CN112605979A

CN112605979A - Exoskeleton

Info

Publication number: CN112605979A
Application number: CN202011479783.8A
Authority: CN
Inventors: 何学谦
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-04-06

Abstract

The invention discloses an exoskeleton comprising: upper limbs module, low limbs module, driver part and quick detach joint, quick detach joint is including mutually supporting and can dismantle first adapting unit and the second adapting unit of connection. The joints of the upper limb module and the lower limb module are detachably connected through a first connecting component and a second connecting component. The exoskeleton can bear external weights assembled on the exoskeleton, so that the load of a user is reduced, and meanwhile, the joints of the upper limb module and the lower limb module are detachably connected through the first connecting part and the second connecting part, so that the parts of the exoskeleton can be disassembled and assembled in a modularized mode, the overall size of the exoskeleton for storage is reduced, the user can conveniently store and carry the exoskeleton to go out, and the application scene of the exoskeleton is expanded.

Description

Exoskeleton

Technical Field

The invention relates to the technical field of bionic bones, in particular to an exoskeleton.

Background

Currently, users can change the stress point of the human body bearing weight or increase the stress area of the stress point by means of additional auxiliary equipment/devices to relieve the pressure. However, this method is really better in human sense, but it does not actually reduce the weight of the load to be borne by the human body by only changing the center of gravity of the load, and it is not suitable for carrying heavy equipment outdoors for a long time to perform work.

Disclosure of Invention

The invention aims to design a bionic support which is in accordance with the human body shape in consideration of great physical strength consumption and inconvenience caused by long-time carrying of heavy equipment outdoors, namely to provide an exoskeleton.

To achieve the above object, an embodiment of the present invention provides an exoskeleton comprising: the quick-release joint comprises a first connecting part and a second connecting part which are matched with each other and detachably connected;

the upper limb module comprises an upper limb bearing member and an arm part, and the upper limb bearing member is detachably connected with the arm part through the first connecting part and the second connecting part;

the lower limb module comprises a hip joint component and a leg component, wherein the leg component comprises a thigh component, a shank component and a foot component; the hip joint component is connected with the upper limb bearing component and is detachably connected with the thigh component through the first connecting component and the second connecting component, the thigh component is detachably connected with the shank component through the first connecting component and the second connecting component, and the shank component is detachably connected with the foot component through the first connecting component and the second connecting component;

the drive component is used for driving the thigh component to rotate relative to the hip joint component, driving the lower leg component to rotate relative to the thigh component and driving the lower leg component to rotate relative to the foot component.

In the exoskeleton provided by the embodiment of the invention, external weights assembled on the exoskeleton can be loaded, the load sense of a user is reduced, and meanwhile, joints of the upper limb module and the lower limb module are detachably connected through the first connecting part and the second connecting part, so that the parts of the exoskeleton can be disassembled and assembled in a modularized manner, the overall storage volume of the exoskeleton is reduced, the user can conveniently store and carry the exoskeleton with him for going out, and the application scene of the exoskeleton is expanded.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic front view of an exoskeleton according to an embodiment of the present invention;

FIG. 2 is a schematic side view of an exoskeleton according to one embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a quick release joint according to an embodiment of the present invention connected to a first member and a second member respectively;

FIG. 4 is a schematic view of a quick release connection structure of a ball joint according to an embodiment of the present invention;

FIG. 5 is a schematic view of a quick release connecting and unlocking structure of the universal ball joint provided in the embodiment of FIG. 4;

fig. 6 is a schematic view of a quick release connection structure of a square tenon according to another embodiment of the present invention.

FIG. 7 is a schematic structural view of a first position-locking state of the quick release of the square tenon in the embodiment of FIG. 6;

FIG. 8 is a structural diagram illustrating a second position-locking state of the quick release of the square tenon in the embodiment of FIG. 6;

FIG. 9 is a schematic view of a quick release connection structure of a square tenon according to another embodiment of the present invention;

FIG. 10 is a schematic view of a quick release unlocking structure of a square tenon according to another embodiment of the present invention;

FIG. 11 is a schematic view of a connection structure of a quick release joint and a joint connecting component according to an embodiment of the invention;

FIG. 12 is a diagram of an application scenario in which an exoskeleton provides a leaning gesture to a user according to an embodiment of the invention;

FIG. 13 is a schematic diagram of a flexible backbone provided in accordance with an embodiment of the present invention;

FIG. 14 is a cross-sectional view of an articulating component according to one embodiment of the invention;

FIG. 15 is a side view of the exoskeleton according to one embodiment of the present invention;

figure 16 is a schematic front view of an upper limb carrying member provided in accordance with an embodiment of the present invention;

fig. 17 is a schematic view of a cleat configuration for a foot member according to an embodiment of the invention.

Description of the main elements and symbols:

100. an exoskeleton; 10. an upper limb module; 11. an upper limb carrying member; 12. a hand arm member; 121. a large arm member; 122. a small arm member; 13. an upper limb fixing module; 14. a flexible load bearing structure; 140. an elastic strip; 15. a bearing table; 16. a rigid connection structure; 17. a flexible limiting structure; 171. pulling a rope; 172. a pulley block; 1721. a fixed pulley; 1722. a winding wheel; 173. a drive motor; 20. a lower limb module; 21. a hip joint component; 22. a leg member; 221. a thigh member; 222. a lower leg member; 223. a foot member; 2231. a shoe body; 2232. an anti-slip mechanism; 2232a, paw teeth; 2232b, a denture base; 2233. a turnover mechanism; 2233a, a turnover motor; 2233b, flip connectors; 2234. a receiving groove; 224. a lower limb fixing module; 30. a drive member; 31. an arm driver; 32. a hip driver; 33. a knee actuator; 34. a foot driver; 40. a quick release joint; 41. a first connecting member; 410. a first quick release housing; 411. a quick release button; 412. a return spring; 413. fixing the connecting seat; 414. a movable connecting seat; 415. a square tenon; 4151. a body; 4152. a clamping piece; 4153. a connecting rod; 4154. a position clamping hole; 416. a movable card holder; 417. a power-assisted spring; 42. a second connecting member; 421. a ball head; 422. a compression nut; 423. a second quick release housing; 424. a blocking member; 425. a square tenon fixing hole; 426. accommodating grooves; 50. a first member; 51. a second member; 60. an articulating component; 61. a flexible backbone; 611. a sub-skeleton; 62. a joint posture assisting mechanism; 621. an attitude assist motor; 622. an air bag; 623. an air pump; 70. a controller; 80. a detection section; 90. a power supply module; 110. and an indicating device.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.

It should be understood that the step numbers used herein are for convenience of description only and are not used as limitations on the order in which the steps are performed.

It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.

Referring to fig. 1-3, an exoskeleton 100 is provided according to an embodiment of the present invention, including: the upper limb module 10, the lower limb module 20, the driving part 30 and the quick release joint 40, wherein the quick release joint 40 comprises a first connecting part 41 and a second connecting part 42 which are mutually matched and detachably connected.

The upper limb module 10 includes an upper limb carrying member 11 and a hand arm part 12. The upper limb support member 11 and the arm unit 12 are detachably connected by a first connecting unit 41 and a second connecting unit 42.

The lower limb module 20 comprises a hip joint part 21 and a leg part 22. The leg component 22 includes a thigh member 221, a shank member 222, and a foot member 223. The hip joint part 21 is connected to the upper limb support member 11 and detachably connected to the upper leg member 221 via the first connection part 41 and the second connection part 42, the upper leg member 221 and the lower leg member 222 are detachably connected via the first connection part 41 and the second connection part 42, and the lower leg member 222 and the foot member 223 are detachably connected via the first connection part 41 and the second connection part 42.

The drive component 30 is used to drive rotation of the thigh member 221 relative to the hip component 21, rotation of the lower leg member 222 relative to the thigh member 221, and rotation of the lower leg member 222 relative to the foot member 223.

In the present embodiment, upper extremity module 10 and lower extremity module 20 together form the base frame of exoskeleton 100. In the using process, after the user wears the exoskeleton 100, the external weight is placed on the upper limb bearing member 11, the gravity of the external weight can be transmitted to the ground under the supporting action of the upper limb module 10 and the lower limb module 20, and the human body is not stressed, so that the bionic stress of the exoskeleton 100 is realized, and the load sense of the user is relieved.

With continued reference to fig. 1 and 2, in one embodiment, the arm assembly 12 includes a large arm member 121 and a small arm member 122, wherein the large arm member 121 and the small arm member 122 are detachably connected by a first connecting part 41 and a second connecting part 42. The driving unit 30 includes an arm driver 31, and the arm driver 31 is used for driving the small arm member 122 to rotate relative to the large arm member 121.

In addition, the drive component 30 includes a hip actuator 32, a knee actuator 33, and a foot actuator 34, the hip actuator 32 being configured to rotate the upper leg member 221 relative to the hip joint component 21, the knee actuator 33 being configured to rotate the lower leg member 222 relative to the upper leg member 221, and the foot actuator 34 being configured to rotate the lower leg member 222 relative to the foot member 223.

In one embodiment, exoskeleton 100 further comprises upper limb immobilization module 13 and lower limb immobilization module 224, wherein upper limb immobilization module 13 is configured to immobilize with an upper limb of a human body, and lower limb immobilization module 224 is configured to immobilize with a lower limb of the human body.

In a specific use process, a user may first wear or tie the upper limb module 10 to his upper limbs via the upper limb securing module 13 and wear or tie the lower limb module 20 to his lower limbs via the lower limb securing module 224.

Further, the upper limb fixing module 13 includes one or more of a waistcoat, a shoulder strap and a waistband; the lower limb immobilization module 224 includes one or more of a thigh strap, a knee strap, a calf strap, and a sole strap. Preferably, the upper limb fixing module 13 and the lower limb fixing module 224 are made of soft and flexible materials, so that the user can comfortably bear force during wearing or binding.

In the present embodiment, the upper limb module 10 is detachably connected to the lower limb module 20, and the joints of the upper limb module 10 and the lower limb module 20 are detachably connected to each other by the first connecting member 41 and the second connecting member 42, and bear weight.

Thus, each part of exoskeleton 100 can be disassembled in a modularized manner, the overall volume of exoskeleton 100 for storage is reduced, and a user can conveniently store and carry exoskeleton 100 with him/her for traveling, thereby expanding the application scene of exoskeleton 100.

Specifically, the quick release joint 40 includes a first connecting part 41 and a second connecting part 42 that are engaged with each other and detachably connected. The first connecting part 41 and the second connecting part 42 connect the first component 50 to be connected to the second component 51 by means of a mutual latching connection; the first and

second connection parts

41 and 42 separate the connected first and

second members

50 and 51 by releasing the detent connection. The clamping connection includes but is not limited to a plug-in quick-release connection or a snap quick-release connection.

Referring to fig. 3, the first connecting part 41 is fixedly connected to the first member 50 to be connected, and the second connecting part 42 is fixedly connected to the second member 51 to be connected. It should be noted that, since the quick release joint 40 is not limited to be used for connecting each component of the upper limb module 10 or the lower limb module 20, neither the first member 50 nor the second member 51 is limited to a specific component, and may refer to two components to be connected in a broad sense, such as the upper limb bearing member 11 and the arm part 12, the hip joint part 21 and the thigh member 221, the thigh member 221 and the shank member 222, and the shank member 222 and the foot member 223, and the like, and is not limited in detail herein. Of course, the first connecting part 41 may be fixedly connected with the second member 51 to be connected, and the second connecting part 42 may be fixedly connected with the first member 50 to be connected.

In practical use, the first connecting part 41 and the second connecting part 42 are connected in a quick-release manner, so that the parts of the upper limb module 10 and the lower limb module 20 can be quickly disassembled in a modularized manner. If the user needs to disassemble and store the exoskeleton 100, and first and second connecting

parts

41 and 42 are disassembled first, the first and

second members

50 and 51 can be separated, for example, the upper limb carrying member 11 and the arm part 12, the hip joint part 21 and the thigh member 221, the thigh member 221 and the shank member 222, and the shank member 222 and the foot member 223 can be separated, and then the exoskeleton can be stored in a modularized manner according to the size of each module, so that the exoskeleton is convenient for the user to carry and travel.

The embodiment of the present invention proposes three quick release joints 40 with different quick release structures to achieve the connection state and the unlocking state of the first member 50 and the second member 51, and the following detailed description will be separately provided by specific embodiments.

Referring to fig. 3-5, in one embodiment, the first connecting part 41 includes a first quick release housing 410, a quick release button 411, a return spring 412, a fixed connecting seat 413 and a movable connecting seat 414. The first quick release housing 410 is fixedly connected to the second member 51 to be connected, the fixed connection seat 413 is fixedly disposed in the first quick release housing 410, and the movable connection seat 414 is movably disposed in the first quick release housing 410. The quick release button 411 is disposed on the first quick release housing 410 and connected to the movable connecting seat 414 through a return spring 412. The fixed connection seat 413 and the movable connection seat 414 both include a support surface and an internal thread surface, and the support surface of the fixed connection seat 413 and the support surface of the movable connection seat 414 form a hemispherical shape together. The second connecting part 42 comprises a ball 421 and a pressing nut 422 respectively matched with the fixed connecting seat 413 and the movable connecting seat 414, the ball 421 is fixedly connected with the first component 50 to be connected, and the pressing nut 422 comprises a hemispherical pressing surface and an external thread surface matched with the internal thread surface.

The movable connecting seat 414 is used for being pressed by the return spring 412 to gather towards the fixed connecting seat 413 in a connecting state, so that the ball 421 is installed in the fixed connecting seat 413 and the movable connecting seat 414 and is pressed by the pressing nut 422; and the ball head 421 slides out of the fixed connection seat 413 and the movable connection seat 414 under the stretching of the return spring 412 in the unlocking state.

In this embodiment, the quick-release joint 40 is an insertion quick-release joint, specifically a universal ball quick-release connection structure.

Specifically, the working principle of the present embodiment is that the quick release button 411 is linked with the movable state of the movable connection seat 414 through the return spring 412, so that the ball 421 is located in or slides out of the limit space formed by the fixed connection seat 413 and the movable connection seat 414.

When the first member 50 and the second member 51 need to be connected, the ball 421 of the first member 50 is inserted into the movable connection seat 414 and the fixed connection seat 413 of the first connection part 41. When the user presses the quick release button 411, as shown in fig. 5(a), the quick release button 411 contracts inward and is locked and fixed with the first quick release housing 410, so that the return spring 412 is in a compressed state (the quick release button 411 limits the stroke of the return spring 412). Under the abutting action of the return spring 412, the movable connecting seat 414 is drawn close to the fixed connecting seat 413 along the direction a shown in fig. 5, so as to form a complete hemispherical surface together with a part of the spherical surface of the compression nut 422, so as to limit the ball 421 of the first member 50 within the movable connecting seat 414, the fixed connecting seat 413 and the compression nut 422, and compress and limit the ball 421 through the compression nut 422, thereby preventing the ball 421 from sliding out. At this time, first member 50 can still rotate flexibly relative to second member 51, so that each joint of exoskeleton 100 follows the human body to reduce the foreign body sensation of wearing exoskeleton 100 by the user.

When the first member 50 and the second member 51 need to be unlocked and disassembled, the user presses the quick release button 411 again, the quick release button 411 extends outwards, the quick release button 411 no longer limits the stroke of the return spring 412, and the return spring 412 returns to the relaxed state. Under the stretching action of the return spring 412, the movable connecting seat 414 is far away from the fixed connecting seat 413 (in the direction b shown in fig. 4), so that the ball head 421 slides out of the fixed connecting seat 413 and the movable connecting seat 414, and the pressing nut 422 is taken out of the first connecting shell 410 along with the ball head 421. Thus, the first member 50 and the second member 51 are separated, so that the user can disassemble and store the components.

It should be noted that, the ratio of the supporting surface of the fixed connection seat 413 to the supporting surface of the movable connection seat 414 to the hemispherical surface meets the requirement that the ball 421 can slide out of the fixed connection seat 413 and the movable connection seat 414 when the movable connection seat 414 is removed, and no specific limitation is made herein.

Referring to fig. 6-8, in one embodiment, the first connecting part 41 includes a quick release button 411, a return spring 412 and a square tenon 415. The square tenon 415 comprises a body 4151 and a clamping part 4152, the body 4151 is fixedly connected with the first component 50 to be connected, and the quick release button 411 is arranged in the body 4151 through a return spring 412 and is in clamping connection with the body 4151; the position limiting piece 4152 is linked with the quick release button 411 and is rotatably connected with the body 4151. The second connecting part 42 includes a second quick release housing 423 and a blocking part 424, the second quick release housing 423 is fixedly connected to the second member 51 to be connected, and is provided with a square tenon fixing hole 425 for the square tenon 415 to penetrate, and the blocking part 424 is disposed at an opening of the second quick release housing 423 and is used for being in blocking fit with the blocking part 4152.

The quick release button 411 is used for being clamped with the body 4151 in a first clamping state (as shown in fig. 6 and 7) in a connection state, so that the clamping piece 4152 rotates to the outside of the body 4151 to abut against the blocking part 424; and a second locking state (as shown in fig. 8) for locking with the body 4151 in the unlocked state, so that the locking member 4152 is folded toward the inside of the body 4151.

In the present embodiment, the quick release joint 40 is a square tenon quick release connection structure.

In one embodiment, the quick release button 411 is provided with protrusions, which are engaged with two engaging holes 4154 formed in the body 4151, respectively, to form a first engaging state and a second engaging state.

Referring to fig. 7, in an embodiment, a body 4151 is provided with a limiting hole, and the quick release button 411 is linked with a locking member 4152 through a connecting rod 4153 passing through the limiting hole.

Specifically, the operating principle of the present embodiment is that the quick release button 411 is interlocked to control the expansion or the contraction of the positioning member 4152 by switching between two clamping states with the body 4151, so as to clamp or unlock with the second connecting member 42.

As shown in fig. 6 and 7, when the first member 50 and the second member 51 need to be connected, the square tenon 415 is inserted into the square tenon fixing hole 425. At this time, the user needs to press the quick release button 411 to make the protrusion of the quick release button 411 locked and fixed with the locking hole 4154 close to the first member 50. Under the action of the return spring 412, the quick release button 411 drives the link 4153 to move in the direction b as shown in fig. 7, and the interlocking detent 4152 rotates to the abutting stop 424 toward the outside of the body 4151. The square tenon 415 is fixed in the square tenon fixing hole 425 under the limiting action of the retaining piece 4152 and the blocking piece 424. In this way, a fixed connection of the first member 50 and the second member 51 is achieved.

As shown in fig. 8, when the first member 50 and the second member 51 need to be unlocked and disassembled, the user continues to press the quick release button 411, so that the protrusion of the quick release button 411 is locked and fixed with the locking hole 4154 far from the first member 50. At this time, the quick release button 411 limits the stroke of the return spring 412, and the return spring 412 stores elastic potential energy. When the quick release button 411 drives the link 4153 to move in the direction a as shown in fig. 8, the interlocking detent 4152 rotates toward the inside of the body 4151 and is closed. The square tenon 415 can be freely inserted into the square tenon fixing hole 425 without the limited locking action of the locking piece 4152 and the blocking piece 424. In this manner, separation of the first member 50 from the second member 51 is achieved.

When the quick release button 411 is pressed again by the user in the next installation, the return spring 412 is reset, the elastic potential energy is converted into mechanical energy, so that the movable piece is pushed to move towards the direction b shown in fig. 7, the convex block of the quick release button 411 is clamped and fixed with the clamping hole 4154 close to the first member 50, and the fixed connection between the first member 50 and the second member 51 is realized.

Referring to fig. 9-10, in one embodiment, the first connecting component 41 includes a first quick release housing 410, a quick release button 411, a return spring 412, a locking member 4152 and a movable locking bracket 416. The first quick release housing 410 is fixedly connected to the second member 51 to be connected, and is provided with a square tenon fixing hole 425 for the square tenon 415 to penetrate through, the quick release button 411 is connected to the first quick release housing 410 in a clamping manner, and the movable clamping holder 416 is movably arranged in the first quick release housing 410 through a return spring 412 and is fixedly connected to the quick release button 411. The second connecting part 42 includes a square tenon 415, the square tenon 415 is fixedly connected with the first member 50 to be connected, and a receiving groove 426 is formed for receiving the locking element 4152, and the receiving groove 426 corresponds to the movable locking bracket 416 when the square tenon 415 is inserted into the square tenon fixing hole 425.

The movable clamp holder 416 is used for corresponding to the receiving groove 426 in a connection state, so that the clamping member 4152 is simultaneously received in the receiving groove 426 and the movable clamp holder 416, and the square tenon 415 and the first quick release housing 410 are clamped and fixed by the clamping member 4152; and, the locking member 4152 is only received in the movable bracket 416 when the locking member is in the unlocked state and is biased by the return spring 412 to be out of alignment with the receiving groove 426.

In this embodiment, the quick release joint 40 is a square tenon quick release connection structure of another structure.

Specifically, the quick release button 411 of the present embodiment drives the card holder 416 to move through the return spring 412, so that the position-locking member 4152 is movably disposed in the movable card holder 416 or the receiving groove 426, and is locked or unlocked with the second connecting member 42.

Referring to fig. 9, when the first member 50 and the second member 51 need to be connected, the square tenon 415 is inserted into the square tenon fixing hole 425. The user needs to press the quick release button 411 to clamp the quick release button 411 to the first quick release housing 410, and at this time, the quick release button 411 limits the stroke of the return spring 412, so that the return spring 412 is in a compressed state. The movable clip holder 416 is opposite to the receiving groove 426, the clip member 4152 moves from the movable clip holder 416 into the receiving groove 426 of the square tenon 415, and simultaneously supports the first quick release housing 410 and the square tenon 415, and the square tenon 415 is fixed in the square tenon fixing hole 425 due to the clip member 4152 being locked with the first quick release housing 410. In this way, a fixed connection of the first member 50 and the second member 51 is achieved.

Referring to fig. 10, when the first member 50 and the second member 51 need to be unlocked and disassembled, the quick release button 411 is not locked with the first quick release housing 410, and the return spring 412 converts the elastic potential energy into mechanical energy to push the movable bracket 416 to be dislocated with the receiving groove 426, so that the locking member 4152 is only accommodated in the movable bracket 416, but not in the receiving groove 426 of the square tenon 415. The square tenon 415 can be freely inserted into the square tenon fixing hole 425 without the limit of the blocking piece 4152. In this manner, separation of the first member 50 from the second member 51 is achieved.

Referring to fig. 9 and 10, in a sub-embodiment, the first connecting part 41 further includes a power spring 417, and the power spring 417 is used for holding the movable card holder 416 along the gravity direction.

In this way, in the connection state, the assisting spring 417 can make the blocking member 4152 in the movable blocking bracket 416 tightly abut against the receiving groove 426, so as to ensure that the first member 20 and the second member 50 are reliably connected.

It can be understood that, because the load-bearing requirements and flexibility requirements of each joint of exoskeleton 100 are different, a suitable quick-release joint 40 can be selected according to actual requirements, so that connection or quick release of each part of exoskeleton 100 is realized, and the requirements of a user for load reduction and modular quick release are met.

Referring to fig. 11-15, in one embodiment, exoskeleton 100 further comprises joint coupling components 60 and controller 70 (shown in fig. 2). The joint connecting component 60 has one end fixedly connected with the first member 50 and the other end detachably connected with the second member 51 and covers the joint connection between the first member 50 and the second member 51.

The articulation component 60 is switched to a flexible state to move the first member 50 relative to the second member 51 under the control of a follow-up control signal sent by the controller 70; and is switched to a rigid state under the control of a rigidity control signal sent by the controller 70, so that the included angle between the first member 50 and the second member 51 is kept at a preset angle.

In the present embodiment, the articulated component 60 is used to adjust the postures of the first member 50 and the second member 51.

The articulating component 60, while fixedly attached to the first member 50, is also removably attached to the second member 51. Specifically, in the scenario of the exoskeleton 100 being in the working mode, the user first connects the first member 50 and the second member 51 through the quick release joint 40, and then connects the joint connecting component 60 and the second member 51, so that the joint connecting component 60 can be covered on the joint connection between the first member 50 and the second member 51, and in the embodiment shown in fig. 11, the joint connecting component 60 is covered on the first connecting shell 410 of the first connecting part 41. In the scenario where exoskeleton 100 is in a quick release configuration, the user first detaches the articulating components 60 from the second member 51 and then detaches the first member 50 from the second member 51, thereby achieving modular detachment of exoskeleton 100.

In the above scenario, the articulating component 60 has two states: a flexible state and a rigid state.

When the articulation links 60 are in the flexible state, the articulation links 60 are in the following state, i.e., rotate following the rotation of the first and

second members

50 and 51, such that the first and

second members

50 and 51 are free to rotate without being constrained by the articulation links 60, which is suitable for use in a scenario where the exoskeleton 100 is in the operational mode, such that the various joints of the exoskeleton 100 follow the movement of the human body. It is also applicable in the scenario where exoskeleton 100 is in a quick release configuration for the user to detach articulating component 60 from second member 51.

When the joint connecting component 60 is in a rigid state, the joint connecting component 60 covers the joint connecting part of the first component 50 and the second component 51, so that the first component 50 and the second component 51 cannot rotate freely. Preferably, to maintain the predetermined angle, the predetermined angle between the hip joint part 21 and the upper leg member 221 is 90 °, and the predetermined angle between the upper leg member 221 and the lower leg member 222 is 90 °, so that the lower limb module 20 is formed in a chair shape as shown in fig. 12. Of course, the preset angle may be other angles so that the user can take a rest comfortably.

In the conventional mode, the user needs to unload the exoskeleton 100 on the body to sit, lie down and the like, and then wears the exoskeleton 100 to carry out the load, which is cumbersome to operate and takes a long time.

In the exoskeleton 100 of the present embodiment, the joint connecting member 60 is provided at the joint of the first member 50 and the second member 51, so that the joint connecting member 60 can be switched to the flexible state or the rigid state.

In a scene needing rest, a user sends a rigidity control instruction to the controller 70 through the communication module, the controller 70 generates a corresponding rigidity control signal, the joint connecting part 60 is controlled to be switched from a flexible state to a rigid state, the hip joint part 21 and the thigh member 221 are further kept at a preset angle of 90 degrees, and the thigh member 221 and the shank member 222 are kept at a preset angle of 90 degrees.

In a loading scene, a user sends a following control instruction to the controller 70 of the exoskeleton 100 through the communication module, the controller 70 generates a corresponding following control signal, and the joint connecting part 60 is controlled to be switched from a rigid state to a flexible state, so that the first member 50 can freely rotate relative to the second member 51, and each joint of the exoskeleton 100 can move along with the human body.

In one embodiment, exoskeleton 100 can also be configured with a seat cushion for the user to rest comfortably.

In addition to actively driving the first member 50 to maintain a preset angle relative to the second member 51 via the stiffness control command sent by the user, in other embodiments, the driving component 30 may assist in driving the first member 50 to rotate to a preset angle relative to the second member 51, and then the articulation component 60 drives the first member 50 to maintain a preset angle relative to the second member 51.

Specifically, after hip actuator 30 drives thigh member 221 to rotate to a preset angle with respect to hip joint component 21 and knee actuator 33 drives shank member 222 to rotate to a preset angle with respect to thigh member 221, joint connection component 60 is switched from a flexible state to a rigid state so as to maintain thigh member 221 at the preset angle with respect to hip joint component 21 and to maintain shank member 222 at the preset angle with respect to thigh member 221.

Referring to fig. 1, in an embodiment, exoskeleton 100 further includes a detection unit 80, where the detection unit 80 is configured to collect posture information of a human body, and the controller 70 is configured to determine a current operation mode of exoskeleton 100 according to the posture information, and correspondingly control the joint connection unit 60 to switch to a rigid state or a flexible state according to the current operation mode.

In this embodiment, the controller 70 may not only receive a following control command or a rigid control command sent by a user to control the joint connecting component 60 to switch to the rigid state or the flexible state, but also actively determine the current operation mode of the exoskeleton 100 according to the human posture information collected by the detecting component 80 disposed on the exoskeleton 100, and control the corresponding joint connecting component 60 to switch to the rigid state or the flexible state according to the operation mode.

Specifically, the detecting unit 80 includes, but is not limited to, a gyroscope and an acceleration sensor, and is configured to acquire acceleration movement information of the human body. If the controller 70 judges that the user is walking according to the posture information, the current operation mode of the exoskeleton 100 is judged to be the working mode, so that the joint connecting parts 60 are controlled to be switched to the flexible state, and the joints of the exoskeleton 100 can move along with the human body; if the user stands still according to the posture information, the current operation mode of the exoskeleton 100 is judged to be a rest mode, so that the joint connecting part 60 is controlled to be switched to a rigid state, and the first member 50 is kept at a preset angle relative to the second member 51 for the user to lean and rest.

Referring to fig. 11, 13 and 14, in one embodiment, the articulating component 60 includes a flexible backbone 61 and a joint posture assistance mechanism 62.

The flexible framework 61 comprises a plurality of sequentially hinged sub-frameworks 611, the sub-framework 611 at the head end is fixedly connected with the first member 50, and the sub-framework 611 at the tail end is detachably connected with the second member 51.

The joint posture assistance mechanism 62 includes a posture assistance motor 621, a half bellows-shaped air bag 622, and an air pump 623. The posture assisting motor 621 and the air pump 623 are both in communication connection with the controller 70. The output end of the posture assisting motor 621 is connected to the sub-frame 611 at the head end, the air bag 622 is sleeved on one side of the flexible frame 61, the radius of the half bellows of the air bag 622 decreases progressively along the axial direction (the X-axis direction shown in fig. 14) of the flexible frame 61, and the inflating end of the air bag 622 is connected to the air pump 623.

When the posture assisting motor 621 and the air pump 623 do not operate, the joint connecting component 60 is in a flexible state; when the posture assisting motor 621 drives the head-end sub-frame 611 to rotate along a predetermined axis (the Z axis shown in fig. 14) and the air bag 622 is filled with air, the joint connecting member 60 is in a rigid state.

In this embodiment, the flexible frame 61 is used as a basic frame of the joint connecting component 60 and is formed by sequentially hinging a plurality of sub-frames 611.

Specifically, the sub-frame 611 at the head end is fixedly connected with the first member 50, the sub-frames 611 at the middle section are hinged to each other, and the sub-frame 611 at the tail end is detachably connected with the second member 51. In actual use, the user connects the first member 50 with the second member 51, and then connects the sub-frame 611 at the tail end with the second member 51, so that the flexible frame 61 can cover the joint between the first member 50 and the second member 51. In the scene that the exoskeleton 100 is in quick-release storage, a user firstly detaches the sub-skeleton 611 at the tail end from the second member 51, and then detaches the first member 50 from the second member 51, thereby achieving separation of the first member 50 from the second member 51.

Further, the joint posture assisting mechanism 62 serves as a posture assisting frame of the joint connecting member 60 for driving the joint connecting member 60 to maintain a rigid state.

Specifically, when the posture assisting motor 621 drives the sub-frame 611 at the head end to rotate along a preset axis (e.g., the Z axis shown in fig. 14), and the semi-bellows-shaped air bag 622 sleeved on the flexible frame 61 is filled with air by the air pump 623, the flexible frame 61 is driven to rotate along the preset axis. Because the volume of the air bag 622 is decreased in the length direction, the air bag 622 at the head end is firstly deformed compared with the air bag 622 at the tail end, and meanwhile, the air bag 622 is expanded to the head end and the tail end along the length direction (the X-axis direction shown in fig. 14) under the action of the internal compressed gas, so that the length of the whole air bag 622 is increased, the length of the flexible framework 61 is unchanged, the flexible framework 61 is rotated and bent along the Z-axis shown in fig. 14, the flexible framework 61 and the air bag 622 are tightly wrapped at the joint connection part of the first member 50 and the second member 51, the purpose of keeping rigidity is achieved, and the rotation of the first member 50 and the second member 51 is limited.

When the posture assisting motor 621 does not drive the head end sub-frame 611 to rotate along the preset axis and the air bag 622 is not filled with air, the flexible frame 61 is not limited by external force and maintains a flexible state, and the whole joint connecting component 60 is in a flexible state.

In this way, the joint connecting member 60 is switched between the rigid state and the flexible state by the engagement of the joint posture assisting mechanism 62 with the flexible skeleton 61.

Referring to fig. 1-2, and 15-16, in one embodiment, exoskeleton 100 further comprises controller 70 and detection component 80, and detection component 80 is configured to detect a change in the inclination angle of the back of the human body. The upper limb carrying member 11 comprises a flexible carrying structure 14, a carrying platform 15, a rigid connecting structure 16 and a flexible limiting structure 17.

The rigid connecting structure 16 is adapted to the shoulder structure of the person and is removably connected to the arm member 12. The flexible carrier 14 is formed by a plurality of resilient strips 140 stacked together, the flexible carrier 14 being releasably connected at its upper end to the rigid connection 16 and at its lower end to the hip joint component 21. A load bearing platform 15 is arranged at the lower end of the flexible load bearing structure 14 and is used for bearing external loads. The flexible limiting structure 17 comprises a pulling rope 171, a pulley block 172 and a driving motor 173. The pulley block 172 comprises a plurality of fixed pulleys 1721 and a winding wheel 1722 sleeved on the output shaft of the driving motor 173. The reel 1722 and a part of the fixed pulleys 1721 are arranged on the carrier table 15, and the other part of the fixed pulleys 1721 is arranged on the rigid connection structure 16. One end 171(a) of the pull cord 171 is fixedly disposed on the reel 1722 and wound around a plurality of fixed pulleys 1721, and the other end 171(b) is detachably disposed on the rigid connection structure 16.

A controller 70 for: when the change of the inclination angle of the back of the human body is judged not to exceed the preset value, the driving motor 173 is controlled to drive the winding wheel 1722 to rotate so as to tighten the pull rope 171; when the change of the inclination angle of the back of the human body is judged to exceed the preset value, the driving motor 173 is controlled to drive the winding wheel 1722 to rotate so as to loosen the pull rope 171.

Since the exoskeleton 100 in this embodiment is provided with the upper limb module 10, when the user bends back and forth or bends left and right, if the upper limb carrying member 11 continues to maintain the rigid state, the user is difficult to bend down, and the user can bend down only by unloading the upper limb module 10, which is troublesome to operate.

In this embodiment, the rigid connecting structure 16 is adapted to the structure of the shoulders of a person for being worn on the shoulders of the user. The arm member 12 is removably attached to the rigid connecting structure 16, as shown in fig. 15 and 16, and the arm member 12 is attached at the shoulder top end of the rigid connecting structure 16. In a specific embodiment, the rigid connection structure 16 may further detachably connect a flexible upper limb fixing module 13 for fixing the trunk of the upper limb of the human body, and the flexible upper limb fixing module 13 may be a harness, a front waistcoat, or the like. In actual use, the user can first connect the arm component 12 to the rigid connecting structure 16, then wear the upper limb fixing module 13 connected to the rigid connecting structure 16 to the trunk, then wear the rigid connecting structure 16 to the shoulder, and fix the upper limb fixing module 13 (for example, an arm strap) on the arm component 12 to the arm.

The upper end of the flexible carrier 14 is releasably connected to the rigid connecting structure 16, as shown in figures 15 and 16, and the upper end of the flexible carrier 14 is connected to the end of the rigid connecting structure 16 remote from the shoulder. The flexible supporting structure 14 is formed by stacking a plurality of elastic strips 140, and the plurality of elastic strips 140 are used for supporting the load on the supporting platform 15 and matching the user to perform bending movement when the back of the user moves forwards, backwards, leftwards or rightwards in a bending manner. Meanwhile, the plurality of elastic strips 140 also serve to transmit the force of the load to the hip joint part 21 of the lower limb module 20 when the user is in an upright state, i.e., the plurality of elastic strips 140 are kept in an upright state, and the hip joint part 21 is further transmitted to the ground through the leg part 22. Of course, the present invention is also applicable to a scenario where the arm component 12 of the power-assisted upper limb module 10 lifts a heavy object, and the load force applied to the arm component 12 is transmitted to the lower limb module 20 through the rigid connection structure 16 and the plurality of elastic strips 140 in sequence, and then reaches the ground.

Further, the posture information of the human body includes a change in the inclination of the back of the human body, and at this time, the detecting part 80 includes an inclination sensor. The inclination angle change of the back of the human body detected by the detecting part 80 is sent to the controller 70, and the controller 70 stores a preset value for measuring whether the back of the human body bends, and can determine whether the detected inclination angle change of the back of the human body exceeds the preset value through a common logical determining manner (e.g., a numerical comparator). When the change of the inclination angle of the back of the human body is judged not to exceed the preset value, the user does not bend or the bending amplitude is small, and at the moment, the flexible bearing structure 14 needs to keep rigidity to conduct the load force; when the change of the inclination angle of the back of the human body is judged to exceed the preset value, the bending range of the user is large, and at the moment, the flexible bearing structure 14 is switched to be flexible to be matched with the user to perform bending movement.

The flexible limiting structure 17 is used for adjusting the rigidity of the flexible bearing structure 14. Specifically, as shown in fig. 16, a part of the fixed pulleys 1721 is disposed in the bearing platform 15, and another part of the fixed pulleys 1721 is disposed on the rigid connecting structure 16, such that the two parts of the fixed pulleys 1721 are respectively located at two opposite sides of the bearing structure 14. One end (movable end 171(a)) of the pulling rope 171 is arranged on the reel 1722, and the other end (fixed end 171(b)) is detachably arranged on the rigid connecting structure 16, so that when the reel 1722 is driven by the driving motor 173 to rotate, the reel 1722 drives the pulling rope 171 to roll, thereby adjusting the length of the pulling rope 17.

When the change of the inclination angle of the back of the user is judged not to exceed the preset value, the controller 70 controls the driving motor 173 to drive the winding wheel 1722 to rotate, the pulling rope 17 is tightened, and the length of the pulling rope is shortened to enable the fixed pulleys 1721 on the two opposite sides of the flexible bearing structure 14 to approach each other, so that the plurality of elastic strip-shaped bodies 140 of the flexible bearing structure 14 are compressed, and the flexible bearing structure 14 keeps rigid, so that the load force borne by the hand arm conducting component 12 is conducted to the lower limb module 20.

When the change of the inclination angle of the back of the user is judged to exceed the preset value, the controller 70 controls the driving motor 173 to drive the winding wheel 1722 to rotate in the opposite direction, the pulling rope 17 is loosened, the fixed pulleys 1721 on the two opposite sides of the flexible bearing structure 14 are far away from each other due to the lengthening of the length of the pulling rope 17, the two ends of the plurality of elastic strip-shaped bodies 140 of the flexible bearing structure 14 are released from limiting, and the flexible bearing structure 14 recovers flexibility so as to be matched with the user to perform various bending movements.

It should be noted that the pulling rope 17 is made of a material with good toughness, such as a steel wire rope, so as to ensure that the flexible limiting structure 17 has a long service life.

In other embodiments, the number of the fixed pulleys 1721 is not limited to two in fig. 16, and may be one, three, four or more than four, so that the pulling rope 17 can cross the flexible bearing structure 14 to switch the rigid posture and the flexible posture of the flexible bearing structure 14, which is not specifically limited herein.

As shown in fig. 15 and 16, in one embodiment, the rigid connecting structure 16 includes a connecting base 161 and a shoulder connecting seat 162, the connecting base 161 is a telescopic structure, and the shoulder connecting seat 162 is adapted to the shoulder structure of the human body. One end of the connection base 161 is connected to the shoulder connection seat 162, and the other end is detachably connected to the upper end of the flexible carrier 14. The fixed pulley 1721 and the other end (fixed end 171(b)) of the cord 171 are detachably provided on the connection base 161.

In this embodiment, the retractable structure includes, but is not limited to, a retractable rod that can be snapped in a plurality of positions. By providing the telescopic connection base 161, the user can flexibly adjust the length of the connection base 161 according to his height, so that the overall height of the shoulder connection base 162 is slightly greater than the user's shoulder, and thus, when the arm member 12 lifts a heavy object, the rigid connection structure 16 and the plurality of elastic strips 140 can effectively transmit the load force to the lower limb module 20, rather than directly transmitting the load force to the user's shoulder through the shoulder connection base 162.

Referring to fig. 17, in one embodiment, exoskeleton 100 further comprises controller 70 (shown in fig. 2), and foot member 223 comprises shoe body 2231, anti-slip mechanism 2232, and turnover mechanism 2233. The turnover mechanism 2233 includes a turnover motor 2233a and a turnover connecting member 2233b, and an output end of the turnover motor 2233a is connected to the turnover connecting member 2233 b. The anti-slip mechanism 2232 includes a claw 2232a and a claw holder 2232b, the claw 2232a is disposed on the claw holder 2232b in a dispersed manner, the shoe body 2231 is provided with a storage groove 2234 for storing the claw 2232a and the claw holder 2232b, and the storage groove 2234 has a shape adapted to the shape of the claw 2232a and the claw holder 2232 b. The claw support 2232b is rotatably connected to the bottom surface of the shoe body 2231 by a flip-up connection 2233 b. The controller 70 is configured to control the turnover motor 2233a to drive the turnover connection 2233b to turn over so that the claw teeth 2232a face the outside of the shoe body 2231 when the antiskid signal is received.

In practical application scenarios, the user wears exoskeleton 100 in different environments and different ground conditions, and is prone to slip and injury when the user wears mud, sand or wet grass with low friction.

This embodiment improves upon foot member 223 of exoskeleton 100 such that foot member 223 is applied to a variety of floors.

Specifically, the sole of the shoe body 2231 is provided with an anti-slip mechanism 2232 and a turnover mechanism 2233. On the ground with large friction force, the anti-slip mechanism 2232 is stored in the storage groove 2234 formed in the sole, on the ground with small friction force, the user sends an anti-slip signal to the controller 70 of the exoskeleton 100, and the controller 70 controls the turning motor 2233a of the turning mechanism 2233 to drive the turning connecting piece 2233b to rotate, so that the anti-slip mechanism 2232 stored in the storage groove 2234 is turned to face the outside of the shoe body 2231, the friction force between the sole of the shoe body 2231 and the ground is increased, the user is prevented from slipping, and various field adaptability of the exoskeleton 100 is improved.

In this embodiment, the teeth 2232a of the antiskid mechanism 2232 are disposed separately from the teeth 2232b, and the teeth 2232b is rotatably connected to the bottom surface of the shoe body 2231 by a flip-up connecting member 2233 b. When it is necessary to switch to the state where the teeth 2232a are landed, the user lifts the foot member 223, and the controller 70 controls the flip motor 2233a to rotate the flip link 2233b so that the teeth 2232b received in the receiving groove 2234 is flipped to face the outside of the shoe body 2231 and the teeth 2232a faces the ground.

When the vehicle is converted to the ground with a large friction force, the user may control the turnover motor 2233a through the controller 70 to drive the turnover link 2233b to rotate so that the teeth 2232a and the teeth-supporting members 2232b are received in the receiving grooves 2234 again, or manually turn the turnover link 2233b so that the teeth 2232a and the teeth-supporting members 2232b are received in the receiving grooves 2234 again.

Alternatively, the roll axis of the claw mount 2232b is parallel to the direction in which the sole of the shoe body 2231 points toward the toe.

Alternatively, each shoe body 2231 has a plurality of the denture fixing members 2232b, and the plurality of the denture fixing members 2232b have different numbers of the dentures 2232a, or different shapes of the denture fixing members 2232b (see fig. 17). Controller 70 is used for controlling turnover motor 2233a to drive corresponding turnover connecting element 2233b to rotate according to different antiskid signals sent by the user, so that a corresponding number of claw teeth 2232a face the ground, and various field adaptability of exoskeleton 100 is further improved.

In one embodiment, exoskeleton 100 further comprises an adapter for adaptable connection to an external functional device.

In this embodiment, the external function device includes VR, unmanned aerial vehicle, cold-proof module or oxygen suppliment module etc.. Through the connection structure design of adapter, realize that ectoskeleton 100 is connected with external function equipment such as VR, unmanned aerial vehicle, cold-proof module, oxygen suppliment module.

For example, the adapter includes a VR carrying module removably disposed on the upper limb carrying member 11 and adapted to carry a VR output device, and a VR adapter for communicatively coupling the controller 70 and the VR output device. The loaded VR output device is applied to the ground through the exoskeleton 100, a human body is not stressed, and the exoskeleton 100 moves along with the human body, so that the motion of the human body is not bound or limited.

The adapter still includes communication link module, and communication link module can dismantle the setting on upper limbs bears component 11 to be used for respectively being connected with controller 70 and unmanned aerial vehicle communication. Wherein, unmanned aerial vehicle carries image acquisition device, and the image that image acquisition device gathered passes through communication connection module and transmits to the controller 70 of ectoskeleton 100, and controller 70 controls VR output device and shows this image.

The adapter further comprises a warm-keeping carrying module, which is detachably arranged on the upper limb carrying component 11 and is used for carrying the warm-keeping module. The carried thermal module is used for heating a human body, so that the exoskeleton 100 is suitable for different temperature environments.

The adapter further comprises an oxygen carrying module, which is detachably arranged on the upper limb carrying member 11 and is used to carry the oxygen supply module. The carried oxygen supply module is used for supplying oxygen to the human body, so that the exoskeleton 100 is suitable for different altitude environments.

Of course, exoskeleton 100 can employ adapters of different configurations depending on the type of external functional device, and is not particularly limited herein.

Referring to fig. 2, in one embodiment, exoskeleton 100 further comprises a power module 90, and power module 90 is disposed on hip joint component 21 or upper limb carrying member 11.

In the present embodiment, the power supply module 90 is electrically connected to the controller 70, the driving part 30, and the like, respectively, so as to supply power to the controller 70, the driving part 30, and the like, respectively.

Specifically, the power supply module 90 is a rechargeable battery.

Referring to fig. 2, in one embodiment, exoskeleton 100 further comprises an indicating device 110, and indicating device 110 is used to indicate the working state of exoskeleton 100.

In this manner, a user may intuitively understand the operational state of exoskeleton 100 in order to perform an operation.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. An exoskeleton, comprising: the quick-release joint comprises a first connecting part and a second connecting part which are matched with each other and detachably connected;

2. An exoskeleton as claimed in claim 1 wherein the first and second link members are connected by mutual interlocking to connect the first and second members to be connected; the first connecting part and the second connecting part separate the connected first member from the second member by releasing the detent connection.

3. An exoskeleton as claimed in claim 2 wherein said first connecting means comprises a first quick release housing, a quick release button, a return spring, a fixed connecting seat and a movable connecting seat; the first quick-release shell is fixedly connected with the second component to be connected, the fixed connecting seat is fixedly arranged in the first quick-release shell, and the movable connecting seat is movably arranged in the first quick-release shell; the quick release button is arranged on the first quick release shell and is connected with the movable connecting seat through the return spring; the fixed connecting seat and the movable connecting seat respectively comprise a supporting surface and an inner thread surface, and the supporting surface of the fixed connecting seat and the supporting surface of the movable connecting seat form a hemispherical shape together;

the second connecting part comprises a ball head and a compression nut which is respectively matched with the fixed connecting seat and the movable connecting seat, the ball head is fixedly connected with the first component to be connected, and the compression nut comprises a hemispherical compression surface and an external thread surface matched with the internal thread surface;

the movable connecting seat is used for being propped by the return spring to gather towards the fixed connecting seat in a connecting state, so that the ball head is arranged in the fixed connecting seat and the movable connecting seat and is pressed by the pressing nut; and the ball head is stretched by the return spring and is far away from the fixed connecting seat in an unlocking state, so that the ball head slides out of the fixed connecting seat and the movable connecting seat.

4. An exoskeleton as claimed in claim 2 wherein said first connecting means comprises a quick release button, a return spring and a square tenon; the square tenon comprises a body and a clamping part, the body is fixedly connected with the first component to be connected, and the quick release button is arranged in the body through the return spring and is in clamping connection with the body; the clamping piece is in linkage connection with the quick release button and is in rotary connection with the body;

the second connecting part comprises a second quick-release shell and a blocking piece, the second quick-release shell is fixedly connected with the second component to be connected and is provided with a square tenon fixing hole for the square tenon to penetrate through, and the blocking piece is arranged at the opening of the second quick-release shell and is used for being in clamping fit with the clamping piece;

the quick release button is used for being clamped with the body in a first clamping state in a connection state so as to enable the clamping piece to rotate towards the outside of the body until the clamping piece abuts against the blocking piece; and the locking piece is used for being clamped with the body in a second clamping state when in an unlocking state, so that the locking piece can be folded towards the inside of the body.

5. An exoskeleton as claimed in claim 2 wherein said first connecting means comprises a first quick release housing, a quick release button, a return spring, a detent member and a movable catch; the first quick-release shell is fixedly connected with the second component to be connected and is provided with a square tenon fixing hole for a square tenon to penetrate through, the quick-release button is connected with the first quick-release shell in a clamping manner, and the movable clamping support is movably arranged in the first quick-release shell through the reset spring and is fixedly connected with the quick-release button;

the second connecting part comprises a square tenon which is fixedly connected with the first component to be connected and is provided with a containing groove for containing the clamping part, and the containing groove corresponds to the movable clamping support when the square tenon penetrates through the square tenon fixing hole;

the movable card support is used for corresponding to the accommodating groove in a connection state, so that the clamping piece is accommodated in the accommodating groove and the movable card support simultaneously, and the square tenon and the first quick-release shell are clamped and fixed through the clamping piece; and the movable card holder is used for being propped by the return spring and dislocated with the accommodating groove in the unlocking state, so that the clamping piece is only accommodated in the movable card holder.

6. An exoskeleton as claimed in any one of claims 1 to 5 wherein the exoskeleton further comprises joint connection members and a controller; one end of the joint connecting part is fixedly connected with the first component, and the other end of the joint connecting part is detachably connected with the second component and covers the joint connecting part of the first component and the second component;

the joint connecting component is switched into a flexible state under the control of a following control signal sent by the controller so as to enable the first component to move relative to the second component; and the rigidity control signal is controlled to be sent by the controller, and the rigidity state is switched to be a rigidity state, so that the included angle between the first component and the second component is kept at a preset angle.

7. An exoskeleton as claimed in claim 6 wherein said joint connection components comprise a flexible skeleton and a joint posture assistance mechanism;

the flexible framework comprises a plurality of sequentially hinged sub-frameworks, the sub-framework at the head end is fixedly connected with the first component, and the sub-framework at the tail end is detachably connected with the second component;

the joint posture auxiliary mechanism comprises a posture auxiliary motor, a semi-corrugated-pipe-shaped air bag and an air pump; the posture auxiliary motor and the air pump are both in communication connection with the controller, the output end of the posture auxiliary motor is connected with the sub-framework at the head end, the air bag is sleeved on one side of the flexible framework, the radius of a half bellows of the air bag is gradually reduced along the axial direction of the flexible framework, and the inflating end of the air bag is connected with the air pump;

when the attitude auxiliary motor and the air pump do not work, the joint connecting part is in a flexible state; the posture auxiliary motor drives the sub-framework at the head end to rotate along a preset shaft, and when the air bag is full of air, the joint connecting component is in a rigid state.

8. An exoskeleton as claimed in any one of claims 1 to 5 wherein the exoskeleton further comprises a controller and a detection means for detecting changes in the inclination of the back of the person; the upper limb bearing member comprises a flexible bearing structure, a bearing table, a rigid connecting structure and a flexible limiting structure;

the rigid connecting structure is adapted to the shoulder structure of the human body and is detachably connected with the arm part; the flexible bearing structure is formed by laminating a plurality of elastic strip-shaped bodies, the upper end of the flexible bearing structure is detachably connected with the rigid connecting structure, and the lower end of the flexible bearing structure is detachably connected with the hip joint part; the bearing table is arranged at the lower end of the flexible bearing structure and is used for bearing an external heavy object;

the flexible limiting structure comprises a pull rope, a pulley block and a driving motor, wherein the pulley block comprises a plurality of fixed pulleys and a winding wheel which is sleeved and connected to an output shaft of the driving motor; the reel and a part of the fixed pulleys are arranged on the bearing table, and the other part of the fixed pulleys is arranged on the rigid connecting structure; one end of the pull rope is fixedly arranged on the winding wheel and wound through a plurality of fixed pulleys, and the other end of the pull rope is detachably arranged on the rigid connecting structure;

the controller is configured to:

when the inclination angle change of the back of the human body is judged not to exceed a preset value, the driving motor is controlled to drive the winding wheel to rotate so as to tighten the pull rope; and when the change of the inclination angle of the back of the human body is judged to exceed a preset value, controlling the driving motor to drive the winding wheel to rotate so as to loosen the pull rope.

9. An exoskeleton as claimed in any one of claims 1 to 5 wherein the exoskeleton further comprises a controller, the foot members comprising shoe bodies, anti-skid mechanisms and a turnover mechanism;

the turnover mechanism comprises a turnover motor and a turnover connecting piece, and the output end of the turnover motor is connected with the turnover connecting piece; the anti-skidding mechanism comprises claw teeth and claw tooth supporting pieces, the claw teeth are dispersedly arranged on the claw tooth supporting pieces, the shoe body is provided with accommodating grooves for accommodating the claw teeth and the claw tooth supporting pieces, and the shapes of the accommodating grooves are matched with the shapes of the claw teeth and the claw tooth supporting pieces; the claw denture fixing piece is rotationally connected with the bottom surface of the shoe body through the turnover connecting piece; the controller is used for controlling the overturning motor to drive the overturning connecting piece to overturn when an antiskid signal is received, so that the claw teeth face to the outside of the shoe body.

10. An exoskeleton as claimed in any one of claims 1 to 5 wherein the exoskeleton further comprises an adaptor for adaptor connection to an external functional device.