Load bearing folding storage mechanism for exoskeleton and lower limb exoskeleton robot

Abstract

The utility model relates to the technical field of exoskeleton robots, in particular to a load-bearing folding storage mechanism for an exoskeleton and a lower limb exoskeleton robot. The load-bearing folding and containing mechanism for the exoskeleton comprises a load-bearing supporting plate, a load-bearing containing plate, a rotating shaft, a damping mechanism and a lock catch mechanism, the load-bearing supporting plate is provided with a first side and a second side which are opposite, the first side of the load-bearing supporting plate is used for being connected with the waist of a lower limb exoskeleton robot, and the second side of the load-bearing supporting plate is used for being connected with the second side of the load-bearing containing plate. The second edge of the load bearing supporting plate is rotationally connected with the load bearing containing plate through a rotating shaft to form a rotating pair, and the extending direction of the axis of the rotating shaft is the same as the extending direction of the second edge of the load bearing supporting plate. According to the load-bearing folding and containing mechanism for the exoskeleton, part of force of a heavy object can be transferred to the waist, the effect of relieving the load of the shoulders of the human body is achieved, in the non-working state, the damping mechanism achieves the damping effect during rotation, and the load-bearing containing plate is prevented from shaking relative to the load-bearing supporting plate.

Description

Technical Field

[0001] The utility model relates to the technical field of exoskeleton robots, in particular to a load-bearing folding and storage mechanism for an exoskeleton and a lower limb exoskeleton robot. Background Art

[0002] In recent years, lower-limb exoskeleton robotics have continued to be a research hotspot both domestically and internationally. Lower-limb exoskeletons can enhance the walking ability of the elderly and, with the assistance of healthcare professionals, assist patients with lower-limb motor impairments in gait, squatting, and stair climbing rehabilitation. In industrial logistics, lower-limb exoskeletons can protect lumbar muscles during high-frequency reciprocating handling, assisting workers on industrial assembly lines with maintaining posture for extended periods and alleviating muscle soreness. Therefore, lower-limb exoskeletons hold great promise in the medical and industrial sectors.

[0003] When existing lower limb weight-bearing lower limb exoskeleton robots carry heavy objects, the weight is evenly loaded on the shoulders, which puts a heavy burden on the human shoulders. Utility Model Content

[0004] (1) The problem to be solved by the present invention is that when the existing lower limb weight-bearing lower limb exoskeleton robot carries heavy objects, the weight load is evenly loaded on the shoulders, which puts a heavy burden on the shoulders of the human body.

[0005] (2) Technical solution

[0006] A load-bearing folding and storage mechanism for an exoskeleton includes a load-bearing support plate, a load-bearing storage plate, a rotating shaft, a damping mechanism, and a locking mechanism. The load-bearing support plate has a first side and a second side opposite to each other. The first side of the load-bearing support plate is used to connect to the waist of a lower limb exoskeleton robot. The second side of the load-bearing support plate is rotatably connected to the load-bearing storage plate via a rotating shaft to form a rotating pair. The axis of the rotating shaft extends in the same direction as the second side of the load-bearing support plate.

[0007] The damping mechanism is used to achieve axial compression of the load-bearing support plate and the load-bearing storage plate along the axis of the rotating shaft;

[0008] When the locking mechanism is in the first working position, the locking mechanism causes the weight storage plate and the weight support plate to be relatively locked; when the locking mechanism is in the second working position, the locking mechanism is used to release the weight storage plate so that the weight storage plate can rotate relative to the weight support plate.

[0009] According to one embodiment of the present invention, a first rotation notch is provided on the second side of the load-bearing support plate to form a first adapter block and a second adapter block arranged along the axis direction of the rotating shaft on the second side of the load-bearing support plate, and the first adapter block and the second adapter block are both provided with a hole for the rotating shaft to pass through;

[0010] Two second rotation notches are provided on one side of the load storage plate close to the load support plate to form a first side block, a middle block and a second side block arranged along the axis of the rotating shaft on the side, and a hole for the rotating shaft to pass through is opened on the first side block, the middle block and the second side block;

[0011] The intermediate block matches the first rotation notch, and the first adapter block and the second adapter block match the two second rotation notches respectively.

[0012] According to an embodiment of the present invention, the first end of the rotating shaft is provided with an external thread, and a nut is installed in the hole body on the first adapter block, and the nut is adapted to the external thread on the rotating shaft.

[0013] According to an embodiment of the present invention, the first end of the rotating shaft is provided with an external thread, and the hole body on the first adapter block is provided with an internal thread groove that is compatible with the external thread on the rotating shaft.

[0014] According to one embodiment of the present invention, the damping mechanism includes a disc spring and a screw, and the second end of the rotating shaft is provided with an internal threaded hole adapted to the screw; a circular groove is provided on a side of the second side block away from the middle block, and the circular groove is coaxially arranged with the hole on the second side block;

[0015] The disc spring is sleeved on the second end of the rotating shaft and acts on the inner wall of the circular groove. The screw is screwed into the internal threaded hole at the second end of the rotating shaft to compress the disc spring along the axial direction of the rotating shaft.

[0016] According to an embodiment of the present invention, the locking mechanism includes a cross inserting block, a first cross slot and a second cross slot; the first cross slot and the second cross slot are both adapted to the cross inserting block;

[0017] The first cross slot is provided on a side of the first side block facing the middle block and passes through the lower surface of the first side block; the second cross slot is provided on a side of the first adapter block away from the second adapter block and passes through the lower surface of the first adapter block; the depth of the second cross slot is greater than the length of the cross insert block;

[0018] The cross insert block can move between the first cross slot and the second cross slot along the axial direction of the rotating shaft.

[0019] According to one embodiment of the present invention, the locking mechanism further includes a bottom block, which is connected to the cross plug block, and the bottom block is lower than the lower surface of the load-bearing support plate.

[0020] According to one embodiment of the present invention, a plurality of weight-reducing holes are provided on the weight-bearing storage plate.

[0021] According to one embodiment of the present invention, the load-bearing support plate is provided with a plurality of weight-reducing holes.

[0022] A lower limb exoskeleton robot comprises the above-mentioned load-bearing folding and storage mechanism for the exoskeleton.

[0023] Beneficial effects of the utility model:

[0024] The utility model provides a load-bearing folding and storage mechanism for an exoskeleton, comprising a load-bearing support plate, a load-bearing storage plate, a rotating shaft, a damping mechanism and a locking mechanism. The load-bearing support plate has a first side and a second side relative to each other. The first side of the load-bearing support plate is used to be connected to the waist of a lower limb exoskeleton robot. The second side of the load-bearing support plate is rotatably connected to the load-bearing storage plate through a rotating shaft to form a rotating pair. The axial extension direction of the rotating shaft is the same as the extension direction of the second side of the load-bearing support plate; the damping mechanism is used to achieve axial compression of the load-bearing support plate and the load-bearing storage plate along the axial direction of the rotating shaft; when the locking mechanism is in the first working position, the locking mechanism causes the load-bearing storage plate and the load-bearing support plate to be relatively locked; when the locking mechanism is in the second working position, the locking mechanism is used to release the load-bearing storage plate so that the load-bearing storage plate can rotate relative to the load-bearing support plate.

[0025] In the non-operating state, the locking mechanism is in the second position, releasing the load-bearing storage plate to allow it to rotate relative to the load-bearing support plate. The load-bearing storage plate is then folded perpendicular to the load-bearing support plate, parallel to the back of the lower limb exoskeleton robot, to save space. In this state, the damping mechanism axially compresses the load-bearing support plate and the load-bearing storage plate along the axis of the rotating shaft, achieving a damping effect during rotation, preventing the load-bearing storage plate from swaying relative to the load-bearing support plate when in a vertical position, and ensuring the stability of the load-bearing storage plate in the vertical position.

[0026] When carrying a heavy object (such as a backpack filled with supplies), rotate the weight storage plate until the weight storage plate is flush with the weight support plate, and then adjust the locking mechanism to the first position. The locking mechanism locks the weight storage plate and the weight support plate relative to each other, so that the heavy object is placed on the weight support plate and the weight storage plate to transfer part of the force of the heavy object to the waist, thereby reducing the burden on the shoulders of the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A three-dimensional diagram of a load-bearing folding and storage mechanism for an exoskeleton provided in an embodiment of the present utility model;

[0029] Figure 2 A schematic diagram of the load storage plate and the load support plate of the load folding and storage mechanism for an exoskeleton provided by an embodiment of the present invention after being separated;

[0030] Figure 3 An exploded view of the load-bearing support plate, buckle, rotating shaft and damping mechanism of the load-bearing folding and storage mechanism for an exoskeleton provided by an embodiment of the utility model;

[0031] Figure 4 A structural diagram of a load-bearing storage plate in a load-bearing folding and storage mechanism for an exoskeleton provided in an embodiment of the present utility model;

[0032] Figure 5 This is a structural diagram of the buckle provided in an embodiment of the utility model.

[0033] Icons: 1. Weight-bearing storage plate; 101. First side block; 102. Middle block; 103. Second side block; 104. First cross slot; 105. Second axis hole; 106. Round groove; 107. Third axis hole; 2. Weight-bearing support plate; 201. First adapter block; 202. Second adapter block; 203. Second cross slot; 3. Rotating shaft; 4. Buckle; 401. Bottom block; 402. Cross insert block; 5. Disc spring; 6. Screw. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Example 1

[0036] like Figure 1-Figure 5As shown, embodiment 1 of the present invention provides a load-bearing folding and storage mechanism for an exoskeleton, comprising a load-bearing support plate 2, a load-bearing storage plate 1, a rotating shaft 3, a damping mechanism, and a locking mechanism. The load-bearing support plate 2 has a first side and a second side opposite to each other. The first side of the load-bearing support plate 2 is used to be connected to the waist of a lower limb exoskeleton robot. The second side of the load-bearing support plate 2 is rotatably connected to the load-bearing storage plate 1 via the rotating shaft 3 to form a rotating pair. The axis extension direction of the rotating shaft 3 is the same as the extension direction of the second side of the load-bearing support plate 2.

[0037] The damping mechanism is used to achieve axial compression of the load-bearing support plate 2 and the load-bearing storage plate 1 along the axis of the rotating shaft 3;

[0038] When the locking mechanism is in the first position, the locking mechanism locks the load-bearing storage plate 1 and the load-bearing support plate 2 relative to each other; when the locking mechanism is in the second position, the locking mechanism is used to release the load-bearing storage plate 1 so that the load-bearing storage plate 1 can rotate relative to the load-bearing support plate 2.

[0039] In this embodiment, the first edge of the load-bearing support plate 2 in the load-bearing folding and storage mechanism for the exoskeleton is secured to the lower limb exoskeleton's waist, perpendicular to the lower limb exoskeleton's waist. The locking mechanism allows the load-bearing support plate 2 to be locked relative to the load-bearing support plate 1 and to rotate relative to the load-bearing support plate 2.

[0040] Among them, the damping mechanism realizes axial compression of the weight-bearing support plate 2 and the weight-bearing storage plate 1 along the axial direction of the rotating shaft 3, realizes the damping effect during rotation, prevents the weight-bearing storage plate 1 from shaking relative to the weight-bearing support plate 2 when in a vertical state, and ensures the stability of the weight-bearing storage plate 2 in a vertical state.

[0041] In the non-operating state, the locking mechanism is in the second position, releasing the load-bearing storage plate 1, allowing it to rotate relative to the load-bearing support plate 2. The load-bearing storage plate 1 is then folded to a position perpendicular to the load-bearing support plate 1, that is, parallel to the back of the lower limb exoskeleton robot, to save space. In this state, the damping mechanism achieves axial compression between the load-bearing support plate 2 and the load-bearing storage plate 1 along the axis of the rotating shaft 3, achieving a damping effect during rotation, preventing the load-bearing storage plate 1 from shaking relative to the load-bearing support plate 2 when in the vertical state, and ensuring the stability of the load-bearing storage plate 1 in the vertical state.

[0042] When carrying a heavy object (such as a backpack filled with supplies), rotate the weight storage plate 1 until the weight storage plate 1 is flush with the weight support plate 2, and then adjust the locking mechanism to the first position. The locking mechanism locks the weight storage plate 1 and the weight support plate 2 relative to each other, so that the heavy object is placed on the weight support plate 2 and the weight storage plate 1 to transfer part of the force of the heavy object to the waist, thereby reducing the burden on the shoulders of the human body.

[0043] As a preferred embodiment, Figure 2 and Figure 3 As shown, a first rotation notch is provided in the middle position of the second side of the weight-bearing support plate 2, and a first adapter block 201 and a second adapter block 202 are formed on both sides of the second side of the weight-bearing support plate 2, which are arranged along the axial direction of the rotating shaft 3. Furthermore, the first adapter block 201 and the second adapter block 202 are both provided with a hole body for the rotating shaft 3 to pass through.

[0044] like Figure 2 and Figure 4 As shown, the side of the load-bearing storage plate 1 close to the load-bearing support plate 2 is provided with two second rotation notches, and the side of the load-bearing storage plate 1 close to the load-bearing support plate 2 is formed with a first side block 101, a middle block 102, and a second side block 103 arranged along the axial direction of the rotating shaft 3. Among them, the middle block 102 is located in the middle position of the side of the load-bearing storage plate 1 close to the load-bearing support plate 2, the first side block 101 is located on the left side of the side of the load-bearing storage plate 1 close to the load-bearing support plate 2, and the second side block 103 is located on the right side of the side of the load-bearing storage plate 1 close to the load-bearing support plate 2. Furthermore, a first axial hole, a second axial hole 105, and a third axial hole 107 are respectively formed on the first side block 101, the middle block 102, and the second side block 103.

[0045] Among them, the middle block 102 matches the first rotation notch on the load-bearing support plate 2, and the first adapter block 201 and the second adapter block 202 match the two second rotation notches on the load-bearing storage plate 1 respectively.

[0046] In this embodiment, a circular groove is formed in the surface of the first adapter block 201 away from the second adapter block 202, which is connected to the hole on the first adapter block 201. A nut is installed in the circular groove. Furthermore, an external thread matching the nut is formed on the first end of the rotating shaft 3.

[0047] like Figure 1As shown, when connecting the load-bearing support plate 2 and the load-bearing storage plate 1, the middle block 102 on the load-bearing storage plate 1 is inserted into the first rotation notch on the load-bearing support plate 2. At the same time, the first adapter block 201 and the second adapter block 202 on the load-bearing support plate 2 are respectively inserted into the two second rotation notches on the load-bearing storage plate 1. Then, the position of the load-bearing storage plate 1 is adjusted so that the first axial hole on the first side block 101, the hole body on the first adapter block 201, the second axial hole 105 on the middle block 102, the hole body on the second adapter block 202, and the third axial hole 107 on the second side block 103 are aligned. Then, the first end of the rotating shaft 3 is inserted into the third axial hole 107 on the second side block 103 and pushed until the first end of the rotating shaft 3 contacts the nut in the first adapter block 201. Then, the rotating shaft 3 is screwed so that the first end of the rotating shaft 3 is fixed in the nut. In this way, the load-bearing storage plate 1 can rotate relative to the load-bearing support plate 2.

[0048] As an alternative embodiment, an internal thread groove adapted to the external thread on the first end of the rotating shaft 3 is provided in the hole of the first adapter block 201. This eliminates the need to provide a nut in the first adapter block 201, thus saving costs.

[0049] As a preferred embodiment, Figure 3 As shown, the damping mechanism includes a disc spring 5 and a screw 6. The end surface of the second end of the rotating shaft 3 is provided with an internal threaded hole adapted to the screw 6. Figure 4 As shown, a circular groove 106 is provided on a side of the second side block 103 away from the middle block 102. The circular groove 106 is connected to the third axial hole 107 on the second side block 103. The circular groove 106 and the third axial hole 107 are coaxially arranged, and the diameter of the circular groove 106 is larger than the diameter of the third axial hole 107. Specifically, the circular groove 106 is first punched on the right side of the second side block 103, but the circular groove 106 does not pass through the second side block 103. Then, the third axial hole 107 is punched on the inner wall of the circular groove 106.

[0050] Furthermore, the disc spring 5 is sleeved on the second end of the rotating shaft 3 ( Figure 2 The screw 6 comprises a threaded rod and a screw head, and the threaded rod is screwed into the internal threaded hole at the right end of the rotating shaft 3.

[0051] After the rotating shaft 3 is installed in place, the disc spring 5 is inserted into the circular groove 106 of the second side block 103 and sleeved on the right end of the rotating shaft 3. Then, the screw 6 is screwed on the right end of the rotating shaft 3 and tightened. As the screw 6 is gradually tightened, the screw head of the screw 6 presses the disc spring 5 toward the left. The disc spring 5 acts on the inner wall of the circular groove 106, that is, on the second side block 103, to achieve axial compression between the load-bearing support plate 2 and the load-bearing storage plate 1, achieving a damping effect during rotation, preventing the load-bearing storage plate 1 from shaking relative to the load-bearing support plate 2 in a vertical state, and ensuring the stability of the load-bearing storage plate 1 in a vertical state.

[0052] As a preferred embodiment, the locking mechanism includes a buckle 4, a first cross slot 104 and a second cross slot 203, wherein the buckle 4 includes a cross insert 402. Figure 2 As shown, a first cross slot 104 is provided on the side of the first side block 101 facing the middle block 102, that is, on the right side of the first side block 101. The first cross slot 104 passes through the lower surface of the first side block 101. Figure 3 As shown, a second cross slot 203 is defined on the side of the first adapter block 201 away from the second adapter block 202, i.e., on the left side of the first adapter block 201. The second cross slot 203 extends through the lower surface of the first adapter block 201. Both the first cross slot 104 and the second cross slot 203 are adapted to the cross insert block 402, and the depth of the second cross slot 203 is greater than the length of the cross insert block 402, so that the cross insert block 402 can be fully embedded in the second cross slot 203 of the first adapter block 201.

[0053] It should be noted that when the exoskeleton's load-bearing folding and storage mechanism is in a non-load-bearing state, the cross insert 402 is completely embedded in the second cross slot 203 of the first adapter block 201. At this time, the cross insert 402 is in the second working position. In this state, the cross insert 402 cannot limit the first side block 101 of the load-bearing storage plate 1, that is, the load-bearing support plate 2 and the load-bearing storage plate 1 can rotate relative to each other. In this case, only the damping mechanism is relied upon to achieve the damping effect of the load-bearing support plate 2 and the load-bearing storage plate 1 during rotation, preventing the load-bearing storage plate 1 from shaking relative to the load-bearing support plate 2 and ensuring the stability of the load-bearing storage plate 1 during rotation. When the exoskeleton's load-bearing folding and storage mechanism is loaded, the load-bearing storage plate 1 is folded to a position flush with the load-bearing support plate 2. The cross insert 402 is then pushed toward the first side block 101, causing a portion of the cross insert 402 to be inserted into the first cross slot 104 of the first side block 101, while the remaining portion of the cross insert 402 is inserted into the second cross slot 203 of the first adapter block 201. At this point, the cross insert 402 is in the first working position. That is, the left portion of the cross insert 402 is inserted into the first cross slot 104 of the first side block 101, and the right portion of the cross insert 402 is inserted into the second cross slot 203 of the first adapter block 201. This prevents the load-bearing storage plate 1 from rotating further, ensuring that the load-bearing storage plate 1 and the load-bearing support plate 2 are flush with each other, allowing them to bear the load.

[0054] When there is no need to bear heavy objects, the cross inserting block 402 is pushed toward the right side so that the cross inserting block 402 is fully embedded in the second cross slot 203 of the first adapter block 201 again.

[0055] Preferably, in order to facilitate pushing the cross plug 402, as shown Figure 5 As shown, an integrally formed bottom block 401 is provided on the bottom surface of the cross plug block 402. Figure 2 As shown, the upper surface of the bottom block 401 is lower than the lower surface of the load-bearing support plate 2 .

[0056] Optional, such as Figure 1 and Figure 2 As shown, multiple weight-reducing holes are provided on the load-receiving plate 1 and the load-supporting plate 2 to reduce the weight of the load-receiving plate 1 and the load-supporting plate 2, thereby reducing the burden on the lower limb exoskeleton robot and saving manufacturing costs. The shape and number of the weight-reducing holes are not specifically limited.

[0057] Example 2:

[0058] Embodiment 2 of the present invention provides a lower limb exoskeleton robot, comprising the exoskeleton load-bearing folding and storage mechanism of embodiment 1, wherein the load-bearing support plate 2 in the exoskeleton load-bearing folding and storage mechanism is fixedly mounted to the waist or back of the lower limb exoskeleton robot.

[0059] In this way, when carrying a heavy object, the load-bearing storage plate 1 can be rotated until the load-bearing storage plate 1 is flush with the load-bearing support plate 2. The locking mechanism makes the load-bearing storage plate 1 and the load-bearing support plate 2 relatively locked. The heavy object is placed on the load-bearing support plate 2 and the load-bearing storage plate 1 to transfer part of the force of the heavy object to the waist, thereby reducing the burden on the shoulders of the human body. When there is no need to carry a heavy object, the cross plug 402 is pushed so that the cross plug 402 is completely embedded in the second cross slot 203 of the first adapter block 201. The load-bearing support plate 2 and the load-bearing storage plate 1 can be rotated relative to each other, and then the load-bearing storage plate 1 is folded to a vertical state, that is, the load-bearing storage plate 1 is parallel to the back of the lower limb exoskeleton robot to save space. The damping mechanism can prevent the load-bearing storage plate 1 from shaking relative to the load-bearing support plate 2 when in a vertical state, ensuring the stability of the load-bearing storage plate 1 in a vertical state.

[0060] In the description of this utility model, it should be noted that the terms "upper" and "lower" and other terms indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0062] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A load-bearing folding and storage mechanism for an exoskeleton, characterized in that: The invention comprises a load-bearing support plate (2), a load-bearing storage plate (1), a rotating shaft (3), a damping mechanism and a locking mechanism, wherein the load-bearing support plate (2) has a first side and a second side opposite to each other, the first side of the load-bearing support plate (2) is used to be connected to the waist of a lower limb exoskeleton robot, the second side of the load-bearing support plate (2) is rotationally connected to the load-bearing storage plate (1) via the rotating shaft (3) to form a rotating pair, and the axis extension direction of the rotating shaft (3) is the same as the extension direction of the second side of the load-bearing support plate (2); The damping mechanism is used to achieve axial compression of the load-bearing support plate (2) and the load-bearing storage plate (1) along the axis of the rotating shaft (3); When the locking mechanism is in the first working position, the locking mechanism causes the load-bearing storage plate (1) and the load-bearing support plate (2) to be relatively locked; when the locking mechanism is in the second working position, the locking mechanism is used to release the load-bearing storage plate (1) so that the load-bearing storage plate (1) can rotate relative to the load-bearing support plate (2).

2. The load-bearing folding and storage mechanism for an exoskeleton according to claim 1, characterized in that: A first rotation notch is provided on the second side of the load-bearing support plate (2) to form a first transfer block (201) and a second transfer block (202) arranged along the axial direction of the rotating shaft (3) on the second side of the load-bearing support plate (2), and a hole for the rotating shaft (3) to pass through is provided on the first transfer block (201) and the second transfer block (202); The load-bearing storage plate (1) is provided with two second rotation notches on one side close to the load-bearing support plate (2), so as to form a first side block (101), a middle block (102) and a second side block (103) arranged along the axis direction of the rotating shaft (3) on the side, and the first side block (101), the middle block (102) and the second side block (103) are all provided with a hole for the rotating shaft (3) to pass through; The intermediate block (102) matches the first rotation notch, and the first adapter block (201) and the second adapter block (202) match the two second rotation notches respectively.

3. The load-bearing folding and storage mechanism for an exoskeleton according to claim 2, characterized in that: The first end of the rotating shaft (3) is provided with an external thread, and a nut is installed in the hole body on the first adapter block (201), and the nut is adapted to the external thread on the rotating shaft (3).

4. The load-bearing folding and storage mechanism for an exoskeleton according to claim 2, characterized in that: The first end of the rotating shaft (3) is provided with an external thread, and the hole body on the first adapter block (201) is provided with an internal thread groove that matches the external thread on the rotating shaft (3).

5. The load-bearing folding and storage mechanism for an exoskeleton according to claim 3, characterized in that: The damping mechanism comprises a disc spring (5) and a screw (6); the second end of the rotating shaft (3) is provided with an internal threaded hole adapted to the screw (6); a circular groove (106) is provided on a side of the second side block (103) away from the middle block (102); the circular groove (106) is coaxially arranged with the hole on the second side block (103); The disc spring (5) is sleeved on the second end of the rotating shaft (3) and acts on the inner wall of the circular groove (106), and the screw (6) is screwed into the internal threaded hole at the second end of the rotating shaft (3) to press the disc spring (5) along the axial direction of the rotating shaft (3).

6. The load-bearing folding and storage mechanism for an exoskeleton according to claim 2, characterized in that: The locking mechanism comprises a cross inserting block (402), a first cross slot (104) and a second cross slot (203); the first cross slot (104) and the second cross slot (203) are both adapted to the cross inserting block (402); The first cross slot (104) is provided on a side of the first side block (101) facing the middle block (102) and passes through the lower surface of the first side block (101); the second cross slot (203) is provided on a side of the first adapter block (201) away from the second adapter block (202) and passes through the lower surface of the first adapter block (201); the depth of the second cross slot (203) is greater than the length of the cross insert block (402); The cross insert block (402) can move between the first cross slot (104) and the second cross slot (203) along the axial direction of the rotating shaft (3).

7. The load-bearing folding and storage mechanism for an exoskeleton according to claim 6, characterized in that: The locking mechanism further comprises a bottom block (401), the bottom block (401) being connected to the cross insert block (402), and the bottom block (401) being lower than the lower surface of the load-bearing support plate (2).

8. The load-bearing folding and storage mechanism for an exoskeleton according to claim 1, characterized in that: The load-bearing storage plate (1) is provided with a plurality of weight-reducing holes.

9. The load-bearing folding and storage mechanism for an exoskeleton according to claim 1, characterized in that: The load-bearing support plate (2) is provided with a plurality of weight-reducing holes.

10. A lower limb exoskeleton robot, characterized in that: The invention comprises a load-bearing folding and storing mechanism for an exoskeleton as described in any one of claims 1 to 9.

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