A multi-functional exoskeleton device
By designing a multifunctional exoskeleton device, including a waist module, hip joint module, thigh, knee joint module, and lower leg, the exoskeleton can quickly switch between upright walking and transport vehicle modes, solving the problem of existing exoskeletons being unable to transport materials and enhancing the ability to transport supplies.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHAANXI BOHE ELECTRONIC TECH CO LTD
- Filing Date
- 2025-03-26
- Publication Date
- 2026-07-21
AI Technical Summary
Existing exoskeleton devices can only assist in walking and cannot transport supplies, requiring additional trolley equipment.
Design a multifunctional exoskeleton device comprising a waist module, a hip joint module, a thigh module, a knee joint module, and a lower leg module. It features a hip joint locking mechanism, a knee joint locking mechanism, a folding bracket, rollers, and detachable connecting rods, and can quickly transform between an upright mode and a cart mode.
It enables the exoskeleton to quickly switch between upright assisted walking and transport vehicle modes, enhancing material transportation capabilities and reducing the need to carry additional equipment.
Smart Images
Figure CN224527215U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of wearable assistive devices, and in particular to a multifunctional exoskeleton device. Background Technology
[0002] Traditional exoskeleton devices are mainly used for human movement assistance or weight-bearing support, but they have the following problems: existing exoskeletons can only assist walking and cannot realize the function of transporting materials, requiring additional trolley equipment. Summary of the Invention
[0003] In view of this, this application provides a multifunctional exoskeleton device that solves the problems in the prior art and provides a deformable multifunctional exoskeleton device.
[0004] The multifunctional exoskeleton device provided in this application adopts the following technical solution: A multifunctional exoskeleton device includes a waist module, a hip joint module, a thigh, a knee joint module, and a lower leg. The thigh is movably connected to the waist module via the hip joint module, and the lower leg is movably connected to the thigh via the knee joint module. The hip joint module is equipped with a hip joint locking mechanism, and the knee joint module is equipped with a knee joint locking mechanism. 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. The waist module has a first roller mounted on the rear via a folding bracket. The folding bracket is equipped with a folding locking mechanism to lock the folded and unfolded states of the folding bracket. The knee joint module or lower leg is connected to a second roller via a support rod. The support rod is rotatably mounted on the knee joint module or lower leg module. The knee joint module or lower leg is equipped with a support locking mechanism to lock the position of the support rod. The thigh is detachably mounted with multiple connecting rods. The end of the thigh near the knee joint is provided with a first connecting seat, and the end of the lower leg away from the knee joint is provided with a second connecting seat. The first and second connecting seats are used to detachably engage with the ends of the connecting rods. The multifunctional exoskeleton device includes an upright form and a vehicle form; When the multifunctional exoskeleton device is in an upright position, the folding bracket is in a folded state, and the connecting rod is attached to the thigh. When the exoskeleton is in the vehicle form, the hip joint module and knee joint module are locked, the folding bracket is unfolded, the support rod rotates to the back of the lower leg, the connecting rod connects the bottom of the two thighs through the two first connecting seats of the two thighs, and the connecting rod connects the bottom of the two lower legs through the two second connecting seats of the two lower legs. The knee joint module includes a thigh bottom connector and a calf connector. The thigh bottom connector is used to connect to the thigh, and the calf connector is used to connect to the calf. The thigh bottom connector is provided with a fixed shaft, and the calf connector and the fixed shaft are rotatably connected. The axial direction of the fixed shaft is set along the left and right direction of the wearer. One end of the support rod is provided with a sleeve, and the sleeve is rotatably connected to the fixed shaft. The support rod is located on the outside of the calf.
[0005] Optionally, the waist module includes a waist belt and two waist support plates. The waist belt is mounted on the two waist support plates, and the waist support plates are connected to the hip joint module. A load-bearing crossbeam is installed between the two waist support plates corresponding to the rear side of the wearer.
[0006] 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 and the waist support plate are rotatably connected. The axis of the ratchet of the ratchet and pawl mechanism is coaxial with the axis of rotation 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 axis of rotation of the extension plate is parallel to the left and right direction of the wearer. The load-bearing crossbeam is installed on the side of the extension plate away from the waist support plate.
[0007] 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 pivot of the folding bracket is arranged along the front-back direction of the wearer, and the pivot of the first roller is parallel to the pivot of the extension plate.
[0008] Optionally, when the multifunctional exoskeleton device is in an upright position, the support rod is located within the front and rear range of the lower leg; 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 rotates to the rear side of the lower leg, and the angle between the support rod and the thigh on the first plane is 20-150 degrees, and the angle between the lower leg and the thigh on the first plane is 90-180 degrees.
[0009] Optionally, the top end of the thigh, the bottom end of the thigh, and the bottom end of the calf are all provided with mounting seats. The mounting seats include a main body and guide protrusions. The main body has parallel guide protrusions on its opposite two sides. Both ends of the connecting rod are provided with snap-fit seats. The first side of the snap-fit seat is provided with two mutually perpendicular and intersecting mating strip grooves. The two ends of the mating strip grooves penetrate through the side wall of the snap-fit seat. One of the mating strip grooves is perpendicular to the length direction of the connection. The mating strip grooves are used for the main body to pass through. The inner wall of the mating strip grooves is provided with guide grooves that slide with the guide protrusions.
[0010] Optionally, the main body has a snap-fit groove on the side facing the bottom of the mating strip groove, and the snap-fit seat has an installation groove on the side wall facing away from the first side. The bottom of the installation groove has a through hole that extends to the bottom of the mating strip groove. A cam structure is rotatably provided in the installation groove. The distal end of the cam structure passes through the through hole and abuts against the opening edge of the snap-fit groove. The distal end of the cam presses against the main body so that the guide groove is pressed against the guide protrusion. When the proximal end of the cam structure faces the mating groove, the proximal end of the cam is located within the perforation. A handle is provided on the outer peripheral sidewall of the cam structure; The outer peripheral sidewall of the cam structure is provided with a positioning groove, and the mounting groove is provided with a spring ball on the inner wall surface of the outer peripheral sidewall of the cam structure. When the far end of the cam structure abuts against the mounting groove, the positioning groove and the spring ball are engaged.
[0011] Optionally, the thigh is provided with mounting seats at the top of both the front and rear sides of the wearer, and the guide protrusion on the mounting seat at the top of the thigh is arranged along the length direction of the thigh. The mounting base at the bottom of the thigh is located on one side of the thigh corresponding to the back of the wearer, and the guide protrusion on the mounting base at the bottom of the thigh is set along the left and right direction of the wearer. The mounting base at the bottom of the lower leg is located on the side of the lower leg corresponding to the back of the wearer, and the guide protrusion on the mounting base at the bottom of the lower leg is set along the length direction of the lower leg.
[0012] Optionally, the lower leg is equipped with a walking wheel at its bottom.
[0013] Optionally, the lower end of the lower leg is provided with a docking block, and the top of the waist module is provided with a docking slot, and the docking block and the docking slot are detachably connected.
[0014] In summary, this application includes the following beneficial technical effects: This application enables the exoskeleton to rapidly switch between an upright assisted walking mode and a transport vehicle mode.
[0015] The design of docking blocks and docking slots also allows for the transformation of exoskeleton stretchers, ladders, and extended carts. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic diagram of the upright form of the multifunctional exoskeleton device of this application; Figure 2 This is a structural schematic diagram of the multifunctional exoskeleton device of this application from another perspective in its upright form. Figure 3 This is a structural schematic diagram of the multifunctional exoskeleton device vehicle of this application; Figure 4 This is a structural schematic diagram of the ladder-shaped multifunctional exoskeleton device of this application; Figure 5 This is a schematic diagram of the installation structure of the waist module and the first roller in this application; Figure 6 This is a schematic diagram of the structure of the mounting base and the card slot mating in this application; Figure 7 This is a schematic diagram of the structure in which the mounting base and the locking base of this application are locked by a cam structure. Figure 8 This is a schematic diagram of the structure of the mounting base and the locking base unlocked by the cam structure in this application. Explanation of reference numerals in the attached drawings: 1. Waist module; 11. Waist support plate; 12. Load-bearing crossbeam; 13. Extension plate; 14. Ratchet and pawl mechanism; 15. Docking slot; 2. Hip joint module; 3. Thigh; 4. Knee joint module; 5. Lower leg; 51. Walking wheel; 52. Docking block; 6. First roller; 61. Folding bracket; 7. Second roller; 71. Support rod; 8. Connecting rod; 81. Mounting seat; 811. Guide protrusion; 812. Snap-fit groove; 82. Snap-fit seat; 821. Matching strip groove; 822. Guide groove; 823. Mounting groove; 824. Perforation; 83. Cam structure; 831. Positioning groove; 84. Handle. Detailed Implementation
[0018] The embodiments of this application will now be described in detail with reference to the accompanying drawings.
[0019] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0020] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It will be apparent that the aspects described herein can be embodied in a wide variety of forms, and any particular structure and / or function described herein is merely illustrative. Based on this application, those skilled in the art will 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 set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functionalities other than one or more of the aspects set forth herein.
[0021] It should also be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The illustrations only show the components related to this application and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.
[0022] Furthermore, specific details are provided in the following description to facilitate a thorough understanding of the examples. However, those skilled in the art will understand that the described aspects can be practiced without these specific details.
[0023] This application provides a multifunctional exoskeleton device.
[0024] like Figures 1 to 3As shown, a multifunctional exoskeleton device includes a waist module 1, a hip joint module 2, a thigh 3, a knee joint module 4, and a lower leg 5. The thigh 3 is movably connected to the waist module 1 via the hip joint module 2, and the lower leg 5 is movably connected to the thigh 3 via the knee joint module 4. 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.
[0025] A first roller 6 is mounted on the rear of the waist module 1 via a folding bracket 61. The folding bracket 61 is provided with a folding locking mechanism to lock 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 via a support rod 71. The support rod 71 is rotatably mounted on the knee joint module 4 or the lower leg module. The knee joint module 4 or the lower leg 5 is provided with a support locking mechanism to lock the position of the support rod 71.
[0026] The hip joint module 2 includes a waist connector, a thigh top connector, and a joint bearing. The waist connector is connected to the waist module 1, and the thigh top connector is connected to the top of the thigh 3. The thigh top connector and the waist connector are movably connected through the joint bearing. The locking mechanism of the hip joint can be a bolt hole provided in the waist connector and the thigh top connector plate. After reaching a preset angle, the bolt hole is aligned and locked by bolt connection.
[0027] The knee joint module 4 includes a thigh bottom connector and a calf connector. The thigh bottom connector is used to connect to the thigh 3, and the calf connector is used to connect to the calf 5. The thigh bottom connector is provided with a fixed shaft, and the calf connector and the fixed shaft are rotatably connected. The axial direction of the fixed shaft is set along the left and 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 on the outside of the calf 5. The second roller 7 is a universal wheel. The knee joint locking mechanism can be as follows: a collar fitted on a fixed shaft is provided on the lower leg connector, and a plunger spring indexing pin is installed on the collar. The plunger spring indexing pin extends and retracts in the radial direction of the collar. Several radially extending slots are provided on the circumferential sidewall of the fixed shaft, and the slots correspond to the plunger spring indexing pins on the collar. After rotating the lower leg connector to the required position, the plunger spring indexing pin is inserted into the slot to achieve locking. Pulling the plunger spring indexing pin releases the locking. Similarly, the support locking mechanism includes a plunger spring indexing pin installed on a sleeve, and slots on the fixed shaft corresponding to the plunger spring indexing pins on the sleeve. Alternatively, the support locking mechanism can be provided with a shell surrounding the outer circumference of the sleeve on the lower leg connector, with the plunger spring indexing pin located in the shell and the slots located on the outer circumferential sidewall of the sleeve.
[0028] The folding bracket 61 adopts the folding mechanism of the stock in the prior art. The folding mechanism of the stock has a built-in locking function. The stock folding structure with locking is a mature technology, and will not be described in detail here.
[0029] Multiple connecting rods 8 are detachably mounted on the thigh 3. A first connecting seat is provided at the end of the thigh 3 near the knee joint, and a second connecting seat is provided at the end of the lower leg 5 away from the knee joint. The first and second connecting seats are used to detachably engage with the ends of the connecting rods 8.
[0030] The multifunctional exoskeleton device includes an upright form and a vehicle form; When the multifunctional exoskeleton device is in an upright position, the folding bracket 61 is in a folded state, and the connecting rod 8 is attached to the thigh. When the exoskeleton is in the vehicle form, the hip joint module 2 and knee joint module 4 are locked, the folding bracket 61 is unfolded, the support rod 71 rotates to the rear of the lower leg 5, the connecting rod 8 connects the bottom of the two thighs 3 through the two first connecting seats of the two thighs 3, and the connecting rod 8 connects the bottom of the two lower legs 5 through the two second connecting seats of the two lower legs 5.
[0031] This application enables the exoskeleton to rapidly switch between an upright assisted walking mode and a transport vehicle mode.
[0032] When the multifunctional exoskeleton device is in an upright position, the support rod 71 is located within the front and rear range of the lower leg 5.
[0033] 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 lower leg 5, and the angle between the support rod 71 and the thigh 3 on the first plane is 20-150 degrees, and the angle between the lower leg 5 and the thigh 3 on the first plane is 90-180 degrees.
[0034] like Figure 4 As shown, the multifunctional exoskeleton device of this application also includes a stretcher form. The difference between the stretcher form and the upright form of the multifunctional exoskeleton device is that the hip joint module 2 and the knee joint module 4 are in a locked state, the connecting rod 8 connects the bottom of the two thigh parts 3 through the two first connecting seats of the two thigh parts 3, and the connecting rod 8 connects the bottom of the two lower legs 5 through the two second connecting seats of the two lower legs 5.
[0035] The lower leg 5 has a docking block 52 at its bottom end, and the waist module 1 has a docking groove 15 at its top end. The docking block 52 and the docking groove 15 are detachably connected. The detachable connection can be achieved by providing docking holes on the side walls of the docking block 52 and the docking groove 15, and connecting the docking block 52 and the waist module 1 with bolts passing through the docking holes, or by using spring pins passing through the docking holes.
[0036] like Figure 4 As shown, multiple stretcher-shaped multi-functional exoskeleton devices can be interconnected to form a ladder. Specifically, the docking block 52 at the bottom of the lower leg 5 of one multi-functional exoskeleton device is connected to the docking slot 15 on the waist module 1 of another multi-functional exoskeleton device, and then fixed. Alternatively, a stretcher-shaped multi-functional exoskeleton device can be connected to the waist module 1 of a cart-shaped multi-functional exoskeleton device to form an extended cart.
[0037] The lower leg 5 is equipped with a walking wheel 51 at its bottom end. The walking wheel 51 supports the ground when the wearer is standing, and provides auxiliary support force to the wearer through the lower leg 5, thigh 3 and waist module 1.
[0038] like Figure 1 , Figure 3 and Figure 5 As shown, the waist module 1 includes a waist belt and two waist support plates 11. The waist belt is mounted on the two waist support plates 11, which are connected to the hip joint module 2. A load-bearing crossbeam 12 is installed between the two waist support plates 11 corresponding to the wearer's rear side. When carrying heavy objects, the wearer can place the bottom of the object on the load-bearing crossbeam 12 to reduce the wearer's back pressure. The waist support plates 11 are equipped with quick-release tube clamps corresponding to the ends of the load-bearing crossbeam 12. The circular ends of the load-bearing crossbeam 12 are locked and released by the quick-release tube clamps, which can be bicycle seat quick-release saddle clamps.
[0039] The waist module 1 also includes an extension plate 13 and a ratchet and pawl mechanism 14. The ratchet of the ratchet and pawl mechanism 14 is mounted on the waist support plate 11. The extension plate 13 and the waist support plate 11 are rotatably connected. The axis of the ratchet of the ratchet and pawl mechanism 14 is coaxial with the axis of rotation of the extension plate 13. The pawl of the ratchet and pawl mechanism 14 is mounted 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 axis of rotation of the extension plate 13 is parallel to the left and right direction of the wearer. The load-bearing crossbeam 12 is mounted on the side of the extension plate 13 away from the waist support plate 11.
[0040] The height of the load-bearing crossbeam 12 can be adjusted by rotating the extension plate 13 to accommodate heavy objects of different volumes and heights.
[0041] One end of the folding bracket 61 is mounted on the extension plate 13, and the first roller 6 is mounted on the other end of the folding bracket 61. The axis of rotation of the folding bracket 61 is set along the front-back direction of the wearer, and the axis of rotation of the first roller 6 is parallel to the axis of rotation of the extension plate 13.
[0042] In this embodiment, both the connecting rod 8 and the load-bearing crossbeam 12 are telescopic rods with positioning capabilities.
[0043] like Figure 2 , Figure 3 and Figure 6 As shown, mounting seats 81 are provided at the top and bottom of the thigh 3 and the bottom of the calf 5. Each mounting seat 81 includes a main body and guide ribs 811. Parallel guide ribs 811 are provided on opposite sides of the main body. Both ends of the connecting rod 8 are provided with snap-fit seats 82. Two perpendicular and intersecting mating grooves 821 are provided on the first side of each snap-fit seat 82. Both ends of the mating grooves 821 penetrate the sidewalls of the snap-fit seat 82. One of the mating grooves 821 is perpendicular to the length direction of the connection. The mating grooves 821 are for the main body to pass through. Guide grooves 822 that slide with the guide ribs 811 are provided on the inner walls of each mating groove 821. The guide ribs 811 have a triangular cross-section perpendicular to their length direction.
[0044] The card connector 82 of this application can be installed with the mounting base 81 from two different directions, providing design flexibility for the installation direction of the mounting base 81 in different positions, and improving the convenience of installing the connecting rod 8 in different positions.
[0045] like Figure 7 and Figure 8As shown, the main body has a snap-fit groove 812 on the side facing the bottom of the mating strip groove 821. The snap-fit seat 82 has a mounting groove 823 on its side wall facing away from the first side. The bottom of the mounting groove 823 has a through hole 824 extending to the bottom of the mating strip groove 821. A cam structure 83 is rotatably mounted within 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 snap-fit groove 812. The distal end of the cam presses against the main body to guide the groove. 822 is pressed against the guide protrusion 811; when the proximal end of the cam structure 83 faces the mating groove 821, the proximal end of the cam is located within the through hole 824; a handle 84 is provided on the outer peripheral sidewall of the cam structure 83; a positioning groove 831 is provided on the outer peripheral sidewall of the cam structure 83, and a spring ball is provided on the inner wall surface of the corresponding outer peripheral sidewall of the mounting groove 823; when the distal end of the cam structure 83 abuts against the mounting groove 823, the positioning groove 831 and the spring ball are engaged. The locking seat 82 and the mounting seat 81 are locked and unlocked by rotating the cam structure 83.
[0046] like Figure 2 and Figure 3 As shown, the thigh portion 3 is provided with mounting seats 81 on the top of the front and back sides of the wearer, and the guide protrusions 811 on the mounting seats 81 at the top of the thigh portion 3 are arranged along the length direction of the thigh portion 3.
[0047] The mounting seat 81 at the bottom of the thigh 3 is located on the side of the thigh 3 corresponding to the rear side of the wearer, and the guide protrusion 811 on the mounting seat 81 at the bottom of the thigh 3 is arranged along the left and right direction of the wearer.
[0048] The mounting base 81 at the bottom of the lower leg 5 is located on the side of the lower leg 5 corresponding to the rear side of the wearer, and the guide protrusion 811 on the mounting base 81 at the bottom of the lower leg 5 is arranged along the length direction of the lower leg 5.
[0049] The main body has multiple snap-fit grooves 812 extending in different directions on the side facing the bottom of the groove 821. The thickness of the cam structure 83 is greater than the opening width of the snap-fit groove 812. This avoids the problem that the circumferential sidewall of the cam structure 83 cannot abut against the opening edge of the snap-fit groove 812 when the snap-fit seat 82 is installed in the direction of rotation relative to the mounting seat 81 and the thickness direction of the cam structure 83 is consistent with the width direction of the mounting groove 823.
[0050] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A multifunctional exoskeleton device, comprising a waist module (1), a hip joint module (2), a thigh (3), a knee joint module (4), and a lower leg (5), wherein the thigh (3) is movably connected to the waist module (1) via the hip joint module (2), and the lower leg (5) is movably connected to the thigh (3) via 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; The waist module (1) is equipped with a first roller (6) by means of a folding bracket (61) at the rear. The folding bracket (61) is provided with a folding locking mechanism to lock the folding and unfolding states of the folding bracket (61). The knee joint module (4) or the lower leg (5) is connected to a second roller (7) by means of a support rod (71). The support rod (71) is rotatably mounted on the knee joint module (4) or the lower leg module. The knee joint module (4) or the lower leg (5) is provided with a support locking mechanism to lock the position of the support rod (71). Multiple connecting rods (8) are detachably mounted on the thigh (3). A first connecting seat is provided at the end of the thigh (3) near the knee joint, and a second connecting seat is provided at the end of the lower leg (5) away from the knee joint. The first connecting seat and the second connecting seat are used to detachably engage with the ends of the connecting rods (8). The multifunctional exoskeleton device includes an upright form and a vehicle form; When the multifunctional exoskeleton device is in an upright position, the folding bracket (61) is in a folded state, and the connecting rod (8) is attached to the thigh. When the exoskeleton is in the vehicle form, the hip joint module (2) and knee joint module (4) are locked, the folding bracket (61) is unfolded, the support rod (71) rotates to the back of the lower leg (5), the connecting rod (8) connects the bottom of the two thighs (3) through the two first connecting seats of the two thighs (3), and the connecting rod (8) connects the bottom of the two lower legs (5) through the two second connecting seats of the two lower legs (5); The knee joint module (4) includes a thigh bottom connector and a calf connector. The thigh bottom connector is used to connect to the thigh (3), and the calf connector is used to connect to the calf (5). The thigh bottom connector is provided with a fixed shaft. The calf connector and the fixed shaft are rotatably connected. The axial direction of the fixed shaft is set along the left and right direction of the wearer. One end of the support rod (71) is provided with a sleeve. The sleeve is rotatably connected to the fixed shaft. The support rod (71) is located on the outside of the calf (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 mounted on the two waist support plates (11). The waist support plates (11) are connected to the hip joint module (2). A load-bearing crossbeam (12) is installed between the two waist support plates (11) corresponding to the back side of the wearer.
3. The multifunctional exoskeleton device according to claim 2, characterized in that, The waist module (1) also includes an extension plate (13) and a ratchet and pawl mechanism (14). The ratchet of the ratchet and pawl mechanism (14) is mounted on the waist support plate (11). The extension plate (13) and the waist support plate (11) are rotatably connected. The axis of the ratchet of the ratchet and pawl mechanism (14) is coaxial with the axis of rotation of the extension plate (13). The pawl of the ratchet and pawl mechanism (14) is mounted 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 axis of rotation of the extension plate (13) is parallel to the left and right direction of the wearer. The load-bearing crossbeam (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, characterized in that, One end of the folding bracket (61) is mounted on the extension plate (13), and the first roller (6) is mounted on the other end of the folding bracket (61). The pivot of the folding bracket (61) is set along the front-back direction of the wearer, and the pivot of the first roller (6) is parallel to the pivot of the extension plate (13).
5. The multifunctional exoskeleton device according to claim 1, characterized in that, When the multifunctional exoskeleton device is in an upright position, the support rod (71) is located within the front and rear range of the lower leg (5); The plane perpendicular to the axial direction of the fixed shaft is the first plane. When the exoskeleton is in the trolley form, the support rod (71) rotates to the rear side of the lower leg (5), and the angle between the support rod (71) and the thigh (3) on the first plane is 20-150 degrees, and the angle between the lower leg (5) and the thigh (3) on the first plane is 90-180 degrees.
6. The multifunctional exoskeleton device according to claim 1, characterized in that, Mounting bases (81) are provided at the top of the thigh (3), the bottom of the thigh (3) and the bottom of the calf (5). The mounting base (81) includes a main body and a guide ridge (811). Parallel guide ridges (811) are provided on the opposite two sides of the main body. Both ends of the connecting rod (8) are provided with snap-fit seats (82). The first side of the snap-fit seat (82) is provided with two mutually perpendicular and intersecting mating strip grooves (821). Both ends of the mating strip grooves (821) penetrate the side wall of the snap-fit seat (82). One of the mating strip grooves (821) is perpendicular to the length direction of the connection. The mating strip grooves (821) are used for the main body to pass through. The inner wall of the mating strip grooves (821) is provided with guide grooves (822) that slide with the guide protrusions (811).
7. The multifunctional exoskeleton device according to claim 6, characterized in that, The main body has a snap-fit groove (812) on the side facing the bottom of the mating strip groove (821). The snap-fit seat (82) has an installation groove (823) on the side wall facing away from the first side. The bottom of the installation groove (823) has a through hole (824) that extends through to the bottom of the mating strip groove (821). A cam structure (83) is rotatably provided in the installation groove (823). The distal end of the cam structure (83) passes through the through hole (824) and abuts against the opening edge of the snap-fit groove (812). The distal end of the cam presses against the main body so that the guide groove (822) is pressed against the guide protrusion (811). When the proximal end of the cam structure (83) is oriented toward the mating groove (821), the proximal end of the cam is located within the perforation (824). The cam structure (83) has a handle (84) on its outer peripheral sidewall; The cam structure (83) has a positioning groove (831) on its outer peripheral sidewall. The mounting groove (823) has a spring ball on the inner wall of the outer peripheral sidewall of the cam structure (83). When the far end of the cam structure (83) abuts against the mounting groove (823), the positioning groove (831) and the spring ball engage accordingly.
8. The multifunctional exoskeleton device according to claim 6, characterized in that, The thigh (3) is provided with mounting bases (81) on the top of the front and back sides of the wearer, and the guide protrusions (811) on the mounting base (81) at the top of the thigh (3) are arranged along the length direction of the thigh (3). The mounting seat (81) at the bottom of the thigh (3) is located on the side of the thigh (3) corresponding to the back of the wearer, and the guide protrusion (811) on the mounting seat (81) at the bottom of the thigh (3) is arranged along the left and right direction of the wearer. The mounting base (81) at the bottom of the lower leg (5) is located on the side of the lower leg (5) corresponding to the rear side of the wearer, and the guide protrusion (811) on the mounting base (81) at the bottom of the lower leg (5) is arranged along the length direction of the lower leg (5).
9. The multifunctional exoskeleton device according to claim 1, characterized in that, The lower leg (5) is equipped with a walking wheel (51) at its bottom end.
10. The multifunctional exoskeleton device according to claim 1, characterized in that, The lower leg (5) is provided with a docking block (52) at the bottom and the waist module (1) is provided with a docking slot (15) at the top. The docking block (52) and the docking slot (15) are detachably connected.