Multifunctional exoskeleton device

Abstract

The invention provides a multifunctional exoskeleton device, and belongs to the technical field of wearable auxiliary equipment, specifically, a hip joint module is provided with a hip joint locking mechanism, and a knee joint module is provided with a knee joint locking mechanism; a first rolling wheel is installed behind the waist module through a folding frame, a folding locking mechanism for locking the folding and unfolding states of the folding frame is arranged on the folding frame, a second rolling wheel is connected to the knee joint module or the shank part through a supporting rod, and the supporting rod is rotationally installed on the knee joint module or the shank module. A support locking mechanism for locking the position of the support rod is arranged on the knee joint module or the shank part; a plurality of connecting rods are detachably hung on the thigh parts, first connecting seats are arranged at the ends, close to the knee joints, of the thigh parts, second connecting seats are arranged at the ends, away from the knee joints, of the shank parts, the first connecting seats and the second connecting seats are used for being detachably connected with the ends of the connecting rods in a clamped mode, and the multifunctional exoskeleton device comprises an upright form and a trolley form.

Description

Technical Field

[0001] This application relates to the field of wearable assistive devices, and particularly to a multifunctional exoskeleton device. Background Art

[0002] Traditional exoskeleton devices are mainly used for human motion assistance or load bearing support, but there are the following problems: existing exoskeletons can only assist walking and cannot achieve the function of material transportation, and additional trolley equipment needs to be carried. Summary of the Invention

[0003] In view of this, this application provides a multifunctional exoskeleton device, which solves the problems in the prior art and provides a multifunctional exoskeleton device that can be deformed.

[0004] The multifunctional exoskeleton device provided by this application adopts the following technical solutions:

[0005] A multifunctional exoskeleton device includes a waist module, a hip joint module, a thigh part, a knee joint module and a calf part. The thigh part is movably connected to the waist module through the hip joint module, and the calf part is movably connected to the thigh part through the knee joint module. A hip joint locking mechanism is provided on the hip joint module, and a knee joint locking mechanism is provided on the knee joint module; the hip joint locking mechanism is used to lock and unlock the movement of the hip joint module, and the knee joint locking mechanism is used to lock and unlock the knee joint;

[0006] A first roller is installed behind the waist module through a folding frame, and a folding locking mechanism for locking the folded and unfolded states of the folding frame is provided on the folding bracket. A second roller is connected to the knee joint module or the calf part through a support rod. The support rod is rotatably installed on the knee joint module or the calf module, and a support locking mechanism for locking the position of the support rod is provided on the knee joint module or the calf part;

[0007] A plurality of connecting rods are detachably mounted on the thigh part. A first connection seat is provided at one end of the thigh part close to the knee joint, and a second connection seat is provided at one end of the calf part far from the knee joint. The first connection seat and the second connection seat are used for detachably clamping the ends of the connecting rods;

[0008] The multifunctional exoskeleton device includes an upright form and a trolley form;

[0009] When the multifunctional exoskeleton device is in the upright form, the folding bracket is in the folded state, and the connecting rods are mounted on the thighs;

[0010] When the exoskeleton is in the form of a trolley, the hip joint module and the knee joint module are in a locked state, the folding bracket is in an unfolded state, the support rod rotates to the rear side of the calf, the connecting rod connects the bottoms of the two thigh parts through two first connecting seats on the two thigh parts, and the connecting rod connects the bottoms of the two calf parts through two second connecting seats on the two calf parts.

[0011] Optionally, the waist module includes a waistband and two waist support plates. The waistband is mounted on the two waist support plates. The waist support plates are connected to the hip joint module. A load-bearing cross beam is mounted between the two waist support plates corresponding to the rear side of the wearer.

[0012] Optionally, the waist module further includes an extension plate and a ratchet and pawl mechanism. The ratchet of the ratchet and pawl mechanism is mounted on the waist support plate. The extension plate is rotatably connected to the waist support plate. The axis of the ratchet of the ratchet and pawl mechanism is coaxially arranged with the rotation axis of the extension plate. The pawl of the ratchet and pawl mechanism is mounted on the extension plate. The ratchet and pawl mechanism is used to lock the rotation of the extension plate relative to the waist support plate. The rotation axis of the extension plate is parallel to the left-right direction of the wearer;

[0013] The load-bearing cross beam is mounted on the side of the extension plate away from the waist support plate.

[0014] Optionally, one end of the folding bracket is mounted on the extension plate, the first roller is mounted on the other end of the folding bracket, the rotation axis of the folding bracket is arranged along the front-rear direction of the wearer, and the rotation axis of the first roller is parallel to the rotation axis of the extension plate.

[0015] Optionally, when the multifunctional exoskeleton device is in an upright form, the support rod is located within the front-rear range of the calf;

[0016] The plane perpendicular to the axial direction of the fixed axis is the first plane. When the exoskeleton is in the form of a trolley, the support rod rotates to the rear side of the calf, and the included angle between the support rod and the thigh part on the first plane is 20 - 150 degrees, and the included angle between the calf part and the thigh part on the first plane is 90 - 180 degrees.

[0017] Optionally, mounting seats are provided at the top end of the thigh part, the bottom end of the thigh part, and the bottom end of the calf part. The mounting seat includes a main body part and a guiding rib. Guiding ribs parallel to each other are provided on both opposite side surfaces of the main body part;

[0018] Both ends of the connecting rod are provided with clamping seats. On the first side of the clamping seat, two cooperating strip-shaped grooves that are perpendicular and cross each other are provided. Both ends of the cooperating strip-shaped grooves penetrate through the side wall of the clamping seat. One of the cooperating strip-shaped grooves is perpendicular to the length direction of the connection. The cooperating grooves are used for the main body part to pass through, and guide grooves that are slidably matched with the guide ridges are provided on the inner walls of the cooperating grooves.

[0019] Optionally, a clamping groove is provided on one side of the main body part facing the bottom of the cooperating groove. An installation groove is provided on the side wall of the clamping seat opposite to the first side. A perforation that penetrates to the bottom of the cooperating strip-shaped groove is provided at the bottom of the installation groove. A cam structure is rotatably provided in the installation groove. The distal end of the cam structure passes through the perforation and abuts against the opening edge of the clamping groove. The distal end of the cam presses against the main body part to press the guide groove tightly against the guide ridge.

[0020] When the proximal end of the cam structure faces the cooperating strip-shaped groove, the proximal end of the cam is located within the corresponding perforation.

[0021] A handle is provided on the outer peripheral side wall of the cam structure.

[0022] A positioning groove is provided on the outer peripheral side wall of the cam structure. A spring bead is provided on the inner wall surface of the installation groove corresponding to the outer peripheral side wall of the cam structure. When the distal end of the cam structure abuts against the installation groove, the positioning groove and the spring bead are correspondingly engaged.

[0023] Optionally, mounting seats are provided at the tops of the front and rear sides of the thigh part corresponding to the wearer, and the length direction of the guide ridges on the mounting seats at the top of the thigh part is arranged along the length direction of the thigh part.

[0024] The mounting seat at the bottom of the thigh part is located on the side of the thigh part corresponding to the rear side of the wearer, and the length direction of the guide ridges on the mounting seat at the bottom of the thigh part is arranged along the left-right direction of the wearer.

[0025] The mounting seat at the bottom of the calf part is located on the side of the calf part corresponding to the rear side of the wearer, and the length direction of the guide ridges on the mounting seat at the bottom of the calf part is arranged along the length direction of the calf part.

[0026] Optionally, a walking wheel is installed at the bottom end of the calf part.

[0027] Optionally, a docking block is provided at the bottom end of the calf part, and a docking slot is provided at the top end of the waist module. The docking block and the docking slot are detachably connected.

[0028] In summary, the present application includes the following beneficial technical effects:

[0029] This application can achieve a rapid transformation of the exoskeleton between the upright assisted walking form and the transport cart form.

[0030] Through the design of the docking block and the docking slot, the morphological changes of the stretcher, ladder and extended cart of the exoskeleton can also be achieved. Brief Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions of the embodiments of this application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 It is a schematic structural diagram of the upright form of the multifunctional exoskeleton device of this application;

[0033] Figure 2 It is a schematic structural diagram of another perspective of the upright form of the multifunctional exoskeleton device of this application;

[0034] Figure 3 It is a schematic structural diagram of the cart form of the multifunctional exoskeleton device of this application;

[0035] Figure 4 It is a schematic structural diagram of the ladder climbing form of the multifunctional exoskeleton device of this application;

[0036] Figure 5 It is a schematic structural diagram of the installation structure of the waist module and the first roller of this application;

[0037] Figure 6 It is a schematic structural diagram of the cooperation between the mounting seat and the clamping seat of this application;

[0038] Figure 7 It is a schematic structural diagram of the locking of the mounting seat and the clamping seat by the cam structure of this application;

[0039] Figure 8 It is a schematic structural diagram of the unlocking of the mounting seat and the clamping seat by the cam structure of this application

[0040] Description of reference numerals: 1. Waist module; 11. Waist support plate; 12. Load-bearing cross beam; 13. Extension plate; 14. Ratchet and pawl mechanism; 15. Docking card slot; 2. Hip joint module; 3. Thigh part; 4. Knee joint module; 5. Calf part; 51. Walking wheel; 52. Docking card block; 6. First roller; 61. Folding bracket; 7. Second roller; 71. Support rod; 8. Connecting rod; 81. Mounting seat; 811. Guide rib; 812. Clamping groove; 82. Clamping seat; 821. Matching strip-shaped groove; 822. Guide groove; 823. Mounting groove; 824. Perforation; 83. Cam structure; 831. Positioning groove; 84. Handle. Detailed implementation manners

[0041] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0042] The following uses specific specific examples to illustrate the implementation manners of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, without conflict, the following embodiments and the features in the embodiments can be combined with each other. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0043] It should be noted that the following describes various aspects of the embodiments within the scope of the appended claims. It should be obvious that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is illustrative only. Based on the present application, those skilled in the art should understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, this device and / or this method can be implemented using other structures and / or functions in addition to one or more of the aspects described herein.

[0044] It also needs to be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. The diagrams only show the components related to the present application rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in its actual implementation can be an arbitrary change, and the component layout type may also be more complex.

[0045] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the aspects described can be practiced without these specific details.

[0046] An embodiment of the present application provides a multifunctional exoskeleton device.

[0047] As Figures 1 to 3 shown, a multifunctional exoskeleton device includes a waist module 1, a hip joint module 2, a thigh part 3, a knee joint module 4, and a calf part 5. The thigh part 3 is movably connected to the waist module 1 through the hip joint module 2, and the calf part 5 is movably connected to the thigh part 3 through the knee joint module 4. A hip joint locking mechanism is provided on the hip joint module 2, and a knee joint locking mechanism is provided on the knee joint module 4; the hip joint locking mechanism is used to lock and unlock the movement of the hip joint module 2, and the knee joint locking mechanism is used to lock and unlock the knee joint.

[0048] A first roller 6 is installed behind the waist module 1 through a folding frame. A folding locking mechanism for locking the folded and unfolded states of the folding bracket 61 is provided on the folding bracket 61. A second roller 7 is connected to the knee joint module 4 or the calf part 5 through a support rod 71. The support rod 71 is rotatably installed on the knee joint module 4 or the calf module, and a support locking mechanism for locking the position of the support rod 71 is provided on the knee joint module 4 or the calf part 5.

[0049] Among them, the hip joint module 2 includes a waist connecting piece, a top of the thigh connecting piece, and a joint bearing. The waist connecting piece is connected to the waist module 1, the top of the thigh connecting piece is connected to the top of the thigh part 3, and the top of the thigh connecting piece and the waist connecting piece are movably connected through the joint bearing. The locking mechanism of the hip joint can be bolt holes provided on the waist connecting piece and the top of the thigh connecting plate. After reaching a preset angle, the bolt holes are aligned, and locking is achieved through bolt connection.

[0050] The knee joint module 4 includes a bottom thigh connecting member and a bottom calf connecting member. The bottom thigh connecting member is used to connect to the thigh portion 3, and the bottom calf connecting member is used to connect to the calf portion 5. The bottom thigh connecting member is provided with a fixed shaft, and the bottom calf connecting member is rotatably connected to the fixed shaft. The axial direction of the fixed shaft is arranged along the left-right direction of the wearer. One end of the support rod 71 is provided with a sleeve, and the sleeve is rotatably connected to the fixed shaft. The support rod 71 is located outside the calf portion 5, and the second roller 7 is a universal wheel. For the knee joint locking mechanism, it can be: a collar sleeved on the fixed shaft is provided on the bottom calf connecting member, and a plunger spring indexing pin is installed on the collar. The plunger spring indexing pin expands and contracts along the radial direction of the collar. A plurality of slots extending radially are provided on the circumferential side wall of the fixed shaft, and the slots correspond to the plunger spring indexing pins on the collar. After rotating the bottom calf connecting member to the required position, the plunger spring indexing pin is inserted into the slot to achieve locking, and pulling the plunger spring indexing pin releases the locking. Similarly, the support locking mechanism includes installing a plunger spring indexing pin on the sleeve, and slots corresponding to the plunger spring indexing pins on the sleeve are provided on the fixed shaft. For the support locking mechanism, an outer shell surrounding the outer circumference of the sleeve can also be provided on the bottom calf connecting member, the plunger spring indexing pin is provided in the outer shell, and the slots are provided on the outer circumferential side wall of the sleeve.

[0051] The folding bracket 61 adopts the folding mechanism of a gunstock in the prior art. The folding mechanism of the gunstock has a self-locking function when in place. The folding structure of the gunstock with locking is a mature technology, and this application will not elaborate on it here.

[0052] A plurality of connecting rods 8 are detachably mounted on the thigh portion 3. A first connecting seat is provided at one end of the thigh portion 3 close to the knee joint, and a second connecting seat is provided at one end of the calf portion 5 far from the knee joint. The first connecting seat and the second connecting seat are used for detachably clamping the ends of the connecting rod 8.

[0053] The multifunctional exoskeleton device includes an upright form and a trolley form;

[0054] When the multifunctional exoskeleton device is in the upright form, the folding bracket 61 is in the folded state, and the connecting rod 8 is mounted on the thigh.

[0055] When the exoskeleton is in the trolley form, the hip joint module 2 and the knee joint module 4 are in the locked state, the folding bracket 61 is in the unfolded state, the support rod 71 is rotated to the rear side of the calf portion 5, the connecting rod 8 connects the bottoms of the two thigh portions 3 through the two first connecting seats of the two thigh portions 3, and the connecting rod 8 connects the bottoms of the two calf portions 5 through the two second connecting seats of the two calf portions 5.

[0056] This application realizes the rapid conversion of the exoskeleton between the upright assisted walking form and the transport trolley form.

[0057] When the multifunctional exoskeleton device is in the upright form, the support rod 71 is within the front-back range of the calf part 5.

[0058] The plane perpendicular to the axial direction of the fixed axis is the first plane. When the exoskeleton is in the trolley form, the support rod 71 rotates to the rear side of the calf part 5, and the included angle between the support rod 71 and the thigh part 3 on the first plane is 20 - 150 degrees, and the included angle between the calf part 5 and the thigh part 3 on the first plane is 90 - 180 degrees.

[0059] As Figure 4 shown, the multifunctional exoskeleton device of the present application further includes a stretcher form. The differences between the multifunctional exoskeleton device in the stretcher form and the upright form are as follows: the hip joint module 2 and the knee joint module 4 are in the locked state, the connecting rod 8 connects the bottoms of the two thigh parts 3 through two first connecting seats of the two thigh parts 3, and the connecting rod 8 connects the bottoms of the two calf parts 5 through two second connecting seats of the two calf parts 5.

[0060] A docking block 52 is provided at the bottom end of the calf part 5, and a docking slot 15 is provided at the top end of the waist module 1. The docking block 52 and the docking slot 15 are detachably connected. The detachable connection method can be: docking holes are provided on the side walls of the docking block 52 and the docking slot 15, and the docking block 52 and the waist module 1 can be connected by bolts passing through the docking holes, or by spring pins passing through the docking holes.

[0061] As Figure 4 shown, multiple multifunctional exoskeleton devices in the stretcher form can be connected to form a climbing ladder. The specific combination method is to dock and fix the docking block 52 at the bottom of the calf part 5 of one multifunctional exoskeleton device with the docking slot 15 on the waist module 1 of another multifunctional exoskeleton device. It is also possible to connect a multifunctional exoskeleton device in the stretcher form to the waist module 1 of a multifunctional exoskeleton device in the trolley form to form an extended trolley.

[0062] A walking wheel 51 is installed at the bottom end of the calf part 5. The walking wheel 51 supports the ground when the wearer stands, and provides auxiliary support force for the wearer through the calf part 5, the thigh part 3 and the waist module 1.

[0063] As Figure 1 、 Figure 3 and Figure 5As shown in the figure, the waist module 1 includes a waistband and two waist support plates 11. The waistband is installed on the two waist support plates 11. The waist support plates 11 are connected to the hip joint module 2. A load-bearing cross beam 12 is installed between the two waist support plates 11 corresponding to the back side of the wearer. When the wearer is carrying a heavy object, the bottom of the object can be placed on the load-bearing cross beam 12 to reduce the burden on the wearer's back. Quick-release pipe clamps corresponding to the ends of the load-bearing cross beam 12 are provided on the waist support plates 11. The circular ends of the load-bearing cross beam 12 are clamped and released by the quick-release pipe clamps. The quick-release pipe clamps can be bicycle seat quick-release saddle pipe clamps.

[0064] The waist module 1 further includes an extension plate 13 and a ratchet and pawl mechanism 14. The ratchet of the ratchet and pawl mechanism 14 is installed on the waist support plate 11. The extension plate 13 is rotatably connected to the waist support plate 11. The axis of the ratchet of the ratchet and pawl mechanism 14 is coaxially arranged with the rotation axis of the extension plate 13. The pawl of the ratchet and pawl mechanism 14 is installed on the extension plate 13. The ratchet and pawl mechanism 14 is used to lock the rotation of the extension plate 13 relative to the waist support plate 11. The rotation axis of the extension plate 13 is parallel to the left and right direction of the wearer; the load-bearing cross beam 12 is installed on the side of the extension plate 13 away from the waist support plate 11.

[0065] The height of the load-bearing cross beam 12 is adjusted by rotating the extension plate 13 to adapt to heavy objects of different volumes and heights.

[0066] One end of the folding bracket 61 is installed on the extension plate 13, and the first roller 6 is installed on the other end of the folding bracket 61. The rotation axis of the folding bracket 61 is arranged along the front and back direction of the wearer. The rotation axis of the first roller 6 is parallel to the rotation axis of the extension plate 13.

[0067] In the embodiment of the present application, both the connecting rod 8 and the load-bearing cross beam 12 are telescopic rods with positioning.

[0068] As Figure 2 、 Figure 3 and Figure 6 shown, mounting seats 81 are provided at the top of the thigh part 3, the bottom of the thigh part 3, and the bottom of the calf part 5. The mounting seat 81 includes a main body part and a guiding rib 811. Guiding ribs 811 that are parallel to each other are provided on both opposite side surfaces of the main body part; both ends of the connecting rod 8 are provided with clamping seats 82. Two mating strip-shaped grooves 821 that are perpendicular and intersect with each other are provided on the first side surface of the clamping seat 82. Both ends of the mating strip-shaped grooves 821 penetrate through the side wall of the clamping seat 82. One of the mating strip-shaped grooves 821 is perpendicular to the length direction of the connection. The mating grooves are used for the main body part to pass through. Guide grooves 822 that are slidably matched with the guiding ribs 811 are provided on the inner walls of the mating grooves. Among them, the guiding rib 811 has a triangular cross-section perpendicular to the length direction.

[0069] The snap - connection base 82 of the present application can be fitted and installed with the mounting base 81 from two different directions, providing design flexibility for the installation directions of the mounting bases 81 at different positions, and improving the convenience of installing the connecting rod 8 at different positions.

[0070] As Figure 7 and Figure 8 shown, on one side of the main body part facing the bottom of the mating groove, there is a snap - groove 812. On the side wall of the snap - connection base 82 opposite to the first side surface, there is a mounting groove 823. At the bottom of the mounting groove 823, there is a perforation 824 penetrating through to the bottom of the mating strip - shaped groove 821. A cam structure 83 is rotatably arranged in the mounting groove 823. The distal end of the cam structure 83 passes through the perforation 824 and abuts against the opening edge of the snap - groove 812. The distal end of the cam presses against the main body part so that the guide groove 822 is pressed tightly against the guide rib 811. When the proximal end of the cam structure 83 faces the mating strip - shaped groove 821, the proximal end of the cam is located within the perforation 824. A handle 84 is arranged on the outer peripheral side wall of the cam structure 83. A positioning groove 831 is arranged on the outer peripheral side wall of the cam structure 83. On the inner wall surface of the mounting groove 823 corresponding to the outer peripheral side wall of the cam structure 83, there is a spring - loaded ball. When the distal end of the cam structure 83 abuts against the mounting groove 823, the positioning groove 831 and the spring - loaded ball are correspondingly engaged. The snap - connection base 82 and the mounting base 81 are locked and unlocked by rotating the cam structure 83.

[0071] As Figure 2 and Figure 3 shown, mounting bases 81 are provided at the tops of the front and rear sides of the thigh part 3 corresponding to the wearer, and the length direction of the guide rib 811 on the mounting base 81 at the top of the thigh part 3 is arranged along the length direction of the thigh part 3.

[0072] The mounting base 81 at the bottom of the thigh part 3 is located on the side of the thigh part 3 corresponding to the rear side of the wearer, and the length direction of the guide rib 811 on the mounting base 81 at the bottom of the thigh part 3 is arranged along the left - right direction of the wearer.

[0073] The mounting base 81 at the bottom of the calf part 5 is located on the side of the calf part 5 corresponding to the rear side of the wearer, and the length direction of the guide rib 811 on the mounting base 81 at the bottom of the calf part 5 is arranged along the length direction of the calf part 5.

[0074] Wherein, a plurality of clamping grooves 812 extending in different directions are provided on one side of the main body portion facing the bottom of the mating groove, and the thickness of the cam structure 83 is greater than the opening width of the clamping groove 812, so as to avoid the problem that when the clamping seat 82 is installed relative to the rotation direction of the mounting seat 81 and the thickness direction of the cam structure 83 is consistent with the width direction of the installation groove 823, the circumferential side wall of the cam structure 83 cannot abut against the opening edge of the clamping groove 812.

[0075] As described above, the above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A multifunctional exoskeleton device, comprising a waist module (1), a hip joint module (2), a thigh part (3), a knee joint module (4) and a calf part (5), wherein the thigh part (3) is movably connected to the waist module (1) through the hip joint module (2), and the calf part (5) is movably connected to the thigh part (3) through the knee joint module (4), characterized in that, The hip joint module (2) is provided with a hip joint locking mechanism, and the knee joint module (4) is provided with a knee joint locking mechanism; the hip joint locking mechanism is used to lock and unlock the movement of the hip joint module (2), and the knee joint locking mechanism is used to lock and unlock the knee joint; A first roller (6) is installed behind the waist module (1) through a folding frame, and the folding bracket (61) is provided with a folding locking mechanism for locking the folded and unfolded states of the folding bracket (61). A second roller (7) is connected to the knee joint module (4) or the lower leg (5) through a support rod (71). The support rod (71) is rotatably installed on the knee joint module (4) or the lower leg module, and the knee joint module (4) or the lower leg (5) is provided with a support locking mechanism for locking the position of the support rod (71); A plurality of connecting rods (8) are detachably mounted on the thigh (3). A first connecting seat is provided at one end of the thigh (3) close to the knee joint, and a second connecting seat is provided at one end of the lower leg (5) far from the knee joint. The first connecting seat and the second connecting seat are used for detachably clamping the ends of the connecting rod (8); The multifunctional exoskeleton device includes an upright form and a trolley form; When the multifunctional exoskeleton device is in the upright form, the folding bracket (61) is in the folded state, and the connecting rod (8) is mounted on the thigh; When the exoskeleton is in the trolley form, the hip joint module (2) and the knee joint module (4) are in the locked state, the folding bracket (61) is in the unfolded state, the support rod (71) rotates to the rear side of the lower leg (5), the connecting rod (8) connects the bottoms of the two thighs (3) through the two first connecting seats of the two thighs (3), and the connecting rod (8) connects the bottoms of the two lower legs (5) through the two second connecting seats of the two lower legs (5).

2. The multifunctional exoskeleton device according to claim 1, characterized in that, The waist module (1) includes a waist belt and two waist support plates (11). The waist belt is installed on the two waist support plates (11). The waist support plates (11) are connected to the hip joint module (2), and a load-bearing cross beam (12) is installed between the two waist support plates (11) corresponding to the rear side of the wearer.

3. The multifunctional exoskeleton device according to claim 2, characterized in that, The waist module (1) further includes an extension plate (13) and a ratchet and pawl mechanism (14). The ratchet of the ratchet and pawl mechanism (14) is installed on the waist support plate (11). The extension plate (13) is rotatably connected to the waist support plate (11). The axis of the ratchet of the ratchet and pawl mechanism (14) is coaxially arranged with the rotating shaft of the extension plate (13). The pawl of the ratchet and pawl mechanism (14) is installed on the extension plate (13). The ratchet and pawl mechanism (14) is used to lock the rotation of the extension plate (13) relative to the waist support plate (11). The rotating shaft of the extension plate (13) is parallel to the left-right direction of the wearer; The load-bearing cross beam (12) is installed on the side of the extension plate (13) away from the waist support plate (11).

4. The multifunctional exoskeleton device according to claim 3, wherein, One end of the folding bracket (61) is mounted on the extension plate (13), the first roller (6) is mounted on the other end of the folding bracket (61), the rotation axis of the folding bracket (61) is arranged along the front-back direction of the wearer, and the rotation axes of the first roller (6) and the extension plate (13) are parallel.

5. The multifunctional exoskeleton device according to claim 1, characterized in that When the multifunctional exoskeleton device is in an upright form, the support rod (71) is located within the front-back range of the calf (5); The plane perpendicular to the axial direction of the fixed axis is the first plane. When the exoskeleton is in the trolley form, the support rod (71) rotates to the rear side of the calf (5), and the included angle between the support rod (71) and the thigh (3) is 20 - 150 degrees in the first plane, and the included angle between the calf (5) and the thigh (3) is 90 - 180 degrees in the first plane.

6. The multifunctional exoskeleton device according to claim 1, characterized in that, Mounting seats (81) are provided at the top end of the thigh (3), the bottom end of the thigh (3), and the bottom end of the calf (5). The mounting seat (81) includes a main body portion and a guiding rib (811), and guiding ribs (811) parallel to each other are provided on both opposite side surfaces of the main body portion; Both ends of the connecting rod (8) are provided with clamping seats (82). On the first side surface of the clamping seat (82), two mating strip-shaped grooves (821) perpendicular to each other and intersecting are provided. The two ends of the mating strip-shaped grooves (821) penetrate through the side wall of the clamping seat (82). One of the mating strip-shaped grooves (821) is perpendicular to the length direction of the connection. The mating groove is used for the main body portion to pass through, and guiding grooves (822) slidably mating with the guiding ribs (811) are provided on the inner walls of the mating grooves.

7. The multifunctional exoskeleton device according to claim 6, wherein, A clamping groove (812) is provided on the side of the main body portion facing the bottom of the mating groove. On the side wall of the clamping seat (82) opposite to the first side surface, a mounting groove (823) is provided. A through hole (824) penetrating to the bottom of the mating strip-shaped groove (821) is provided at the bottom of the mounting groove (823). A cam structure (83) is rotatably provided in the mounting groove (823). The distal end of the cam structure (83) passes through the through hole (824) and abuts against the opening edge of the clamping groove (812). The distal end of the cam presses against the main body portion to press the guiding groove (822) against the guiding rib (811); When the proximal end of the cam structure (83) faces the mating strip-shaped groove (821), the proximal end of the cam is located within the through hole (824) where it is located; A handle (84) is provided on the outer peripheral side wall of the cam structure (83); A positioning groove (831) is provided on the outer peripheral side wall of the cam structure (83), and a spring bead is provided on the inner wall surface of the mounting groove (823) corresponding to the outer peripheral side wall of the cam structure (83). When the distal end of the cam structure (83) abuts against the mounting groove (823), the positioning groove (831) and the spring bead are correspondingly engaged.

8. The multifunctional exoskeleton device according to claim 6, characterized in that, Mounting seats (81) are provided at the tops of the front side and the rear side of the thigh part (3) corresponding to the wearer, and the length direction of the guiding rib (811) on the mounting seat (81) at the top end of the thigh part (3) is arranged along the length direction of the thigh part (3); The mounting seat (81) at the bottom of the thigh part (3) is located on one side of the thigh part (3) corresponding to the rear side of the wearer, and the length direction of the guiding rib (811) on the mounting seat (81) at the bottom of the thigh part (3) is arranged along the left - right direction of the wearer; The mounting seat (81) at the bottom of the calf part (5) is located on one side of the calf part (5) corresponding to the rear side of the wearer, and the length direction of the guiding rib (811) on the mounting seat (81) at the bottom of the calf part (5) is arranged along the length direction of the calf part (5).

9. The multifunctional exoskeleton device according to claim 1, wherein, A walking wheel (51) is installed at the bottom end of the calf part (5).

10. The multifunctional exoskeleton device according to claim 1, characterized in that, A docking block (52) is provided at the bottom end of the calf part (5), and a docking slot (15) is provided at the top end of the waist module (1). The docking block (52) and the docking slot (15) are detachably connected.

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