90 results about "Thigh part" patented technology

The invention belongs to the related technical field of robots, and discloses a robot leg structure and a biped robot, a hip joint module in the leg structure comprises a side extension driving module, a turnover driving module and a pitching driving module, one ends of the three modules are installed on a hip joint installation frame in a series connection mode, and the other ends of the three modules are connected with thighs; the knee joint module is located in the containing cavity of the thigh part, the knee joint module comprises a linear driving module, the fixed end of the linear driving module is rotationally connected with the upper portion of the thigh part, the movable end of the linear driving module is in transmission connection with the top of the shank part, and the linear driving module drives the shank part to do pitching motion through linear telescopic movement; the bottom of the shank part is hinged to the foot bottom part through a cross shaft structure, and the ankle joint module is arranged on the shank part and is in transmission connection with the foot bottom part so as to complete pitching and side stretching movement. The design of hybrid driving of the linear and rotary joint modules gives consideration to the requirements of high robustness and low energy consumption of the foot-type robot in a real scene.

The invention discloses a bionic humanoid robot knee joint mechanism, a robot and a method, solves the problems that in the prior art, a humanoid robot is difficult to squat and stand up after squatting, and has the beneficial effect that the humanoid robot is convenient to smoothly stand up from squatting down. Comprising a first power source, the first power source is arranged at the end, away from a shank part, of a thigh part and connected with the middle section of a rocker, the two ends of the rocker are connected with one end of a first connecting rod and one end of a second connecting rod respectively, and the other end of the first connecting rod is connected with a third connecting rod shaft; the third connecting rod is rotationally connected with the third connecting rod shaft and the shank part, the fourth connecting rod is rotationally connected with the third connecting rod shaft and the knee joint shaft, the fifth connecting rod is rotationally connected with the second connecting rod and the knee joint shaft, and the short side end of the fifth connecting rod is rotationally connected with the shank part.

The invention discloses a novel modularized knee joint gait assisting system, which is characterized in that a waist belt is used for being connected with the waist and providing support for other modules, hip joint function modules are used for being connected with thigh parts, and knee joint function modules are used for being connected with knee joint parts; the auxiliary torque of the knee joint is controlled according to the motion angle of the hip joint function module, and the foot function module is connected with the foot. According to the scheme, the hip joint function module, the knee joint function module and the foot function module are designed in modules and are combined in a specific connection mode, the modules are independent in function and cooperate with one another, the overall structure is flexible and changeable, and meanwhile the knee joint angle under the corresponding gait can be derived through calculation; the knee joint function model executes the corresponding angle position to achieve real-time correction assistance of the gait of the user, natural movement of the knee joint and the ankle joint of the human body can be better simulated, the wearing comfort is improved, the joints can be effectively protected, and injuries caused by excessive movement are prevented.

A thigh connecting module is connected with a first connecting rod module and a second connecting rod module through pin shafts, a shank connecting module is connected with the first connecting rod module and the second connecting rod module through pin shafts, the thigh connecting module is connected with the thigh part of an external exoskeleton device, and the shank connecting module is connected with the thigh part of the external exoskeleton device. The shank connecting module is connected with the shank part of an external exoskeleton device, and all the modules jointly form a four-connecting-rod movement mechanism so as to be attached to the movement curve of the knee joint. According to the scheme, the movement curve of the knee joint of the human body is precisely fitted through the unique four-connecting-rod movement mechanism design, stress deviation in the movement process is reduced, simple rope driving and a built-in reset spring ball mechanism are adopted, use of a complex structure is avoided, an intelligent control system or a machine learning algorithm is combined, and the movement accuracy of the knee joint of the human body is improved. Equipment parameters are automatically adjusted, so that the equipment quality and cost are reduced on the premise of greatly improving the precision and naturalness of knee joint assistance.

The application provides a leg-ski type desert robot, which can realize switching between foot end contact and ski plate contact, so that the robot has two advancing modes, i.e. hoof step advancing and ski plate sliding advancing. The robot comprises a head, a body connected with the head, a wind and sand prevention mechanism arranged on the body, and a leg-ski mixed leg arranged on the body. The leg-ski mixed leg comprises a hip joint part fixedly connected with the body, a thigh joint part rotatably connected with the hip joint part, a lower leg joint part rotatably connected with the thigh joint part, a thigh part fixedly connected with the lower leg joint part, a lower leg part rotatably connected with the thigh part, and a leg-ski switching mechanism. The leg-ski switching mechanism comprises a ski plate and an electric push rod. One end of the electric push rod is hinged to the middle part of the lower leg part, and the other end of the electric push rod is hinged to the front end of the ski plate. The rear end of the ski plate is hinged to the tail end of the lower leg part.

The invention discloses a biped humanoid refueling robot and a related refueling method. The biped humanoid refueling robot comprises a trunk, arm parts, a pair of lower limb parts and an executing mechanism used for implementing refueling operation. The executing mechanism is arranged at the tail end of the arm part; the lower limb part comprises a crotch part, a thigh part, a shank part, an ankle part and a foot part; the crotch part is connected with the lower end of the trunk and the upper end of the thigh part, and the crotch part has two degrees of freedom; the lower end of the thigh part is connected with the upper end of the shank part to form a knee part with one degree of freedom; the lower end of the shank part is connected with the foot part through the ankle part, and the ankle part has two degrees of freedom. The biped humanoid refueling robot provided by the invention has the capability of more flexibly adapting to a site, the robot can freely move through the lower limb part, the flexibility of the automatic refueling robot is improved, the requirement on the parking position of a vehicle to be refueled is low, and the refueling operation space is not limited.

The application discloses an anti-mold impact-resistant negative oxygen ion foaming material knee pad, which comprises a connecting mechanism, the connecting mechanism comprising an elastic protection pad and a connecting part, the outer surface of the elastic protection pad being fixedly connected with an elastic bottom strip, the connecting part being arranged on the elastic protection pad, and a protection mechanism, the protection mechanism comprising an elastic protection strip and a protection part. In the application, when in use, the user is ensured to be in a standing state, and then the elastic protection pad is attached to the knee part of the user, and then the second binding belt is attached to the thigh part of the user, the second elastic extension strip is stretched, the second female magic tape and the second male magic tape can be adhered to each other, the one end of the elastic protection pad can be stably connected to the thigh part of the user, the first binding belt is attached to the calf part of the user, the first elastic extension strip is stretched, and the first female magic tape and the first male magic tape can be adhered to each other.

The utility model relates to an exoskeleton, in particular to a rope-driven auxiliary power-assisted lower limb exoskeleton, which is provided with a joint module for controlling a shank part to simulate the walking of a human leg part, and further comprises a rope-driven energy storage mechanism. The rope-driven energy storage mechanism comprises a pull wire and a spring energy storage part, the spring energy storage part is arranged on the shank part, one end of the pull wire is restrained to the spring energy storage part, the other end of the pull wire is restrained to the thigh part, and in the walking process, when the shank part moves downwards, the pull wire pulls the spring energy storage part to compress and store energy, otherwise, the spring energy storage part releases energy; and the auxiliary joint module drives the shank part to move upwards. The lower limb exoskeleton with the energy storage mechanism provided by the embodiment of the utility model is provided with the driving module of the knee joint, and is additionally provided with the passive power assisting structure for assisting the knee joint by utilizing gravitational potential energy of the leg, so that compared with the lower limb exoskeleton driven by the existing module, the driving module and the passive power assisting structure are combined, and the driving module and the passive power assisting structure are combined; the power requirement for the driving module can be effectively lowered, and meanwhile the battery life can be prolonged.

The utility model relates to a wearable walking rehabilitation device in the technical field of medical care. The wearable walking rehabilitation device comprises a part restraining support used for restraining the buttocks of a user and two thigh outer side restraining supports used for restraining the thighs on the two sides of the user respectively. The hip restraining support comprises two rotary supports which are parallel to each other and are symmetrically arranged, and three winding bars which are parallel to each other and are connected with the two rotary supports. The two rotation supports are both in a sector shape, the circle centers of the rotation supports are rotationally connected with the two thigh outer side restraining supports respectively, and the three winding bars are arranged on a sector arc to restrain the lower portion of the waist, the rear side of the hip and the upper portions of the rear sides of the thighs of a user from top to bottom respectively. By means of the three-connecting-rod fan-shaped layout mode of the three winding bars on the two fan-shaped rotary supports, rigid constraint of a U-shaped constraint space formed between the two thigh outer side constraint supports is formed, the thigh portions on the two sides of a user are prevented from turning outwards, and therefore the gait is effectively corrected.

The invention discloses a hip joint replacement operation leg supporting instrument which is placed on an operating bed during use and sequentially comprises a leg fixing support, an upper universal joint, a telescopic supporting rod, a lower universal joint and a support structure from top to bottom. The leg fixing support is used for at least supporting the thigh part, close to the knee joint, of the affected side leg; the telescopic supporting rod telescopically moves and is used for completing inward folding and outward unfolding actions, and the support structure forms a containing space for containing lower legs and is arranged on a bed body when used; the upper universal joint independently rotates to complete the actions of internal rotation and external rotation; and the lower universal joint and the upper universal joint are matched to rotate so as to complete buckling and stretching actions. The two universal joints are matched with one telescopic supporting rod to complete the actions of buckling and stretching, adduction and abduction, and internal rotation and external rotation; and when the telescopic supporting rod is in the locking state, the supporting effect is achieved, and when the two universal joints rotate independently or rotate together, an operator only needs to easily control the joints to rotate.

The utility model discloses a pressure-adjustable sitting and lying dual-purpose pressure sore prevention cushion, and relates to the technical field of cushions, the pressure-adjustable sitting and lying dual-purpose pressure sore prevention cushion comprises a cushion body, the bottom of the cushion body is fixedly provided with a silica gel bottom cushion, and the outer side of the cushion body is fixedly provided with an air inlet pipe and an air outlet pipe. An electric telescopic rod drives a connecting plate to perform reciprocating motion, so that a second rack moves along with the connecting plate, a second gear is driven to rotate back and forth in an engaged mode, a rotating shaft rotates back and forth along with the connecting plate, a plurality of first gears are driven to rotate together, and first racks on the two sides of the first gears are driven to perform reciprocating up-down motion; and the plurality of massage heads can perform point pressure massage on thighs of a human body through the plurality of massage convex points, so that the condition that the thighs are pressed for a long time to cause numbness when people sit for a long time and blood cannot circulate is effectively prevented, and the using effect of the cushion is improved.

The invention discloses a humanoid robot and a form switching control method, and relates to the technical field of robots. The shank part is hinged to the thigh part; wherein the thigh part and the shank part are each provided with a wheel foot part, each wheel foot part comprises an adjusting assembly and a wheel type walking assembly, and the wheel type walking assemblies are connected with the thigh part and / or the shank part through the adjusting assemblies; the adjusting assembly is used for adjusting the relative position relation between the wheel type walking assembly and the thigh part and the shank part through the adjusting assembly, so that the wheel type walking assembly can replace the thigh part and / or the shank part to bear the weight of the humanoid robot; according to the humanoid robot and the form switching control method, rapid switching of a human foot walking mode, a double-wheel-foot walking mode and a four-wheel-foot walking mode can be achieved.

The utility model relates to the technical field of hoof trimming limiting equipment, in particular to a hoof trimming limiter. The structure is more reasonable, the leg of the livestock is effectively supported and limited, meanwhile, the knee joint of the livestock is effectively protected, the accident rate of knee joint injury in the hoof trimming operation process of the livestock is reduced, and the comfort degree is improved; comprising a cart and a first leg restraining limiting piece installed on the cart, and the first leg restraining limiting piece comprises an installation frame, an upper supporting frame fixedly installed on the installation frame and matched with the shape of the thigh of the livestock, a lower supporting frame hinged to the upper supporting frame and matched with the shape of the shank of the livestock and a first telescopic cylinder; a U-shaped opening allowing the legs of the livestock to enter is formed in the cart, one end of the first telescopic cylinder is hinged to the bottom of the cart, the other end of the first telescopic cylinder is hinged to the lower supporting frame, a knee supporting plate is arranged on the lower supporting frame, and the upper supporting frame and the lower supporting frame are both bound and wound with first binding belts.

The utility model belongs to the rehabilitation assisting technology, and particularly relates to a lower limb rehabilitation training walking assisting device which comprises a walking assisting frame and an exoskeleton part, and the exoskeleton part comprises a leg skeleton composed of a thigh part, a shank part and a foot part. The exoskeleton part further comprises a driving module arranged behind the leg skeleton and a rocking handle driven by the driving module, and the rocking handle is hinged to a driving arm arranged on the upper portion of the shank part. The exoskeleton part further comprises a moving part, the moving part can control the hip joint or the driving module to move on a connecting line of the hip joint and the driving module, when the distance between the hip joint and the driving module is closest, the leg skeleton is in a sitting posture state, and when the distance between the hip joint and the driving module is farthest, the leg skeleton is in a standing state. Movement of the leg skeleton adopted by the device is driven by a rear module, cost is reduced by reducing use of the modules, in addition, the leg skeleton can freely change postures, rehabilitation actions are increased, a user can wear the device conveniently, and the device can also be used as a wheelchair or a shifting machine through deformation.

The utility model belongs to the technical field of rehabilitation auxiliary equipment, and particularly relates to an orthopedic rehabilitation training device. The thigh sheath and the shank sheath in the orthopedic rehabilitation training device can be worn on the thigh and the shank of a patient respectively, the thigh sheath and the shank sheath are restrained by the orthopedic rehabilitation training device, in the initial state, the shank of the patient bends towards the rear portion of the thigh to form a V shape, in the training process, the patient does not need assistance of other people, and the training efficiency is improved. When in use, a good exercise effect can be achieved only by means of cooperative movement of muscles of the shank and the thigh, overcoming of tension of the elastic part for stretching, driving of the shank to act by means of restoring force of the elastic part after relaxation, recovery to the initial state and repeating of the steps.

This utility model discloses a lifting device for a sewing machine presser foot, including a drive mechanism, a transmission assembly, and a presser foot connecting component. The drive mechanism is located below the sewing machine, with its bottom engaging with the operator's thigh to convert the pushing action of the thigh into driving force. The transmission assembly has a rotatable shaft located at the bottom of the sewing machine on the side away from the presser foot. The top of the drive mechanism is connected to the first end of the transmission assembly, and the second end of the transmission assembly has the presser foot connecting component. When the drive mechanism is pushed along the length of the sewing machine, it rotates around the transmission assembly as its central axis, causing the presser foot connecting component to move up and down along the height of the sewing machine. This utility model's drive mechanism, located below the sewing machine and engaging with the thigh to convert the pushing action into driving force, drives the presser foot connecting component to rise and fall via the transmission assembly. This frees up the hands, has a compact structure, smooth transmission, and improves operational convenience and efficiency.

The utility model relates to exoskeleton technology, concretely is knee joint power-assisted walking device, including thigh part and shank, both are connected through knee joint, wherein the knee joint includes the hinge part I of setting in the lower extreme of thigh part, and the hinge part II of hinge connection with hinge part I, the drive module for driving knee joint is set in the upper end of thigh part, and drive module is driven the hinge part II deflection through the rope drive structure, power-assisted walking device is used for knee joint power assistance, and the hip joint needs the user to exert force alone, and the drive module for driving knee joint movement is not set in the knee joint, but moves to the upper part of thigh part, that is, the position close to the hip joint, and realizes the purpose of driving knee joint through the rope drive structure, this scheme can improve the gravity center of whole leg assembly, compared with the scheme that the existing drive module is set in the knee joint, when walking, the user, overcomes the leg assembly gravity work less, can effectively reduce the fatigue degree of hip joint.

A compression ski suit includes a top and trousers. The top is integrally knitted, and corresponding functional knitted structures are arranged on shoulder parts, upper arm parts, elbow parts, a chest part and a back part of the top according to functional divisions of human body parts. The trousers are integrally knitted, and corresponding functional knitted structures are arranged on outer thigh parts, inner thigh parts, knee parts and rear shank parts of the trousers according to the functional divisions of the human body parts.

The invention relates to the technical field of fire-fighting robots, and discloses a four-footed fire-fighting robot with damping buffer legs, which comprises a fire-fighting robot body, thigh parts arranged at four corners of the fire-fighting robot body, shank components arranged at the lower ends of the thigh parts, and feet arranged at the bottoms of the shank components; the shank assembly comprises a first shank part movably arranged at the lower end of the thigh part, a second shank part is arranged below the first shank part, the foot part is arranged at the bottom of the second shank part, and a damping buffer structure is arranged between the second shank part and the first shank part. According to the four-footed fire-fighting robot with the damping and buffering leg, the damping and buffering structure is arranged on the shank assembly, and a matched rack, a floating rod, locking teeth, a second elastic structure and a torsional spring are arranged, so that when feet rotate in a mode of touching the ground, the locking teeth lock the rack, rebound oscillation can be eliminated, and stability is improved.

The utility model relates to the technical field of portable leg massage devices, in particular to a full-wrapping type leg massager which comprises a soft leg sleeve and a driving control unit, the soft leg sleeve comprises an instep area, an ankle area, a shank area and a thigh area, air bags are arranged on the inner walls of all the areas, and the driving control unit is connected with the driving control unit. And the air bags are alternately or simultaneously inflated and deflated under the control action of the driving control unit. A user puts the whole legs into the soft leg sleeves in a mode of wearing trousers, insteps, ankles, shanks, knees and thighs abut against the air bags at the corresponding positions of the inner sides of the soft leg sleeves, after the driving control unit is started, under the driving action of the driving control unit, all the air bags are alternately inflated and deflated in a staggered mode, and then the soft leg sleeves are inflated and deflated in a staggered mode. Therefore, different areas of the whole leg can be jacked and relaxed alternately in a staggered mode, blood circulation of the leg is promoted while different parts of the leg are pressed in a staggered mode, leg pressure generated by long-time static sitting of the leg is relieved, the possibility of varicosity is effectively reduced, and practicability is high.

The invention belongs to the technical field of robots, provides a variable-form wheel foot mechanism and a robot, and aims to solve the problem that a leg type structure of an existing agricultural robot is easy to wear. The robot comprises a thigh part, a shank part and a supporting part which are rotationally connected in sequence, the thigh part is provided with a space for containing the shank part, the shank part can rotate along the thigh part and is contained in the thigh part, and the thigh part is provided with a driving wheel used for wheel type movement. The thigh parts are further provided with supporting rods capable of stretching out and drawing back in the length direction of the thigh parts. According to the leg type structure, the stress of the leg type structure during extension and contraction can be reduced, abrasion to joints of the leg type structure is reduced, the leg type structure can keep high-precision movement for a long time, and then the working stability of the whole robot is improved.

The invention relates to a robot lower limb device and a robot. The robot lower limb device comprises thighs, shanks, transmission assemblies, driving assemblies and feet. The thigh part and the shank part are rotationally connected through the transmission assembly; the driving assembly is used for driving the transmission assembly to drive the thigh part and the shank part to relatively bend or stretch; the foot part is connected to one end, far away from the thigh part, of the shank part; the robot further comprises an electromagnetic acceleration assembly, and the electromagnetic acceleration assembly is used for driving the transmission assembly to move in an accelerated mode within preset time so as to drive the shank part to bend or stretch in an accelerated mode relative to the thigh part. The method has the advantage that the simulation accuracy and the operation stability are improved.

The invention relates to the related technical field of exoskeleton robots, in particular to an exoskeleton robot auxiliary support which comprises a storage box, a storage groove is formed in the upper surface of the storage box, a support positioning assembly is slidably connected to the inner wall of the storage groove, and an auxiliary support assembly is fixedly connected to the inner bottom wall of the support positioning assembly. Unfolding assemblies are rotationally connected to the left side and the right side of the support positioning assembly, a strip-shaped hole is formed in the front face of the storage box, and a limiting assembly is fixedly connected to the inner wall of the strip-shaped hole. According to the auxiliary support for the exoskeleton robot, through the arrangement of the auxiliary support assembly, when the auxiliary support is used, the thigh part and the shank part of the exoskeleton robot are clamped through a first arc-shaped groove and a second arc-shaped groove, and the thigh part and the shank part of the exoskeleton robot can be locked through a trapezoidal top block, a rubber pad and a positioning lead screw; the stability of the exoskeleton robot on the support is ensured, the exoskeleton robot is not prone to disengagement, and the protection effect on the exoskeleton robot is higher.

The present application relates to the field of rehabilitation equipment. The purpose is to provide a traction system for orthopedic rehabilitation, comprising a lying plate, the middle part of the lying plate is provided with a concave mounting cavity, the mounting cavity is provided with a thigh support plate, the lying plate on both sides of the thigh support plate is respectively provided with a hip support area and a foot support area; the foot support area is provided with a moving plate which can move along the length direction of the lying plate under the drive of a drive mechanism, the moving plate is provided with a foot pedal for fixing the foot of a patient; the thigh support plate can swing obliquely upward around the center line of the plate shaft when the moving plate moves toward the hip support area to form support for the thigh of the patient. When the present application is used for knee joint rehabilitation traction of a patient, it can form active support for the thigh of the patient, guide the bending direction of the thigh and the calf, and reduce the impact on the knee joint.

The utility model relates to the technical field of elastic bandages, and discloses a tubular bandage which comprises a shank part, an ankle part and a sole part which are connected in sequence, a plurality of first pressure layers are arranged on the shank part corresponding to the area between the center of patella and popliteal space and the stop point of gastrocnemius muscle, a thigh part is arranged at the upper end of the shank part, and a second pressure layer is arranged at the lower end of the thigh part. Second pressure layers are arranged on the surfaces, corresponding to the inner sides of human thighs, of the thighs; through cooperative use of the shank part, the first pressure layer, the thigh part, the second pressure layer and the pressurizing object, a local pressurizing design is adopted, a doctor can conveniently and autonomously fill the pressurizing object on the surface of the bandage corresponding to key parts of a patient such as soleus and gastrocnemius, and therefore the effect that the pressure value is set in a customized mode according to the condition of the patient is achieved, and the pressure value is adjustable is achieved; the pressurizing device is simple and feasible in structure, high in practicability, reusable in pressurizing object and low in production cost, and has the advantages of being simple in structure, high in practicability and low in production cost.

The utility model belongs to the related technical field of robots, and discloses a robot leg structure and a biped robot, a hip joint module in the leg structure comprises a side expansion driving module, a turnover driving module and a pitching driving module, one ends of the three modules are installed on a hip joint installation frame in a series connection mode, and the other ends of the three modules are installed on a hip joint installation frame. The other end of the connecting rod is connected with the thigh part; the knee joint module is located in the containing cavity of the thigh part, the knee joint module comprises a linear driving module, the fixed end of the linear driving module is rotationally connected with the upper portion of the thigh part, the movable end of the linear driving module is in transmission connection with the top of the shank part, and the linear driving module drives the shank part to do pitching motion through linear telescopic movement; the bottom of the shank part is hinged to the foot bottom part through a cross shaft structure, and the ankle joint module is arranged on the shank part and is in transmission connection with the foot bottom part so as to complete pitching and side stretching movement. The design of hybrid driving of the linear and rotary joint modules gives consideration to the requirements of high robustness and low energy consumption of the foot-type robot in a real scene.

The invention discloses a humanoid robot lower limb mechanism and a working method thereof, solves the problem that a connecting rod force arm is small due to the fact that the position of a robot knee joint motor is too high in the prior art, and has the beneficial effect of enlarging the motion range of knee joints. The first power source is connected with the first rocker arm, the first rocker arm is connected with one end of the knee joint connecting rod, the other end of the knee joint connecting rod is connected with the first connecting rod shaft, the end, close to the thigh part, of the shank part supports the second connecting rod shaft, the thigh part supports the thigh gear shaft, and the shank part supports the shank gear shaft. The gear section of the thigh gear shaft is meshed with the gear section of the shank gear shaft, one end of the first connecting rod is rotationally connected with the first connecting rod shaft, the other end of the first connecting rod is rotationally connected with the thigh gear shaft, one end of the second connecting rod is rotationally connected with the first connecting rod shaft, and the other end of the second connecting rod is rotationally connected with the second connecting rod shaft.

The invention discloses a joint fixing device for bone joint surgical nursing, and relates to the technical field of bone joint surgical nursing equipment, the joint fixing device comprises a front fixing protector and a rear fixing protector for fixing a lower limb thigh and a lower limb shank; the two movable angle adjusting devices are symmetrically arranged at the butt joint points of the two sides of the front fixing protective tool and the rear fixing protective tool; the movable angle adjusting device comprises a connecting assembly arranged at the butt joint point of the front fixing protection tool and the rear fixing protection tool, and the front fixing protection tool and the rear fixing protection tool are connected through the connecting assembly and rotate by multiple angles with the connecting point as the axis. An angle adjusting assembly is arranged at the side end of the connecting assembly, and a locking assembly is arranged at the side end of the angle adjusting assembly. According to the leg bending training device, the effects that the legs of the patient can be effectively fixed and cannot move, when bending training is needed, the bending angle range is adjusted in real time according to the training process, and operation is convenient and fast are achieved.

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.

The utility model discloses a toy model leg joint structure, which comprises a thigh part and a shank part, the thigh part is rotatably connected with the shank part through a connecting fitting I, the shank part is provided with a foot part, and the shank part and the foot part can rotate relatively. The thigh part comprises a first rotating assembly and a second rotating assembly, and the first rotating assembly is rotationally connected with the second rotating assembly; the first connecting fitting is provided with a first limiting assembly, the first limiting assembly is used for limiting the rotating angle of the first rotating assembly relative to the shank part, the second rotating assembly is provided with a second limiting assembly, and the second limiting assembly is used for limiting the rotating angle of the second rotating assembly relative to the first rotating assembly.