 12 is rotatably connected to the first ankle joint 10A through a bolt. The bottom of the first ankle joint 10A is rotatably connected to the second ankle joint 10B through a bolt. The bottom of the second ankle joint 10B is rotatably connected to the third ankle joint 10C through a bolt. Thus, through the rotation of the first ankle joint 10A and the second ankle joint 10B, and the second ankle joint 10B and the third ankle joint 10C, the multi-angle adjustment between the shoe cover base 13 and the calf adjustment plate 12 can be achieved; a bolt is fixedly connected to the bottom of the third ankle joint 10C, such that after the third ankle joint 10C and the shoe cover base 13 are assembled through a sliding connection, they are then fixed through bolts;

[0072] In other embodiments, it is also possible that the outer side of the bottom end of the calf adjustment plate 12 is pin-connected to the first ankle joint 10A, the bottom of the first ankle joint 10A is rotatably connected to the second ankle joint 10B through a pin, and the bottom of the second ankle joint 10B is rotatably connected to the third ankle joint 10C through a pin.

[0073] In this embodiment, fixing straps are also connected to the adjacent sides of the two calf guards 9, and a tension adjustment knob 8 is also installed at one end of one side of the calf guard 9, so that the length of the corresponding fixing strap on one side inside the calf guard 9 can be adjusted through the corresponding tension adjustment knob 8, and further the tightness degree of the corresponding fixing strap on the outer side of the user's leg can be adjusted;

[0074] One end of the waist integrated plate 4 is provided with a first positioning component for connecting the back height adjustment plate 11. One side of the thigh guard 7 is provided with a second positioning component for connecting the thigh adjustment plate 16. One side of the calf guard 9 is provided with a third positioning component for connecting the calf adjustment plate 12. The first positioning component, the second positioning component and the third positioning component all include an adjustment buckle 14. The adjustment buckle 14 is rotatably connected inside one end of the waist integrated plate 4, inside one side of the thigh guard 7 and inside one side of the calf guard 9, so that the adjustment buckle 14 can be rotationally adjusted inside the waist integrated plate 4, the thigh guard 7 or the calf guard 9 through the rotational connection. One end of the adjustment buckle 14 is fixed with a positioning post, and the positioning post is slidably connected to the back height adjustment plate 11, the calf adjustment plate 12 and the thigh adjustment plate 16. When the positioning post is located inside the back height adjustment plate 11, the calf adjustment plate 12 and the thigh adjustment plate 16, at this time, the back height adjustment plate 11 cannot adjust the height on the waist integrated plate 4, the calf adjustment plate 12 cannot adjust the height on the calf guard 9, and the thigh adjustment plate 16 cannot adjust the height on the thigh guard 7.

[0075] The using process of the exoskeleton provided by the present invention is as follows: When in use, put the elastic band 1 on the user's shoulder, and then support the shoulder position of the elastic band 1 through the shoulder support 2. At the same time, according to the different trunk heights during use, adaptively adjust by adjusting the height of the back height adjustment plate 11 inside the waist integrated plate 4. At the same time, install the thigh guard 7 on the outside of the user's thigh, install the calf guard 9 on the outside of the user's calf, and install the shoe cover base 13 on the user's foot. Through the sliding of the thigh adjustment plate 16 and the thigh guard 7 and the sliding of the calf adjustment plate 12 and the calf guard 9, the exoskeleton is suitable for users of different heights. At the same time, after wearing, through the connection positions of the thigh joint assembly 6 and the ankle joint assembly 10, the trunk position and the leg, and between the leg and the foot can all be bent to a certain extent, and thus a certain moving effect can be achieved.

[0076] Embodiment 2

[0077] Disclosed on the basis of the above Embodiment 1, with reference to Figures 13-16, the exoskeleton, the first positioning component, the second positioning component and the third positioning component all include a pressing plate 18, a limiting column 19, a baffle 20, a synchronous shaft 21 and a limiting component. Inside one end of the waist integrated plate 4, inside one side of the thigh guard plate 7 and inside one side of the calf guard plate 9, there are pressing plates 18 installed. One side of the pressing plate 18 is fixed with a limiting column 19. The limiting column 19 is slidably connected between the back height adjustment plate 11, between the limiting column 19 and the calf adjustment plate 12, and between the limiting column 19 and the thigh adjustment plate 16. Thus, when the limiting column 19 is inside the back height adjustment plate 11 or the calf adjustment plate 12 or the thigh adjustment plate 16, it can limit the lifting of the back height adjustment plate 11, the calf adjustment plate 12 and the thigh adjustment plate 16. At one end of the pressing plate 18 and on both sides of the limiting column 19, there are baffles 20 fixed. Further, through the contact between the baffle 20 and the back height adjustment plate 11 or the calf adjustment plate 12 or the thigh adjustment plate 16, it can prevent hindering the pulling of the pressing plate 18. Inside the bottom end of the pressing plate 18, there is a synchronous shaft 21 fixed. The synchronous shaft 21 is rotatably connected to the waist integrated plate 4 or the thigh guard plate 7 or the calf guard plate 9. On one side of the waist integrated plate 4, there is a limiting component installed for limiting the synchronous shaft 21. At the same time, on one side of the thigh guard plate 7 or the calf guard plate 9, there is also a limiting component installed for limiting the synchronous shaft 21;

[0078] The limiting component includes a fixed ring 22, a limiting disc 23, a first limiting block 24, a second limiting block 25, a displacement rod 26 and a compression spring 27. On both sides of the waist integrated plate 4 and outside the synchronous shaft 21, there are fixed rings 22 fixed. Thus, it can prevent the fixed ring 22 from rotating. Inside both sides of the synchronous shaft 21, there are displacement rods 26 slidably connected, making the displacement rod 26 and the synchronous shaft 21 can only rotate synchronously. Outside the displacement rod 26, there is a compression spring 27 sleeved, so that when the displacement rod 26 extends and moves, it drives the compression spring 27 to be compressed;

[0079] On one side of the fixed ring 22 away from the waist integrated plate 4, there is a limiting disc 23 installed. The limiting disc 23 is fixed to the displacement rod 26, so that when the limiting disc 23 moves in the opposite direction away from the fixed ring 22, it drives the displacement rod 26 to be compressed. On one side of the fixed ring 22 close to the limiting disc 23 and outside the displacement rod 26, there are second limiting blocks 25 evenly distributed and fixed. On one side of the limiting disc 23 close to the fixed ring 22 and outside the displacement rod 26, there are first limiting blocks 24 evenly distributed and fixed. The shapes of the first limiting block 24 and the second limiting block 25 are both trapezoidal, so that on the end of the first limiting block 24 and the second limiting block 25 away from each other, there are extrusion inclined surfaces opened. The end of the first limiting block 24 and the second limiting block 25 close to each other is a straight surface. Thus, when the pressing plate 18 rotates in the direction close to the waist integrated plate 4, at this time, the extrusion inclined surfaces of the first limiting block 24 and the second limiting block 25 are in contact, allowing the pressing plate 18 to rotate. When the rotation is completed, at this time, the straight surfaces of the first limiting block 24 and the second limiting block 25 are in contact, making the pressing plate 18 irreversible.

[0080] The usage process of the exoskeleton provided by the present invention is as follows: When in use, after the back height adjustment plate 11, the calf adjustment plate 12, and the thigh adjustment plate 16 are adjusted in height, at this time, the pressing plate 18 drives the synchronous shaft 21 to rotate. After the synchronous shaft 21 rotates inside the waist integrated plate 4, the thigh guard plate 7, or the calf guard plate 9, the pressing plate 18 approaches the back height adjustment plate 11, and the limit post 19 enters the inside of the back height adjustment plate 11, the calf adjustment plate 12, and the thigh adjustment plate 16. At the same time, the rotation of the synchronous shaft 21 drives the limit disk 23 to rotate through the displacement rod 26, and the rotation of the limit disk 23 drives the first limit block 24 to rotate synchronously. At this time, the rotation of the first limit block 24 contacts the extrusion inclined surface of the second limit block 25. Thus, when extruding, the limit disk 23 drives the compression spring 27 to compress through the displacement rod 26. When the first limit block 24 does not extrude the second limit block 25, the rebound after the compression spring 27 is compressed drives the displacement rod 26 to reset, and the displacement rod 26 drives the limit disk 23 to reset. Thus, it can prevent the synchronous shaft 21 and the pressing plate 18 from reversing through the linear surface contact between the first limit block 24 and the second limit block 25.

[0081] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to the specific embodiments described. Obviously, according to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments to better explain the principle and practical application of the present invention, so that those skilled in the art in the relevant technical field can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An exoskeleton, characterized in that It includes a trunk connection mechanism and a leg connection mechanism, wherein the trunk connection mechanism is used to install the exoskeleton on the user's trunk, and the leg connection mechanism is located at the bottom end of the trunk connection mechanism and is used to install the exoskeleton on the user's legs; The trunk connection mechanism comprises: The back assembly is used to connect the structure of the exoskeleton torso; A connecting component, used to connect the back component and the leg connecting mechanism; The leg connection mechanism A thigh component, used to connect the connection component and the calf component, and can be installed on the outside of the user's thigh; The calf assembly is used to be installed on the outside of the user's calf to provide support assistance.

2. The exoskeleton according to claim 1, characterized in that The back assembly comprises a back support plate (3), a waist integrated plate (4) and a back height adjustment plate (11); the front of the back support plate (3) is connected to an elastic band (1), and both ends of the back support plate (3) and the top of the elastic band (1) are bolted to shoulder support members (2); the bottom of the back support plate (3) is bolted to the back height adjustment plate (11), and the bottom of the back height adjustment plate (11) is slidably connected to the waist integrated plate (4).

3. The exoskeleton according to claim 2, characterized in that The connection assembly comprises a waist-leg connection rod (5) and a thigh joint assembly (6); both ends of the waist integrated plate (4) are bolted with waist-leg connection rods (5); and the bottom end of the waist-leg connection rod (5) is installed with a thigh joint assembly (6) for connecting the thigh assembly.

4. The exoskeleton according to claim 3, characterized in that The thigh joint assembly (6) is composed of a first thigh joint (61) and a second thigh joint (62); the bottom of the waist-leg connecting rod (5) is rotatably connected to the first thigh joint (61); the bottom of the first thigh joint (61) is rotatably connected to the second thigh joint (62); and the bottom of the second thigh joint (62) is connected to the thigh assembly.

5. The exoskeleton according to claim 4, characterized in that The thigh component includes a thigh guard (7), a knee joint accessory (15) and a thigh adjustment plate (16); the bottom of the thigh guard (7) is bolted to the knee joint accessory (15); the top of the thigh guard (7) is slidably connected to the thigh adjustment plate (16); and the top of the thigh adjustment plate (16) is bolted to the second thigh joint (62).

6. The exoskeleton according to claim 5, characterized in that The calf assembly comprises a calf guard (9), an ankle joint assembly (10), and a calf adjustment plate (12); the top of the calf guard (9) is bolted to the bottom of the knee joint accessory (15); the bottom of the calf guard (9) is internally slidably connected to the calf adjustment plate (12); and the bottom of the calf adjustment plate (12) is provided with the ankle joint assembly (10).

7. The exoskeleton according to claim 6, characterized in that The ankle joint assembly (10) comprises a first ankle joint (10A), a second ankle joint (10B) and a third ankle joint (10C); the outer side of the bottom end of the calf adjustment plate (12) is rotatably connected to the first ankle joint (10A) via a bolt; the bottom of the first ankle joint (10A) is rotatably connected to the second ankle joint (10B) via a bolt; the bottom of the second ankle joint (10B) is rotatably connected to the third ankle joint (10C) via a bolt; and the bottom of the third ankle joint (10C) is fixed with a bolt connected to a shoe cover base (13).

8. The exoskeleton according to claim 6, characterized in that One end of the waist integrated plate (4) is installed with a first positioning component for connecting to the back height adjustment plate (11), one side of the thigh guard plate (7) is installed with a second positioning component for connecting to the thigh adjustment plate (16), and one side of the calf guard plate (9) is installed with a third positioning component for connecting to the calf adjustment plate (12).

9. The exoskeleton according to claim 8, characterized in that The first positioning assembly, the second positioning assembly and the third positioning assembly all include an adjustment buckle (14), and the adjustment buckle (14) is rotatably connected to the interior of one end of the waist integrated plate (4), the interior of one side of the thigh guard plate (7) and the interior of one side of the calf guard plate (9). A positioning column is fixed to one end of the adjustment buckle (14), and the positioning column is slidably connected to the back height adjustment plate (11), the calf adjustment plate (12) and the thigh adjustment plate (16).

10. The exoskeleton according to claim 8, characterized in that The first positioning assembly, the second positioning assembly and the third positioning assembly all comprise a pressing plate (18), a limiting column (19), a baffle (20), a synchronizing shaft (21) and a limiting assembly. A pressing plate (18) is provided inside one end of the waist integrated plate (4), inside one side of the thigh guard plate (7) and inside one side of the calf guard plate (9). A limiting column (19) is fixed on one side of the pressing plate (18). There is a space between the limiting column (19) and the back height adjustment plate (11), and between the limiting column (19) and the calf guard plate (9). The leg adjustment plates (12) and the limiting columns (19) and the thigh adjustment plates (16) are all slidably connected, a baffle (20) is fixed to one end of the pressure plate (18) and on both sides of the limiting columns (19), a synchronization shaft (21) is fixed inside the bottom end of the pressure plate (18), the synchronization shaft (21) is rotationally connected to the waist integrated plate (4) or the thigh guard plate (7) or the calf guard plate (9), and a limiting component for limiting the synchronization shaft (21) is installed on one side of the waist integrated plate (4); The limiting assembly comprises a fixing ring (22), a limiting plate (23), a first limiting block (24), a second limiting block (25), a displacement rod (26) and a compression spring (27); the fixing ring (22) is fixed on both sides of the waist integrated plate (4) and located on the outer side of the synchronous shaft (21); the interior of both sides of the synchronous shaft (21) is slidably connected with the displacement rod (26); the outer side of the displacement rod (26) is sleeved with a compression spring (27); a limiting plate (23) is arranged on the side of the fixing ring (22) away from the waist integrated plate (4); the limiting plate (23) is fixed to the displacement rod (26); the second limiting blocks (25) are evenly fixed on the side of the fixing ring (22) close to the limiting plate (23) and located on the outer side of the displacement rod (26); the first limiting blocks (24) are evenly fixed on the side of the limiting plate (23) close to the fixing ring (22) and located on the outer side of the displacement rod (26).

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