CN109895064B

CN109895064B - Exoskeleton robot

Info

Publication number: CN109895064B
Application number: CN201910152531.5A
Authority: CN
Inventors: 吴新宇; 彭安思; 陈春杰; 王灿; 王超; 闫泽峰; 何勇; 李南; 郭子铭; 马勋举
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2019-02-28
Filing date: 2019-02-28
Publication date: 2022-04-19
Anticipated expiration: 2039-02-28
Also published as: CN109895064A

Abstract

The application provides an ectoskeleton robot, this ectoskeleton robot includes thigh subassembly, shank subassembly, locking subassembly and shoes crawler attachment subassembly, the shank subassembly rotates with thigh subassembly and shoes crawler attachment subassembly respectively and is connected, the locking subassembly is used for locking thigh subassembly and shank subassembly when thigh subassembly rotates to first preset position on the first direction for the shank subassembly to the auxiliary user maintains the required state of squatting or partly squatting entirely of production operation, alleviates the injury that receives such as the knee of eliminating the knee joint even.

Description

Exoskeleton robot

Technical Field

The application relates to the technical field of walking-aid robots, in particular to an exoskeleton robot.

Background

The exoskeleton robot is a non-invasive mechanical device directly equipped on a human body. After a user wears the exoskeleton robot, the exoskeleton robot can play roles in supporting a human body, assisting the human body to move, reducing the sense of load and the like.

At present, operators engaged in industries such as logistics transportation, building transportation, automobile assembly, airplane assembly and the like often need to work in a full-squatting posture or a half-squatting posture for a long time, and particularly when the operators work in the half-squatting posture for a long time, the operators are easy to feel fatigue, particularly, the knees of the knee joints are subjected to high pressure and are easy to be greatly injured, and the ankle joints are also easy to be injured by sprain and the like.

Disclosure of Invention

The application mainly provides an ankle joint supporting part and an exoskeleton robot, and aims to solve the problem that in the prior art, supporting and protecting effects on an operator in a full-squatting or half-squatting posture are poor.

In order to solve the technical problems, the application provides an exoskeleton robot which comprises a thigh component, a shank component, a locking component and a shoe component, wherein the thigh component is rotatably connected with the shank component, and one end, far away from the thigh component, of the shank component is rotatably connected with the shoe component; the locking assembly comprises a first locking piece and a second locking piece, the first locking piece is fixedly connected with the thigh assembly, and the second locking piece is used for stopping the first locking piece when the thigh assembly rotates to a first preset position in the first direction relative to the shank assembly, so that the thigh assembly and the shank assembly are in a locking state in the first direction.

The beneficial effect of this application is: different from the situation of the prior art, the exoskeleton robot provided by the application comprises a thigh component, a shank component, a locking component and a shoe component, wherein the thigh component is rotatably connected with the shank component, and one end, far away from the thigh component, of the shank component is rotatably connected with the shoe component; the locking assembly comprises a first locking piece and a second locking piece, the first locking piece is fixedly connected with the thigh assembly, and the second locking piece is used for stopping the first locking piece when the thigh assembly rotates to a first preset position in the first direction relative to the shank assembly, so that the thigh assembly and the shank assembly are in a locking state in the first direction.

Adopt above-mentioned structure, after the ectoskeleton robot is dressed to the user, the user rotates in the first direction for the shank subassembly when squatting, and when the thigh subassembly rotates to first preset position, through the mode of the first locking piece of second locking piece backstop, can prevent the further rotation of thigh subassembly on the first direction, thereby make the thigh subassembly be the locking state with the shank subassembly on the first direction, with the required state of squatting fully or partly of auxiliary user's ground maintenance production operation more easily, thereby alleviate the injury that receives such as the knee of eliminating the knee joint even.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an embodiment of an exoskeleton robot provided herein;

FIG. 2 is an exploded schematic view of the thigh assembly of FIG. 1;

FIG. 3 is an exploded view of the lower leg assembly of FIG. 1;

FIG. 4 is a schematic cross-sectional view of the thigh assembly and the shank assembly of FIG. 1 in rotational connection;

FIG. 5 is an exploded schematic view of the locking assembly of FIG. 1;

FIG. 6 is a schematic view of the locking assembly of FIG. 1 in a relative positional relationship to the thigh assembly and the lower leg assembly;

FIG. 7 is a schematic view of another angle of relative position relationship in FIG. 6;

FIG. 8 is a schematic structural view of the footwear assembly of FIG. 1;

FIG. 9 is a schematic view of the latch of FIG. 1;

FIG. 10 is an exploded schematic view of the connection assembly of FIG. 1;

FIG. 11 is a schematic cross-sectional view of the lower leg assembly and footwear assembly pivotally coupled in FIG. 1;

FIG. 12 is a schematic cross-sectional view of the lower leg assembly and the footwear assembly of FIG. 1 swinging on a second plane of swing;

FIG. 13 is an exploded view of the locking assembly of FIG. 1 locking another embodiment of the thigh assembly and the lower leg assembly;

FIG. 14 is a schematic view of the relative positions of the third limiting element and the fourth locking element and the second elastic element in FIG. 13;

FIG. 15 is a schematic front view of the exoskeletal robot of FIG. 1 worn by a user and in an upright position;

FIG. 16 is a side schematic view of the exoskeletal robot of FIG. 1 worn by a user and in an upright position;

fig. 17 is a side schematic view of the exoskeletal robot of fig. 1 worn by a user and in a semi-squat position.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The inventor of the application finds that: operators engaged in industries such as logistics transportation, building transportation, automobile assembly, airplane assembly and the like often need to work in a full-squatting or half-squatting posture for a long time, and particularly when the operators work in the half-squatting posture for a long time, the operators are easy to feel fatigue, particularly, the knees of the knee joints are subjected to high pressure and are easy to be greatly injured, and the ankle joints are also easy to be injured such as sprain and the like. To this end, the present application provides the following examples.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an exoskeleton robot according to an embodiment of the present application.

The exoskeleton robot 10 comprises a thigh component 11, a shank component 12, a locking component 13, a shoe component 14 and a locking member 15, wherein the thigh component 11 is rotatably connected with the shank component 12, and one end of the shank component 12 far away from the thigh component 11 is rotatably connected with the shoe component 14.

Optionally, the exoskeleton robot 10 further comprises a bearing member 16, and the thigh assembly 11 and the shank assembly 12 are respectively and cooperatively connected with the inner ring and the outer ring of the bearing member 16, so that the two are rotatably connected.

Optionally, the exoskeleton robot 10 further comprises a linkage assembly 17, the linkage assembly 17 being configured to couple the lower leg assembly 12 and the footwear assembly 14 such that the two are rotatably coupled.

Referring to fig. 2, fig. 2 is an exploded view of the thigh assembly 11 of fig. 1.

The thigh assembly 11 comprises a thigh connecting seat 111, a thigh supporting plate 112 and a thigh binding band 113, wherein the thigh supporting plate 112 is fixedly connected with the thigh connecting seat 111, and the thigh binding band 113 is connected with the thigh supporting plate 112 to bind the thigh assembly 11 to the thigh of the user.

It should be noted that, the "user" mentioned in the embodiment of the present application is generally an adult, and there may be differences in sex, height, weight, etc. among different users, so that there may also be differences in the fastening position.

Wherein, thigh connecting seat 111 includes first installation department 1111 and second installation department 1112, and second installation department 1112 sets up with first installation department 1111 is coaxial, and thigh connecting seat 111 passes through first installation department 1111 and locking subassembly 13 fixed connection, and thigh connecting seat 111 passes through second installation department 1112 and is connected with shank subassembly 12 rotation.

Optionally, the first mounting portion 1111 and the second mounting portion 1112 are both cylindrical, and the first mounting portion 1111 is hollow, so that the weight of the thigh connecting seat 111 can be reduced, and the bearing capacity of the thigh connecting seat 111 can be increased.

Optionally, an accommodating space 1113 is formed between the first mounting portion 1111 and the second mounting portion 1112, so that the weight of the thigh link base 111 can be reduced.

Optionally, the thigh support plate 112 is a multi-segment structure, and the length thereof can be adjusted according to the needs of the user, thereby increasing the applicability of the exoskeleton robot 10.

Optionally, the thigh support plate 112 has a curvature to accommodate changes in the curvature of the user's thigh, e.g., the diameter of the user's thigh decreases from the waist to the lower leg, thereby increasing the fit between the thigh support plate 112 and the user's thigh.

Optionally, the thigh-binding bands 113 are made of textile fabric, leather, or the like, so that the thigh-binding bands 113 have strength and flexibility to increase the binding effect between the thigh assembly 11 and the user's thigh.

Alternatively, the length of the thigh support plate 112 corresponds to the length of the user's thigh, and the number of the thigh binding bands 113 may be plural, and the plurality of thigh binding bands 113 bind the thigh assembly 11 to the user's thigh at different positions, thereby increasing the binding effect.

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

Referring to fig. 2 and 4 together, fig. 3 is an exploded view of lower leg assembly 12 of fig. 1, and fig. 4 is a cross-sectional view of thigh assembly 11 and lower leg assembly 12 of fig. 1 in a pivotal connection.

The lower leg assembly 12 comprises a lower leg connecting seat 121, a lower leg supporting plate 122 and a lower leg binding band 123, the lower leg supporting plate 122 is fixedly connected with the lower leg connecting seat 121, one end of the lower leg supporting plate 122, which is far away from the lower leg connecting seat, is rotatably connected with the shoe assembly 14, and the lower leg binding band 123 is connected with the lower leg supporting plate 122 so as to bind the lower leg assembly 12 to the lower leg of a user.

Optionally, the shank connecting seat 121 is disposed in a cylindrical shape and sleeved on the second mounting portion 1112 to be rotatably connected with the thigh connecting seat 111.

Optionally, the lower leg support plate 122 is a multi-segment structure, and the length thereof can be adjusted according to the needs of the user, thereby increasing the applicability of the exoskeleton robot 10.

Optionally, the lower leg support plate 122 is partially disposed in a bend. In this embodiment, one end of the lower leg support plate 122 close to the lower leg connecting seat 121 is bent toward the thigh assembly 11 to reduce the distance between the lower leg support plate 122 and the thigh support plate 112, so as to increase the fitting degree of the lower leg support plate 122 and the thigh support plate 112 to the body of the user. At the same time, the end of the lower leg support plate 122 adjacent the footwear assembly 14 is bent away from the lower leg binding strap 123 to avoid the ankle of the user when the lower leg assembly 12 is attached to the user's lower leg, thereby increasing the fit of the lower leg assembly 12 to the user's body.

Further, a first insertion hole 1221 is formed at one end of the lower leg support plate 122 close to the footwear assembly 14, and the connecting assembly 17 is inserted into the first insertion hole 1221, so that the lower leg support plate 122 is rotatably connected to the footwear assembly 14, and the lower leg support plate 122 can swing relative to the footwear assembly 14.

Optionally, the first receptacle 1221 is an elongated aperture such that the lower leg support plate 122 can also move relative to the footwear assembly 14 after the lower leg support plate 122 is pivotally coupled to the footwear assembly 14.

Alternatively, the lower leg support plate 122 is opened in a U-shape at the first insertion hole 1221, and the lower leg support plate 122 may be provided in a curled or bent shape.

Optionally, the lower leg binding 123 is made of textile fabric, leather, or the like, such that the lower leg binding 123 has strength and flexibility to increase the binding effect between the lower leg assembly 12 and the user's lower leg.

Alternatively, the length of the lower leg support plate 122 corresponds to the length of the lower leg of the user, and the number of lower leg binding bands 123 may be plural, and the plural lower leg binding bands 123 bind the lower leg assembly 12 to the lower leg of the user at different positions, thereby increasing the binding effect.

Further, the lower leg assembly 12 further includes a first limiting member 124 and a second limiting member 125, and the first limiting member 124 and the second limiting member 125 are fixedly connected to the lower leg connecting seat 121 and are disposed along the circumferential direction of the lower leg connecting seat 121.

It should be noted that after the exoskeleton robot 10 is worn by the user, the user may consider the lower leg assembly 12 stationary while squatting or rising, and mainly the upper leg assembly 11 rotates relative to the lower leg assembly 12. Meanwhile, since the first and second position-limiting

members

124 and 125 are fixedly connected to the lower leg connecting seat 121, in order to simplify the structure of the drawing, the position of the thigh assembly 11 relative to the first and second position-limiting

members

124 and 125 can be considered as the position of the thigh assembly 11 relative to the lower leg assembly 12.

Optionally, the first and second limiting

members

124 and 125 and the lower leg connecting seat 121 are integrally formed to reduce the complexity and assembly difficulty of the lower leg assembly 12 and reduce the processing cost of the lower leg assembly 12.

Optionally, the first limiting member 124 and the second limiting member 125 are detachably connected to the lower leg connecting seat 121, so that the first limiting member 124 and the second limiting member 125 can be conveniently replaced after being damaged, thereby prolonging the service life of the lower leg assembly 12.

In this embodiment, the bearing element 16 may be a deep groove ball bearing, and the thigh connecting seat 111 and the shank connecting seat 121 are respectively connected to the inner ring and the outer ring of the bearing element 16 in a matching manner, so that the thigh component 11 and the shank component 12 are rotatably connected.

Referring to fig. 2 to 7 together, fig. 5 is an exploded view of the locking assembly 13 in fig. 1, fig. 6 is a view illustrating a relative position relationship between the locking assembly 13 and the thigh assembly 11 and the shank assembly 12 in fig. 1, and fig. 7 is a view illustrating another relative position relationship in fig. 6.

The locking assembly 13 includes a first locking member 131 and a second locking member 132, the first locking member 131 is fixedly connected to the thigh assembly 11, and the second locking member 132 is configured to stop the first locking member 131 when the thigh assembly 11 rotates to a first preset position in the first direction relative to the calf assembly 12, so that the thigh assembly 11 is locked with the calf assembly 12 in the first direction.

In this embodiment, the first direction may be a direction in which the thigh assembly 11 rotates relative to the shank assembly 12 during a user's squat after the user wears the exoskeleton robot 10, as indicated by arrow a in fig. 5-7.

In this embodiment, the first predetermined position may be the position of the thigh assembly 11 relative to the calf assembly 12 when the user is in a fully squat or semi squat position after the exoskeleton robot 10 is worn by the user.

It should be noted that the first predetermined position of the present embodiment may be arbitrary and may be related to the degree to which the user squats, which may increase the flexibility of the exoskeleton robot 10.

In this embodiment, the locked state may refer to the thigh assembly 11 being unable to rotate further in the first direction after rotating to the first predetermined position relative to the shank assembly 12.

It should be noted that, in the above-mentioned locked state, the user can maintain the full-squat state or the half-squat state for a long time by means of the exoskeleton robot 10, so as to assist the user to maintain the full-squat state or the half-squat state required by the production operation more easily, thereby reducing or even eliminating the injury to the knee of the knee joint and the like.

In this embodiment, the first locking member 131 is fixedly connected to the thigh link base 111 through the first mounting portion 1111, so as to be fixedly connected to the thigh assembly 11.

Optionally, the first locking member 131 is detachably connected to the thigh link base 111 to be easily replaced after the first locking member 131 is damaged, thereby extending the service life of the locking assembly 13.

Optionally, the first locking member 131 is integrally formed with the thigh link base 111 to reduce the complexity and assembly difficulty of the exoskeleton robot 10 and reduce the manufacturing cost of the exoskeleton robot 10.

Alternatively, the number of the second locking members 132 is plural, for example, two, and the two second locking members 132 simultaneously stop the first locking member 131, so that the locking effect between the thigh member 11 and the shank member 12 can be increased.

In this embodiment, the first locking member 131 includes a plurality of first engaging portions 1311 arranged along the first direction, the second locking member 132 includes a second engaging portion 1321, and the second engaging portion 1321 is inserted into the first engaging portion 1311, so that the second locking member 132 can stop the first locking member 131 in the first direction.

Alternatively, the first lock 131 is a ratchet-like member including a plurality of first engaging portions 1311, which are tooth-like, uniformly arranged along a circumferential direction thereof, so that the second engaging portions 1321 are engaged with the first engaging portions 1311.

Alternatively, the second lock 132 is a pawl-like member, and the second lock 132 and the first lock 131 form a ratchet mechanism, so that only one-way rotation exists between the second lock 132 and the first lock 131. In this embodiment, the second locking member 132 and the first locking member 131 are in a locking state in the first direction.

In some embodiments, the second locking member 132 is coupled to the lower leg attachment base 121 to stop the first locking member 131 when the thigh member 11 is rotated to the first predetermined position, thereby preventing further rotation of the thigh member 11 relative to the lower leg member 12 in the first direction, and thereby assisting the user in fully or semi-squatting.

In this embodiment, the first locking member 131 further includes a second stopping portion 1312 and a third stopping portion 1313, and the second stopping portion 1312 and the third stopping portion 1313 are disposed along the circumferential direction of the thigh connecting seat 111.

Referring to fig. 5 to 7 again, the locking assembly 13 further includes a third locking member 133, and the third locking member 133 is sleeved on the thigh assembly 11 and connected to the second locking member 132, so that when the thigh assembly 11 rotates to the first preset position, the first limiting member 124 stops the third locking member 133 in the first direction.

In this embodiment, the third locking member 133 is sleeved on the second mounting portion 1112, and when the first limiting member 124 stops the third locking member 133 in the first direction and the second locking member 132 stops the first locking member 131 in the first direction, the thigh link seat 111 and the shank link seat 121 are in a locking state in the first direction.

Optionally, the third locking member 133 is similar to a circular ring, and is sleeved on the thigh connecting seat 111 and disposed adjacent to the first locking member 131, so that when the second locking member 132 is connected to the third locking member 133, the second locking member 132 can stop the first locking member 131 in the first direction.

Optionally, the first locking member 131 and the second locking member 132 are disposed on the same side of the third locking member 133, so that when the third locking member 133 is sleeved on the thigh connecting seat 111, the second locking member 132 can stop the first locking member 131 in the first direction.

Optionally, the stopping position of the first limiting member 124 is located downstream of the first preset position in the first direction, the third locking member 133 is provided with a first stopping portion 1331, the first stopping portion 1331 is disposed opposite to the first limiting member 124 in the first direction, and when the thigh assembly 11 rotates to the first preset position, the third locking member 133 can continue to rotate in the first direction relative to the shank connecting seat 121 until the first stopping portion 1331 abuts against the first limiting member 124, so that the first limiting member 124 stops the third locking member 133 in the first direction.

In this embodiment, when the first limiting member 124 stops the third locking member 133 in the first direction, the second engaging portion 1321 is inserted into the first engaging portion 1311, so that the second locking member 132 stops the first locking member 131 in the first direction.

Optionally, in the process that the thigh assembly 11 rotates to the first preset position, the second engaging portion 1321 is inserted into the first engaging portion 1311 to push the third locking member 133 to rotate to the first preset position, and at this time, the first blocking portion 1331 is located at the first preset position. Further, in the process that the third locking member 133 continues to rotate until the first stop portion 1331 abuts against the first limiting member 124, the second locking member 132 can rotate relative to the third locking member 133, so that the second engaging portion 1321 is separated from the first engaging portion 1311, and at this time, the third locking member 133 can continue to rotate in the first direction.

Further, the third stopping portion 1313 is disposed opposite to the second limiting member 125 in the second direction, so that when the thigh component 11 rotates to the initial position in the second direction relative to the shank component 12, the third stopping portion 1313 abuts against the second limiting member 125.

In this embodiment, the initial position may be the position of the thigh assembly 11 relative to the shank assembly 12 when the user is standing or upright after the user wears the exoskeleton robot 10.

In this embodiment, the second direction may be a direction in which the thigh assembly 11 rotates relative to the shank assembly 12 during the rising of the user from the first predetermined position (fully squat or semi squat state) to the initial position (standing or upright state) after the user wears the exoskeleton robot 10, as indicated by arrow B in fig. 6 and 7. The second direction and the first direction are arranged in a reverse direction.

Optionally, the third stopping portion 1313 is disposed opposite to the first stopping portion 1331 in the second direction, so that during the process of rotating the thigh assembly 11 to the initial position, the second locking member 132 rotates relative to the third locking member 133, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, and the third locking member 133 can rotate relative to the lower leg assembly 12 in the second direction until the first stopping portion 1331 abuts against the second stopping portion 1312.

Optionally, the locking assembly 13 further includes a first elastic member 134, and the first elastic member 134 is connected to the second locking member 132 and the third locking member 133, so that when the first elastic member 134 is elastically deformed, the second engaging portion 1321 is disengaged from the first engaging portion 1311, and when the first elastic member is elastically restored, the second engaging portion 1321 is inserted into the first engaging portion 1311.

Optionally, the first elastic member 134 is a torsion spring, the torsion spring is sleeved on a connecting portion (not labeled in the figure) between the second locking member 132 and the third locking member 133, and two free ends of the torsion spring are respectively connected with the first locking member 131 and the third locking member 133, so that the second locking member 132 stops the first locking member 131 in the first direction under the action of the torsion spring, at this time, the second engaging portion 1321 is inserted into the first engaging portion 1311, or the torsion spring is elastically deformed to rotate the second locking member 132 relative to the third locking member 133, at this time, the second engaging portion 1321 is disengaged from the first engaging portion 1311.

As mentioned above, the first locking member 131 may be a ratchet, the second locking member 132 may be a pawl, and the third locking member 133 may be a ring disposed adjacent to the first locking member 131, the pawl is connected to the ring, so that the pawl, the ratchet, the torsion spring and the ring may form a ratchet mechanism with unidirectional rotation. Specifically, the pawl is inserted into the ratchet under the action of the torsion spring, so that the ratchet is not rotatable relative to the pawl and the ring in a first direction and is rotatable relative to the pawl or the ring in a second direction, or the pawl and the ring are rotatable relative to the ratchet in the first direction and are not rotatable relative to the ratchet in the second direction.

In this embodiment, after the exoskeleton robot 10 is worn by a user, the user can squat from a standing or upright state to a half-squat or full-squat state, or raise from the half-squat or full-squat state to a standing or upright state, which will be described in detail below.

The following describes in detail the process of the present embodiment in which the thigh assembly 11 rotates relative to the shank assembly 12 from the initial position to the first predetermined position and is locked by the locking assembly 13:

first, in the process that the thigh assembly 11 rotates from the initial position (standing or standing state) to the first preset position (half-squat or full-squat state) relative to the calf assembly 12, the thigh connecting base 111 drives the first locking member 131 to rotate in the first direction relative to the calf connecting base 121, at this time, the third blocking portion 1313 abuts against the first blocking portion 1331 in the first direction, and the second engaging portion 1321 is inserted into the first engaging portion 1311, so as to push the second locking member 132 and the third locking member 133 to rotate in the first direction relative to the calf connecting base 121 until the thigh assembly 11 reaches the first preset position relative to the calf assembly 12. Obviously, the locking assembly 13 is also in the first preset position.

Then, since the stopping position of the first limiting member 124 is located downstream of the first predetermined position in the first direction, the third locking member 133 continues to rotate relative to the shank link seat 121, at this time, the second locking member 132 rotates relative to the third locking member 133, so that the first elastic member 134 elastically deforms, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, until the first stopping portion 1331 abuts against the first limiting member 124 in the first direction, at this time, the first limiting member 124 stops the third locking member 133 in the first direction, and at the same time, the first elastic member 124 elastically returns, so that the second engaging portion 1321 is inserted into the first engaging portion 1311, and at this time, the second locking member 132 stops the first locking member 131 in the first direction. Obviously, since the first limiting member 124 is fixedly connected to the lower leg connecting base 121, the first locking member 131 is fixedly connected to the thigh connecting base 111, and the first limiting member 124 stops the third locking member 133 in the first direction, and the second locking member 132 stops the first locking member 131 in the first direction, so that the locking assembly 13 locks the thigh assembly 11 and the lower leg assembly 12 in the first direction, that is, under the locking action of the locking assembly 13, the thigh assembly 11 and the lower leg assembly 12 are in a locking state in the first direction.

The process of rotating the thigh assembly 11 and the locking assembly 13 relative to the shank assembly 12 from the first predetermined position to the initial position in the present embodiment will be described in detail below:

as described above, during the rotation of the thigh assembly 11 relative to the calf assembly 12, the second lock member 132 only stops the first lock member 131 in the first direction for locking.

First, in the process that the thigh assembly 11 rotates relative to the shank assembly 12 from the first preset position (half-squat or full-squat state) to the initial position (standing or standing state), the second locking member 132 rotates relative to the third locking member 133 to elastically deform the first elastic member 134, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, and at the same time, the first locking member 131 rotates in the second direction along with the thigh connecting seat 111 until the third blocking portion 1313 abuts against the second limiting portion 125, at this time, the thigh connecting seat 111 and the first locking member 131 are located at the initial position.

Then, the third and

second lock members

133 and 132 rotate in the second direction until the first stop portion 1331 abuts against the third stop portion 1313, and at this time, the third and

second lock members

133 and 132 are located at the initial positions.

After the thigh assembly 11 and the locking member 13 are located at the initial position, the first elastic member 124 elastically returns, so that the second engaging portion 1321 is inserted into the first engaging portion 1311.

It should be noted that, after the user wears the exoskeleton robot 10, the first stop portion 1331 does not abut against the first limiting member 124 during the normal walking process of the user, so that the locking assembly 13 does not hinder the user from walking normally.

Referring to fig. 8, fig. 8 is a schematic view of the footwear assembly 14 of fig. 1.

The shoe assembly 14 includes a shoe support plate 141, a shoe 142 and a shoe binding strap 143, the shoe 142 being connected to an end of the shoe support plate 141 distal from the lower leg assembly 12, the shoe binding strap 143 being connected to the shoe 142 to bind the shoe assembly 14 to the foot of the user.

Optionally, the footwear support plate 141 is partially folded, and in this embodiment, the end of the footwear support plate 141 distal to the lower leg assembly 12 is folded away from the footwear piece 142 to avoid the ankle of the user when the footwear assembly 14 is attached to the foot of the user, thereby increasing the fit of the footwear assembly 14 to the user's body.

Optionally, the footwear binding 143 is made of textile fabric, leather, or the like, such that the footwear binding 143 has a degree of strength and flexibility to increase the binding between the footwear assembly 14 and the user's foot.

Alternatively, the footwear piece 122 may be sized to correspond to the size of the user's heel, the number of footwear binding straps 123 may be multiple, and multiple footwear binding straps 123 may attach the footwear assembly 14 to the user's foot at different locations to increase the binding effect.

In this embodiment, after the user wears the footwear assembly 14, the footwear piece 142 and the footwear binding strap 143 act on the user's heel and instep, respectively, to hold the footwear assembly 14 against the user's foot during normal walking or during lifting of the lower leg or even the foot.

Further, a second insertion hole 1411 is formed in one end of the shoe support plate 141 close to the lower leg assembly 12, and the connecting assembly 17 is inserted into the first insertion hole 1221 and the second insertion hole 1411, so that the lower leg support plate 122 is rotatably connected with the shoe support plate 141, and the lower leg support plate 122 can swing relative to the shoe support plate 141.

Optionally, the second receptacle 1411 is an elongated hole such that the lower leg support plate 122 is also movable relative to the footwear support plate 141 after the lower leg support plate 122 is rotationally coupled to the footwear support plate 141.

Referring collectively to fig. 9-11, fig. 9 is a schematic view of the structure of locking element 15 of fig. 1, fig. 10 is an exploded view of coupling assembly 17 of fig. 1, and fig. 11 is a schematic view of the pivotal connection of lower leg assembly 12 to footwear assembly 14 of fig. 1.

A locking member 15 is fixedly coupled to the lower leg assembly 12 or the footwear assembly 14 and is configured to lock the lower leg assembly 12 and the footwear assembly 14 when the lower leg assembly 12 is swung to a second predetermined position relative to the footwear assembly 14.

The locking member 15 has an accommodating space 151, and the accommodating space 151 opens toward the footwear assembly 14 or the lower leg assembly 12.

In this embodiment, the locking member 15 is fixedly connected to one end of the lower leg support plate 122 away from the lower leg connecting base 121, and is located on the same side of the lower leg support plate 122 as the shoe support plate 141, and the opening of the accommodating space 151 faces the shoe support plate 141.

In this embodiment, the second predetermined position may be the position of the lower leg assembly 12 relative to the footwear assembly 14 after the user wears the exoskeleton robot 10 and while the user is in the fully-squat, semi-squat position.

It should be noted that the second predetermined position in this embodiment may be arbitrary and may be related to the degree to which the user squats, which may increase the flexibility of the exoskeleton robot 10.

Optionally, the lock 15 is removably attached to the lower leg support plate 122 to facilitate replacement after the lock 15 is damaged, thereby extending the useful life of the lower leg assembly 12.

Optionally, the locking member 15 is integrally formed with the lower leg support plate 122 to reduce the difficulty of assembling the lower leg assembly 12.

Alternatively, the receiving space 151 has a shape corresponding to the shape of the footwear support plate 141 at the end thereof adjacent to the lower leg support plate 122, and the receiving space 151 has a volume slightly larger than that of the footwear support plate 141 at the end thereof adjacent to the lower leg support plate 122, so that the footwear support plate 141 can be partially inserted into the receiving space 151.

Further, the connecting assembly 17 includes a first connecting member 171 and a second connecting member 172, the first connecting member 171 is disposed through the lower leg assembly 12 and the footwear assembly 14 so that the lower leg assembly 12 can swing relative to the footwear assembly 14 on a first swing plane, and the second connecting member 172 is disposed through the first connecting member 171 and is connected to the lower leg assembly 12 or the footwear assembly 14 so that the lower leg assembly 12 can swing relative to the footwear assembly 14 on a second swing plane.

Wherein the second swing surface is perpendicular to the first swing surface.

In this embodiment, the first plane of oscillation may be a plane formed by the direction in which the lower leg assembly 12 oscillates relative to the footwear assembly 14 after the user wears the exoskeleton robot 10, for example, during walking, during squatting, or during forward tilting or backward tilting of the user when the user is in a fully or semi-squat state, for example, the first plane of oscillation may be parallel to the plane in which the lower leg support plate 122 and/or the footwear support plate 141 are located, and at this time, the lower leg assembly 12 may oscillate back and forth relative to the footwear assembly 14.

In this embodiment, the second plane of oscillation may be such that the shoe assembly 14 may also rotate relative to the lower leg assembly 12, for example, may oscillate from side to side, as shown in fig. 12(a), (b), after the user wears the exoskeleton robot 10, for example, when the shoe assembly 14 is off the ground, so that the exoskeleton robot 10 follows the ankle joint of the user to perform multidirectional rotation, thereby increasing the flexibility of the exoskeleton robot 10. However, during walking, or during squatting, or during full or partial squatting, the user does not want the lower leg assembly 12 to rotate relative to the footwear assembly 14 on the second plane of oscillation to avoid injury such as a twisted ankle joint. To this end, the locking member 15 is adapted to lock the swing of the lower leg assembly 12 relative to the footwear assembly 14 on the second swing plane when the lower leg assembly 12 is swung relative to the footwear assembly 14 on the first swing plane to a second predetermined position, as shown in fig. 11.

All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly.

Optionally, the first link 171 is disposed through the first and

second receptacles

1221 and 1411 such that the lower leg support plate 122 can swing relative to the footwear support plate 141 at a first swing plane, thereby allowing the lower leg assembly 12 to swing relative to the footwear assembly 14 at the first swing plane.

Optionally, the first connecting member 171 is opened with a third insertion hole 1711, so that after the first connecting member 171 is inserted into the first insertion hole 1221 and the second insertion hole 1411, the second connecting member 172 is inserted into the third insertion hole 1711 and is connected to the lower leg support plate 122 or the footwear support plate 141, so that the lower leg support plate 122 can swing on the second swing plane relative to the footwear support plate 141, and thus the lower leg assembly 12 can swing on the second swing plane relative to the footwear assembly 14.

In this embodiment, after the first connector 171 is inserted into the first insertion hole 1221 and the second insertion hole 1411, the second connector 172 is inserted into the third insertion hole 1711 and connected to the lower leg support plate 122, for example, the second connector 172 is inserted into the third insertion hole 1711 and the portion of the lower leg support plate 122 that is arranged in a curled or bent shape, as shown in fig. 11. This prevents the second link 172 from rotating on the first swing plane relative to the lower leg support plate 122.

Further, since the first insertion hole 1221 and/or the second insertion hole 1411 are/is a long hole, in this embodiment, it is described by taking the example that the first insertion hole 1221 and the second insertion hole 1411 are both long holes, after the first connecting member 171 is inserted into the first insertion hole 1221 and the second insertion hole 1411, the lower leg support plate 122 can not only swing on the first swing surface relative to the shoe support plate 141, but also can make the lower leg support plate 122 move relative to the shoe support plate 141, and when the shoe support plate 141 is partially inserted into the accommodating space 151, the locking member 15 locks the swing of the lower leg assembly 12 relative to the shoe assembly 14 on the second swing surface, as shown in fig. 11.

In addition, when the shoe support plate 141 is out of the receiving space 151, for example, when the shoe assembly 14 is off the ground, the lower leg assembly 12 can swing on the second swing plane relative to the shoe assembly 14, which can increase the flexibility of the exoskeleton robot 10, and the lower leg support plate 122 can be used to stop the swing of the lower leg assembly 12 relative to the shoe assembly 14 on the second swing plane, as shown in fig. 12(a), (b), which can control the swing amplitude of the lower leg assembly 12 relative to the shoe assembly 14 on the second swing plane, thereby improving the safety.

The locking of the lower leg assembly 12 and the footwear assembly 14 by the locking member 15 after the exoskeleton robot 10 is worn by the user will now be described in detail.

After the user wears the exoskeleton robot 10, for example, during walking, or during squatting, or when the user is in a full-squatting or half-squatting state, under the action of their own weight, the lower leg support plate 122 moves relative to the shoe support plate 141, so that the shoe support plate 141 is partially inserted into the accommodating space 151, as shown in fig. 11, at this time, the lower leg assembly 12 swings to the second preset position relative to the shoe assembly 14, and the locking member 15 locks the swing of the lower leg assembly 12 relative to the shoe assembly 14 on the second swing plane, that is, the swing of the lower leg assembly 12 relative to the shoe assembly 14 on the second swing plane is limited by the locking member 15, so that the ankle of the user is difficult to swing left and right, and the ankle joint can be prevented from being injured by sprain and the like.

Referring to fig. 13 and 14 together, fig. 13 is an exploded view of the locking assembly 13 in fig. 1 for locking the thigh assembly 11 and the shank assembly 12, and fig. 14 is a view illustrating a relative position relationship between the third limiting member 126 and the fourth locking member 136 in fig. 13 and the second elastic member 135.

The calf assembly 12 of the present embodiment further includes a third limiting member 126, and the third limiting member 126 is fixedly connected to the calf connecting seat 121 and disposed along the circumference of the calf connecting seat 121 with the first limiting member 124 and the second limiting member 125.

Optionally, the third limiting member 126 and the lower leg connecting seat 121 are an integral component, so as to reduce the complexity and assembly difficulty of the lower leg assembly 12, and reduce the processing cost of the lower leg assembly 12.

Optionally, the third limiting member 126 is detachably connected to the lower leg connecting base 121, so that the third limiting member 126 can be easily replaced after being damaged, thereby prolonging the service life of the lower leg assembly 12.

The locking assembly 13 of the present embodiment further includes a second elastic element 135 and a fourth locking element 136, the second elastic element 135 is sleeved on the second mounting portion 1112, and the fourth locking element 136 can be partially accommodated in the accommodating space 1113.

The terms "first", "second", "third" and "fourth" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first," "second," "third," and "fourth" may explicitly or implicitly include at least one such feature.

Alternatively, the second elastic member 135 is a torsion spring, and is disposed in a spiral shape, and mainly receives a torque force.

It should be noted that the main parameters of the second elastic member 135, such as the dimension and the elastic coefficient, are designed according to the force to be borne by the second elastic member 135.

Optionally, the fourth locking member 136 is movably connected to the first mounting portion 1111, the first mounting portion 1111 is formed with a mounting hole 1114, and the fourth locking member 136 is disposed through the mounting hole 1114, so that the fourth locking member 136 can be partially accommodated in the accommodating space 1113.

In this embodiment, the third limiting member 126 is disposed opposite to the first end portion 1351 of the second elastic member 135 in the first direction, and when the fourth locking member 136 is partially accommodated in the accommodating space 1113, the fourth locking member 136 is disposed opposite to the second end portion 1352 of the second elastic member 135 in the first direction, so that when the thigh assembly 11 rotates to the first predetermined position, the first end portion 1351 abuts against the third limiting member 126, and the second end portion 1352 abuts against the fourth locking member 136.

Optionally, the second elastic element 135 is fixedly connected to the shank connecting seat 121, so that the first end portion 1351 abuts against the third limiting element 126, which can increase the smoothness of the acting force exerted by the third limiting element 126 and the fourth locking element 136 on the second elastic element 135 respectively in the process of rotating the thigh assembly 11 to the first predetermined position.

In this embodiment, in the process that the thigh assembly 11 rotates to the first preset position, and when the fourth locking member 136 is partially accommodated in the accommodating space 1113, the fourth locking member 136 gradually approaches the second end portion 1352, and when the rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to the angle threshold, the fourth locking member 136 abuts against the second end portion 1352.

In this embodiment, the angle threshold may be a maximum value of the amount of angle that the thigh assembly 11 rotates relative to the shank assembly 12 during normal walking of the user after the user wears the exoskeleton robot 10, for example, the angle threshold is 5 °. In other words, during normal walking, the fourth locking member 136 only gradually moves closer to or farther from the second end portion 1352, and the rhythm of the approaching or the departing is consistent with the pace of the user, but does not abut against the second end portion 1352.

It should be noted that, since the steps of different users are not completely consistent, or the steps of the users during walking, walking quickly, running, etc. are not completely consistent, the fourth locking member 136 may abut against the second end portion 1352 during the normal walking process of the users, so that the second elastic member 136 is slightly deformed.

In this embodiment, after the exoskeleton robot 10 is worn by the user and the user squats down, the rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to the angle threshold, and during the rotation of the thigh assembly 11 to the first preset position, the third limiting member 126 and the fourth locking member 136 abut against the first end portion 1351 and the second end portion 1352, respectively, so that the second elastic member 135 elastically deforms. It is apparent that this provides a more comfortable exoskeleton robot 10 while providing a resilient or flexible support to the user, based on the user maintaining a full or semi-squat state with the exoskeleton robot 10 for a longer period of time.

Optionally, the locking assembly 13 further includes a third elastic member 137 and a toggle member 138, the third elastic member 137 is sleeved on the fourth locking member 136, and the toggle member 138 is configured to elastically deform the third elastic member 137, so that a portion of the fourth locking member 136 is accommodated in the accommodating space 1113.

Specifically, the thigh supporting plate 112 is provided with a third engaging portion 1121, the toggle 138 is rotatably connected to the thigh supporting plate 112 and includes a pressing portion 1381 and a fourth engaging portion 1382, and the pressing portion 1381 elastically deforms the third elastic member 137 and pushes the fourth locking member 136 to partially extend into the accommodating space 1113 in the process that the toggle 138 rotates relative to the thigh supporting plate 112 until the fourth engaging portion 1382 is inserted into the third engaging portion 1121.

Alternatively, the third engaging portion 1121 may be a slot, and the fourth engaging portion 1382 may be inserted into the third engaging portion 1121.

Optionally, the third elastic member 137 is a compression spring, and in a natural state or a compression slightly-deformed state of the third elastic member 137, the fourth locking member 136 is not disposed opposite to the second end portion 1352 in the first direction, that is, when a rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to an angle threshold, the fourth locking member 136 does not abut against the second end portion 1352.

It should be noted that after the user wears the exoskeleton robot 10, the toggle member 138 may not be toggled during the normal walking process of the user, and at this time, the fourth locking member 136 does not abut against the second end portion 1352 to hinder the normal walking process of the user. In this embodiment, when the user squats, the user may first act on the toggle element 138 to make the fourth locking element 136 partially extend into the accommodating space 1113.

Other structures in this embodiment are the same as or similar to those of the exoskeleton robot, and are not described herein again.

first, the toggle member 138 rotates relative to the thigh supporting plate 112 until the fourth engaging portion 1382 is inserted into the third engaging portion 1121, and at the same time, the pressing portion 1381 elastically deforms the third elastic member 137 to push the fourth locking member 136 to partially extend into the accommodating space 1113, and at this time, the fourth locking member 136 is disposed opposite to the second end portion 1352 of the second elastic member 135 in the first direction.

Then, in the process that the thigh assembly 11 rotates from the initial position (standing or standing state) to the first preset position (half-squat or full-squat state) relative to the calf assembly 12, the thigh connecting base 111 drives the first locking member 131 to rotate in the first direction relative to the calf connecting base 121, at this time, the third blocking portion 1313 abuts against the first blocking portion 1331 in the first direction, and the second engaging portion 1321 is inserted into the first engaging portion 1311, so as to push the second locking member 132 and the third locking member 133 to rotate in the first direction relative to the calf connecting base 121 until the thigh assembly 11 reaches the first preset position relative to the calf assembly 12. Meanwhile, the thigh link seat 111 drives the fourth locking member 136 to rotate in the first direction relative to the shank link seat 121, so that the fourth locking member 136 gradually approaches the second end portion 1352, and when the rotation angle of the fourth locking member 136 relative to the second elastic member 135 is greater than or equal to the angle threshold, the fourth locking member 136 abuts against the second end portion 1352, and further, in the process that the thigh assembly 11 rotates to the first preset position, the third limiting member 126 and the fourth locking member 136 abut against the first end portion 1351 and the second end portion 1352, respectively, and act on the second elastic member 135 from the first end portion 1351 and the second end portion 1352 to elastically deform the second elastic member 135.

Further, since the stopping position of the first limiting member 124 is located downstream of the first predetermined position in the first direction, the third locking member 133 continues to rotate relative to the shank link seat 121, at this time, the second locking member 132 rotates relative to the third locking member 133, so that the first elastic member 134 elastically deforms, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, until the first stopping portion 1331 abuts against the first limiting member 124 in the first direction, at this time, the first limiting member 124 stops the third locking member 133 in the first direction, and at the same time, the first elastic member 124 elastically returns, so that the second engaging portion 1321 is inserted into the first engaging portion 1311, and at this time, the second locking member 132 stops the first locking member 131 in the first direction.

Obviously, since the first limiting member 124 is fixedly connected to the lower leg connecting base 121, the first locking member 131 is fixedly connected to the thigh connecting base 111, and the first limiting member 124 stops the third locking member 133 in the first direction, and the second locking member 132 stops the first locking member 131 in the first direction, so that the locking assembly 13 locks the thigh assembly 11 and the lower leg assembly 12 in the first direction, that is, under the locking action of the locking assembly 13, the thigh assembly 11 and the lower leg assembly 12 are in a locking state in the first direction. Meanwhile, since the third limiting member 126 is fixedly connected to the shank link seat 121, the fourth locking member 136 is connected to the thigh link seat 111, and in the locked state, the third limiting member 126 and the fourth locking member 136 respectively act on the second elastic member 135 from the first end portion 1351 and the second end portion 1352, so that the second elastic member 135 is elastically deformed, that is, the second elastic member 135 elastically reacts to the shank link seat 111 and the shank link seat 121. Therefore, under the locking action of the locking assembly 13, the thigh assembly 11 is in a locking state with the shank assembly 12 in the first direction, and at the same time, under the action of the second elastic member 135, the locking state is an elastic or flexible support, so that the exoskeleton robot 10 is more comfortable.

First, in the process that the thigh assembly 11 rotates relative to the shank assembly 12 from the first preset position (half-squat or full-squat state) to the initial position (standing or standing state), the second locking member 132 rotates relative to the third locking member 133 to elastically deform the first elastic member 134, so that the second engaging portion 1321 is disengaged from the first engaging portion 1311, and at the same time, the first locking member 131 rotates in the second direction along with the thigh connecting seat 111 until the third blocking portion 1313 abuts against the second limiting portion 125, at this time, the thigh connecting seat 111 and the first locking member 131 are located at the initial position. Meanwhile, the fourth locking member 136 rotates along with the thigh link base 111 in the second direction, at this time, the second elastic member 135 elastically recovers, and the fourth locking member 136 gradually disengages from the second end portion 1352 of the second elastic member 135 until the fourth locking member 136 is located at the initial position. Obviously, the elastic potential energy is released during the elastic recovery of the second elastic member 135, so that the whole process of rotating the thigh assembly 11 relative to the calf assembly 12 from the first preset position (half-squat or full squat state) to the initial position (standing or upright state) is more stable and labor-saving.

Then, the third and

second lock members

133 and 132 are located at the initial positions.

Finally, when the fourth locking member 136 is located at the initial position, the toggle member 138 may act to disengage the fourth engaging portion 1382 from the third engaging portion 1121, and at the same time, the third elastic member 137 elastically returns to push the fourth locking member 136 to disengage from the accommodating space 1113, until the fourth locking member 136 does not oppose the second end portion 1352 of the second elastic member 135 in the first direction.

Referring to fig. 15 to 17 together, fig. 15 is a front view illustrating the exoskeletal robot 10 of fig. 1 worn on a user in an upright state, fig. 16 is a side view illustrating the exoskeletal robot 10 of fig. 1 worn on the user in an upright state, and fig. 17 is a side view illustrating the exoskeletal robot 10 of fig. 1 worn on the user in a semi-squat state.

In this embodiment, when the exoskeleton robot 10 is worn by a user, the thigh assembly 11 is attached to the left thigh and the right thigh of the user, the shank assembly 12 is attached to the left shank and the right shank of the user, the shoe assembly 14 is attached to the left foot and the right foot of the user, the locking assembly 13 is connected to the thigh assembly 11 and the shank assembly 12, and the locking member 15 is connected to the shank assembly 12 and the shoe assembly 14.

Different from the situation of the prior art, the exoskeleton robot provided by the application comprises a thigh component, a shank component, a locking component and a shoe component, wherein the thigh component is rotatably connected with the shank component, and one end, far away from the thigh component, of the shank component is rotatably connected with the shoe component; the locking assembly comprises a first locking piece and a second locking piece, the first locking piece is fixedly connected with the thigh assembly, and the second locking piece is used for stopping the first locking piece when the thigh assembly rotates to a first preset position in the first direction relative to the shank assembly, so that the thigh assembly and the shank assembly are in a locking state in the first direction.

The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims

1. An exoskeleton robot, which is characterized in that the exoskeleton robot comprises a thigh component, a shank component, a locking component and a shoe component, wherein the thigh component is rotatably connected with the shank component, and one end of the shank component far away from the thigh component is rotatably connected with the shoe component;

the shank component comprises a shank connecting seat and a first limiting part, the shank connecting seat is rotatably connected with the thigh component, the first limiting part is fixedly connected with the shank connecting seat, the locking component comprises a first locking part, a second locking part and a third locking part, the first locking part is fixedly connected with the thigh component, the third locking part is sleeved on the thigh component, the second locking part is connected with the third locking part and used for stopping the first locking part when the thigh component rotates to a first preset position in a first direction relative to the shank component, the stopping position of the first limiting part is located at the downstream of the first preset position in the first direction, so that when the thigh component rotates to the first preset position, the third locking part can continue to rotate to the first limiting part in the first direction relative to the shank connecting seat, and the first limiting part stops in the first direction Blocking the third locking member to enable the thigh assembly to be in a locked state with the shank assembly in the first direction.

2. The exoskeleton robot as claimed in claim 1, wherein said third locking member is provided with a first stop portion, said first stop portion is disposed opposite to said first limiting member in said first direction, when said thigh assembly rotates to said first predetermined position, said third locking member can continue to rotate in said first direction relative to said shank link base until said first stop portion abuts against said first limiting member, so that said first limiting member stops said third locking member in said first direction.

3. The exoskeleton robot of claim 2, wherein said first locking member comprises a plurality of first engaging portions arranged along said first direction, and said second locking member comprises a second engaging portion, and when said first limiting member stops said third locking member in said first direction, said second engaging portion is inserted into said first engaging portion, so that said second locking member stops said first locking member in said first direction.

4. The exoskeleton robot as claimed in claim 3, wherein during the rotation of the thigh assembly to the first predetermined position, the second engaging portion is inserted into the first engaging portion to push the third lock member to rotate to the first predetermined position, and during the rotation of the third lock member until the first stop portion abuts against the first limiting portion, the second lock member is rotatable relative to the third lock member, so that the second engaging portion is disengaged from the first engaging portion.

5. The exoskeleton robot as claimed in claim 4, wherein said shank assembly further comprises a second limiting member fixedly connected to said shank link seat, said first locking member further comprises a second stopping portion disposed opposite to said second limiting member in a second direction, said second direction and said first direction are opposite to each other, so that when said thigh assembly rotates to an initial position in said second direction relative to said shank assembly, said second stopping portion abuts against said second limiting member.

6. The exoskeletal robot of claim 5, wherein the first latch further comprises a third stop disposed opposite the first stop in the second direction, and wherein during rotation of the thigh assembly to the initial position, the second latch rotates relative to the third latch such that the second engaging portion disengages from the first engaging portion, such that the third latch rotates relative to the shank assembly in the second direction until the first stop abuts against the third stop.

7. The exoskeleton robot of claim 6, wherein the locking assembly further comprises a first elastic member connected to the second locking member and the third locking member, such that when the first elastic member is elastically deformed, the second engaging portion is disengaged from the first engaging portion, and when the first elastic member is elastically restored, the second engaging portion is inserted into the first engaging portion.

8. The exoskeleton robot as claimed in claim 1, wherein the thigh assembly includes a thigh link seat, the shank link seat is rotatably connected to the thigh link seat, the thigh link seat includes a first mounting portion and a second mounting portion, the second mounting portion is coaxially disposed with the first mounting portion and forms an accommodating space, the first locking member is fixedly connected to the first mounting portion, the third locking member is sleeved on the second mounting portion, the first limiting member stops the third locking member in the first direction, and the second locking member stops the first locking member in the first direction, and the thigh link seat is in a locking state with the shank link seat in the first direction.

9. The exoskeleton robot as claimed in claim 8, wherein said locking assembly further comprises a second elastic member sleeved on said second mounting portion and a fourth locking member partially received in said receiving space, and said shank assembly further comprises a third limiting member disposed opposite to a first end of said second elastic member in said first direction, and when said fourth locking member is partially received in said receiving space, said fourth locking member is disposed opposite to a second end of said second elastic member in said first direction, such that when said thigh assembly rotates to said first predetermined position, said first end abuts against said third limiting member and said second end abuts against said fourth locking member.

10. The exoskeleton robot as claimed in claim 9, wherein the second elastic member is fixedly connected to the shank link base, such that the first end abuts against the third limiting member, and the fourth locking member is movably connected to the first mounting portion, such that when the thigh assembly rotates to the first predetermined position and the fourth locking member is partially accommodated in the accommodating space, the fourth locking member gradually approaches the second end, and when a rotation angle of the fourth locking member relative to the second elastic member is greater than or equal to an angle threshold, the fourth locking member abuts against the second end.

11. The exoskeleton robot as claimed in claim 10, wherein the first mounting portion defines a mounting hole, the fourth locking member is disposed through the mounting hole, the locking assembly further comprises a third elastic member and a toggle member, the third elastic member is sleeved on the fourth locking member, and the toggle member is configured to elastically deform the third elastic member, so that the fourth locking member is partially received in the receiving space.

12. The exoskeleton robot as claimed in claim 11, wherein the thigh assembly further comprises a thigh support plate, the thigh support plate is fixedly connected to the thigh connecting seat, the thigh support plate is provided with a third engaging portion, the toggle member is rotatably connected to the thigh support plate and comprises a pressing portion and a fourth engaging portion, and the pressing portion elastically deforms the third elastic member and pushes the fourth locking member to partially extend into the accommodating space during the rotation of the toggle member relative to the thigh support plate until the fourth engaging portion is inserted into the third engaging portion.

13. The exoskeleton robot of claim 1, wherein the lower leg assembly further comprises a lower leg support plate, the lower leg support plate is fixedly connected with the lower leg connecting seat, and one end of the lower leg support plate, which is far away from the lower leg connecting seat, is rotatably connected with the shoe assembly, so that the lower leg assembly can swing relative to the shoe assembly.

14. The exoskeletal robot of claim 13, further comprising a lock for locking the lower leg assembly and the footwear assembly when the lower leg assembly swings to a second predetermined position relative to the footwear assembly.

15. The exoskeletal robot of claim 14, further comprising a coupling assembly, the connecting component comprises a first connecting piece and a second connecting piece, the first connecting piece is arranged on the shank component and the shoe component in a penetrating way, so that the lower leg component can swing relative to the shoe component on the first swing surface, the second connecting piece is arranged on the first connecting piece in a penetrating way and is connected with the lower leg component or the shoe component, so that the lower leg component can swing relative to the shoe component on a second swing surface vertical to the first swing surface, the locking piece is fixedly connected with the lower leg component or the shoe component, when the lower leg component swings to a second preset position on the first swinging surface relative to the shoe component, and locking the swing of the lower leg component relative to the shoe component on the second swing surface.

16. The exoskeleton robot of claim 15, wherein a first receptacle is formed in an end of the lower leg support plate adjacent to the shoe assembly, the shoe assembly comprises a shoe support plate, a second receptacle is formed in an end of the shoe support plate adjacent to the lower leg assembly, and the first connector is inserted through the first receptacle and the second receptacle, such that the lower leg assembly can swing on a first swing plane relative to the shoe assembly.

17. The exoskeleton robot as claimed in claim 16, wherein the first link is formed with a third insertion hole, such that after the first link is inserted into the first insertion hole and the second insertion hole, the second link is inserted into the third insertion hole and connected to the lower leg support plate or the footwear support plate, such that the lower leg assembly can swing on the second swing plane relative to the footwear assembly.

18. The exoskeleton robot as claimed in claim 16, wherein the locking member is fixedly connected to the lower leg support plate and located on the same side of the lower leg support plate as the shoe support plate, the locking member has a receiving space, the receiving space opens toward the shoe support plate, the first insertion hole or/and the second insertion hole is/are elongated holes, so that the lower leg support plate can move relative to the shoe support plate, and when the shoe support plate is partially inserted into the receiving space, the locking member locks the swing of the lower leg assembly relative to the shoe assembly on the second swing plane.

19. The exoskeletal robot of claim 18, wherein the lower leg assembly is swingable relative to the footwear assembly on the second swing surface when the footwear support plate is disengaged from the receptacle space, and wherein the lower leg support plate is operable to stop the swing of the lower leg assembly relative to the footwear assembly on the second swing surface.