CN114770477A

CN114770477A - Assembling type multifunctional mechanical bionic exoskeleton

Info

Publication number: CN114770477A
Application number: CN202210538027.0A
Authority: CN
Inventors: 崔鹏杰
Original assignee: NINGBO TIANYE PRECISION CASTING CO Ltd
Current assignee: NINGBO TIANYE PRECISION CASTING CO Ltd
Priority date: 2022-05-18
Filing date: 2022-05-18
Publication date: 2022-07-22

Abstract

The invention discloses a splicing type multifunctional mechanical bionic exoskeleton, which comprises a parallel connection plate and a joint bearing, wherein two symmetrically arranged waist back supports are movably connected to the parallel connection plate, the waist back supports are of a torsional curved surface structure, lower limb skeletons are movably connected to the two waist back supports through the joint bearing, the lower limb skeletons comprise thigh parts and shank parts, the joint bearing comprises a circular plate, a second limiting column is arranged on the outer wall of the circular plate, a limiting hole is integrally formed on the arc-shaped outer wall of the circular plate, a first limiting column is fixedly arranged on the outer wall of the waist back supports, which is not in contact with a human body, the first limiting column is movably connected to the inner part of the limiting hole, the thigh part comprises a first section arm, an outer convex seat is integrally formed on the top of the first section arm, a through hole through which the limiting hole can pass and can move is formed on the outer convex seat, the bionic exoskeleton can provide a bionic exoskeleton with high flexibility for a wearer, and can also provide assistance and protection for the work of the wearer.

Description

Assembling and disassembling type multifunctional mechanical bionic exoskeleton

Technical Field

The invention relates to the technical field of bionic exoskeletons, in particular to a detachable multifunctional mechanical bionic exoskeletons.

Background

The bionic exoskeleton is wearable and assemblable equipment, can provide labor protection for high-intensity workers in industrial manufacturing, prevents the workers from bearing excessive pressure by directly unloading loads to the ground, provides guarantee for the workers, and can also provide auxiliary force to a certain extent to improve the working efficiency.

At present, most exoskeleton equipment cannot well integrate and coordinate ridges, waists and lower limbs, the problem of overlarge rigidity or overlarge flexibility exists, and coherent and high-freedom-degree actions cannot be performed, so that the overall flexibility of the exoskeleton is low, and the application scene is limited.

Disclosure of Invention

The invention aims to provide a detachable multifunctional mechanical bionic exoskeleton, which is capable of providing a bionic exoskeleton with high flexibility for a wearer, unloading the load acting on the body of the user, reducing the labor intensity and delaying the labor fatigue, thereby reducing the incidence of industrial accidents and providing safety guarantee for the worker; in addition, assistance can be provided for certain rehabilitation training according to actual conditions, and the problems in the background art are solved.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a bionical ectoskeleton of multi-functional machinery of formula of can assembling and disassembling, includes parallel connection board and joint bearing, the support behind the waist that swing joint has two symmetries to set up on the parallel connection board, the support is torsional curved surface structure behind the waist, two the support has low limbs skeleton through joint bearing swing joint behind the waist, low limbs skeleton includes thigh portion and shank portion.

The joint bearing comprises a circular plate, a second limiting column is arranged on the outer wall of the circular plate, and a limiting hole is formed in the arc-shaped outer wall of the circular plate in an integrated mode.

The waist back support is provided with a first limiting column fixedly arranged on the outer wall which is not contacted with a human body, and the first limiting column is movably connected inside the limiting hole.

The thigh part comprises a first section arm, an outer convex seat is integrally formed at the top of the first section arm, and a through hole which is used for a limiting hole to penetrate and can move is formed in the outer convex seat.

Preferably, the thigh part is still including installing the second festival arm in first festival arm bottom, first festival arm is straight structure, the second festival arm inclines to the direction of limbs, the first knee joint arm with shank swing joint is installed to the bottom of second festival arm, the bottom of first knee joint arm is semicircular board.

Preferably, the bionic exoskeleton of the splicing type multifunctional machinery further comprises a bionic spine, the bionic spine comprises a plurality of connected middle base sections, a bottom connecting section and a top section, each middle base section comprises two ridge plates, a ball seat is installed between the ridge plates, the ball seat is close to the outer wall of the middle portion and penetrates through the ball socket, the ball socket penetrates through the bottom of the ball socket, a ball head is fixedly installed at the top of the ball socket, and the middle base sections are connected up and down through the movable connection of the ball head and the ball socket respectively.

Preferably, shank portion includes the second knee joint arm with first knee joint arm swing joint, the top of second knee joint arm is semicircular board, third festival arm is installed to the bottom of second knee joint arm, second knee joint arm is straight structure, third festival arm is to keeping away from the direction slope of limbs, fourth festival arm is installed to the bottom of third festival arm.

Preferably, the top integrated into one piece of ball seat both sides has two ascending spacing support arms, is located two of upper and lower the backbone installs the segmentation spring between, the top section is installed at the top that is located a middle basic section of top through the ball socket.

Preferably, the bottom linkage segment passes through ball seat movable mounting in the bottom of the middle foundation section of below, and the bottom linkage segment still includes the mounting panel, run through on the outer wall of mounting panel and seted up the round pin shaft hole, set up the hole equivalent with the round pin shaft hole on the parallel connection board, just the bottom of mounting panel is three horn shapes, bionical backbone can rotate with the parallel connection board through the round pin axle and be connected.

Preferably, all set up the locating hole of a plurality of equidistance on first festival arm, second knee joint arm and the third festival arm, still include the auxiliary power subassembly, the auxiliary power subassembly includes the air spring, positioning seat and fulcrum seat are installed respectively to the both ends of air spring, the mounting hole has all been seted up on positioning seat and the fulcrum seat, air spring accessible mounting hole is installed between thigh portion and shank portion, just the output fulcrum of air spring can change.

Preferably, can piece together bionical ectoskeleton of multi-functional machinery of formula of tearing open still includes the thoracic vertebra reference column, the thoracic vertebra reference column is located between two middle foundation sections, the position that corresponds with the thoracic vertebra is installed to the thoracic vertebra reference column, the length of thoracic vertebra reference column is between twenty centimetres to twenty four centimetres, the thoracic vertebra reference column is the rigid spliced pole, the bottom of thoracic vertebra reference column and the detachable connection in top of the ball seat that is located the below, the top of thoracic vertebra reference column and the bottom fixed connection who is located the ball seat of top.

Preferably, the detachable multifunctional mechanical bionic exoskeleton further comprises a soft covering, the soft covering comprises a bandage seat and two insertion holes penetrating through the outer wall of the bandage seat, the two insertion holes can be inserted into any two adjacent positioning holes in the thigh part or the shank part to form insertion installation, the outer walls of two sides of the bandage seat are provided with rigid bandages, and the rigid bandages can be connected through installation buckles.

Preferably, the thigh part and the shank part are made of aluminum alloy, titanium alloy or carbon fiber, the bottom of the shank part is movably connected with an installation handle through a joint bearing, and the outer wall of the installation handle is fixedly provided with a foot support.

Compared with the prior art, the invention has the following beneficial effects:

firstly, in the invention, the parallel connection plate and the two waist back supports can form a waist skeleton which is used as a relay skeleton and used for supporting the backbone and the lower limb skeleton, secondly, the curved surface structure of the waist back supports is combined with the human engineering design, so that the waist back supports can be better attached to the waist of a wearer, the matching degree is high, and the waist is not damaged by compression and tightening, when the first limit column is movably inserted into the limit hole, the second limit column is movably inserted into the through hole on the convex seat, thereby being capable of forming the movable connection in a three-dimensional state, the waist skeleton can rotate relative to the thigh, secondly, the thigh can rotate relative to the joint bearing, the thigh can also expand outward relative to the waist back supports, thereby conforming to the thigh width of different wearers, greatly increasing the flexibility between the thigh and the waist skeleton, and the thigh can form a splicing structure between the joint bearing and the waist skeleton, make installation and dismantlement more convenient, guarantee joint bearing inherent three-dimensional flexibility and in addition, make it increase by a wide margin to the suitability of different sizes.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

FIG. 2 is a schematic view of the lower limb skeleton and waist skeleton of the present invention;

FIG. 3 is a schematic view of the construction of the spherical plain bearing of the present invention;

FIG. 4 is a schematic view of a bionic spine structure according to the present invention;

FIG. 5 is a schematic structural view of a bottom connector segment according to the present invention;

FIG. 6 is a schematic view of the construction of the intermediate base section of the present invention;

FIG. 7 is a schematic view of the internal structure of the intermediate base section according to the present invention;

FIG. 8 is a schematic view of the top section of the present invention;

FIG. 9 is a schematic view of the structure of the soft cover of the present invention;

FIG. 10 is a schematic view of the auxiliary thoracic column of the present invention;

FIG. 11 is a schematic view of the structure of the present invention showing the connection of the lower leg portion to the foot rest;

FIG. 12 is a schematic view showing the structure of the assembled thigh and lower leg parts in the present invention;

FIG. 13 is a view showing the standing and bending of the thigh and calf portions of the present invention;

fig. 14 is a schematic structural view of the V-shaped auxiliary gas spring according to the present invention.

In the figure: 1. plate connection; 2. supporting the waist; 4. a first arm; 5. a second arm; 6. a first knee joint arm; 7. a second knee joint arm; 8. a third arm; 9. a fourth arm section; 11. an outer boss; 12. a gas spring; 13. positioning seats; 14. a fulcrum seat; 15. a strap seat; 16. a rigid strap; 17. a first limit post; 19. a thoracic vertebra positioning post; 21. a spine panel; 22. a segmented spring; 23. mounting a plate; 25. a ball socket; 26. a ball head; 27. a limiting support arm; 28. a pin shaft hole; 29. a ball seat; 31. a circular plate; 32. a second limit post; 33. a limiting hole; 34. installing a handle; 35. a foot support; 36. a side waist support; 37. and a spring set.

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 obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

Referring to fig. 1 to 10, the present invention provides a technical solution: the utility model provides a bionical ectoskeleton of multi-functional machinery of formula of can assembling and disassembling, includes and holds in the palm 2 behind the waist that swing joint has two symmetries to set up on the parallel connection board 1, holds in the palm 2 behind the waist for torsional mode curved surface structure, holds in the palm 2 behind two waists and has the low limbs skeleton through joint bearing swing joint, and the low limbs skeleton includes thigh portion and shank portion.

The joint bearing comprises a circular plate 31, a second limiting column 32 is arranged on the outer wall of the circular plate 31, and a limiting hole 33 is integrally formed in the arc-shaped outer wall of the circular plate 31.

The outer wall of the waist back support 2 which is not contacted with the human body is fixedly provided with a first limiting column 17, and the first limiting column 17 is movably connected inside the limiting hole 33.

The thigh part comprises a first section arm 4, an outer convex seat 11 is integrally formed at the top of the first section arm 4, and a through hole for a limiting hole 33 to pass through and move is formed in the outer convex seat 11.

As shown in fig. 1 and 2, the parallel plate 1 and the two waist supports 2 form a waist skeleton as a relay skeleton for supporting the spine and the lower limb skeleton, and secondly, the curved surface structure of the waist support 2 is combined with the human engineering design, so that the waist support 2 is better attached to the waist of the wearer, the fit degree is high, and the waist is not damaged due to compression and tightening.

As shown in fig. 3 and fig. 1, the first spacing post 17 is movably inserted into the spacing hole 33, the second spacing post 32 is movably inserted into the through hole on the outer convex seat 11, thereby forming a three-dimensional movable connection, the waist skeleton can rotate relative to the thigh, secondly, the thigh can rotate relative to the joint bearing, the thigh can also outwards expand relative to the waist back support 2, thereby conforming to the thigh width of different wearers, the flexibility between the thigh and the waist skeleton is greatly increased, meanwhile, the joint bearing, the waist skeleton and the thigh form a splicing structure, and the installation and the disassembly are more convenient.

As shown in fig. 14, the waist skeleton further comprises a side waist support 36 connected with the spine part of the exoskeleton, a spring group 37 is further installed between the side waist support 36 and the waist rear support 2, the spring group 37 is composed of two V-shaped or W-shaped auxiliary gas springs, and the V-shaped or W-shaped connection design enables the whole waist to form a whole body, so that the whole waist skeleton can better follow the action and amplitude of the spine or lower limb skeleton of the human body, and provides damping and supporting effects.

The thigh part is further limited, the thigh part further comprises a second section arm 5 arranged at the bottom of the first section arm 4, the first section arm 4 is of a straight structure, the second section arm 5 inclines towards the direction of limbs, a first knee joint arm 6 movably connected with the lower leg part is arranged at the bottom of the second section arm 5, and the bottom of the first knee joint arm 6 is a semicircular plate.

Among the human body structure, the thigh is nonlinear diminishing from top to bottom, and through the cooperation of first festival arm 4 and second festival arm 5, can make the thigh portion of laminating wearer that the thigh portion can be better divide, sets up the bottom of first knee joint arm 6 into the semicircle board-like, protection knee joint that can be better, secondly, can also increase pivoted stability between thigh portion and the shank portion.

As shown in fig. 1 and 2, the semicircular plate of the first knee joint arm 6 is provided with three holes to facilitate the adjustment of the rotation pivots of the thigh and the lower leg according to the use condition.

Fig. 12 is a schematic view showing the assembly between the thigh and the shank, and the rotation point between the thigh and the shank is not at a center by adjusting between three holes to simulate the physiological state of sliding and bending of the skeleton, so as to avoid excessive abrasion of the skeleton, as shown in fig. 13, the thigh and the shank are in an upright state and a squatting state, and the first diagram in fig. 13 is in an upright state.

Wherein comparatively preferred bionical backbone embodiment, still include bionical backbone, bionical backbone includes a plurality of middle basic sections that link to each other, bottom linkage segment and top section, middle basic section includes two spinal plates 21, install ball seat 29 between two spinal plates 21, ball seat 29 runs through near the outer wall at middle part and has seted up ball socket 25, ball socket 25 runs through the bottom of ball seat 29, the top fixed mounting of ball seat 29 has bulb 26, it is continuous from top to bottom that the swing joint through bulb 26 and ball socket 25 realizes respectively to two adjacent middle basic sections.

As shown in fig. 4 to 6, through setting up a plurality of continuous middle basic sections, can control bionic spine's use length, each middle basic section is equivalent to a section of backbone promptly, therefore, a plurality of middle basic sections, bottom linkage segment and top section can constitute mechanical bionic spine, imitate human vertebra structure, structure through adopting bulb 26 and ball socket 25 swing joint, make bionic spine can assist the backbone activity of wearing the person, and the flexibility ratio is better, still bionic adaptation, can reduce the risk of the muscular atrophy that excessive fixed comes to a certain extent.

The size of each section can be finely adjusted and customized along with an individual, and the spinal column can be prevented from being excessively curved under the condition that the flexible action of a human body is not influenced, so that the aim of protecting the spinal column is fulfilled.

The adopted stainless steel/titanium alloy material can effectively transfer the load from the spine to the lower limbs and further to the ground; the joint bearing structure of the ball socket can ensure the following degree of the human body; the effect of reducing the load of the human body without affecting the rigidity and the flexibility of the action of the human body is achieved.

In a preferred embodiment of the calf portion, the calf portion includes a second knee joint arm 7 movably connected to the first knee joint arm 6, the top of the second knee joint arm 7 is a semicircular plate, a third arm segment 8 is mounted at the bottom of the second knee joint arm 7, the second knee joint arm 7 is of a straight structure, the third arm segment 8 is inclined in a direction away from the limb, and a fourth arm segment 9 is mounted at the bottom of the third arm segment 8.

The crus is an important supporting part of the whole human body, the movement of a wearer can be hindered once the crus is injured, the crus cannot bear large pressure easily, and the joint connection between the crus and the thigh can be formed by arranging the second knee joint arm 7, so that the joint movement of the wearer can be performed freely.

Through setting up third festival arm 8 and fourth festival arm 9, can make third festival arm 8 and fourth festival arm 9 and first festival arm 4 between not have great difference for can not form the state of too thick down too thin in the upper part between thigh portion and the shank portion, prevent that shank portion atress is too violent and damage.

In fig. 1 and 2, the fourth arm segment 9 further shows an outer convex seat 11 and a joint bearing, so that the lower leg part can be connected with the foot skeleton to form an integrated mechanical bionic exoskeleton.

In the further optimization of the bionic spine, two upward limiting support arms 27 are integrally formed at the tops of two sides of the ball seat 29, a segmented spring 22 is arranged between the two ridge plates 21 positioned above and below, and the top section is arranged at the top of the middle base section positioned at the uppermost part through a ball socket 25.

As shown in fig. 4-6, the plurality of sets of position limiting arms 27 are arranged at equal intervals, and the position limiting arm 27 located at the lower portion can limit the position of the position limiting arm 27 located at the upper portion, so as to prevent the lateral deviation of the middle base section from being too large, and to limit and correct the erroneous movement of the spine.

Fig. 8 illustrates the configuration of the top section, which is generally the same as the intermediate base sections, except that the retaining arms 27 and bulbs 26 are absent, wherein the segmented springs 22 are mounted between each intermediate base section to accumulate the return energy, and the compressed or stretched segmented springs 22 provide the wearer with the kinetic energy of return to assist the wearer in preventing strain injuries after spinal activity.

All the bionic spines can be attached and coated on corresponding positions of a human body in an external binding or sleeving way and the like.

Wherein preferred bionic backbone and the connected mode between the waist skeleton, bottom linkage segment pass through ball seat 29 movable mounting in the bottom of the middle base section of below, and the bottom linkage segment still includes mounting panel 23, runs through on the outer wall of mounting panel 23 and has seted up round pin shaft hole 28, offers the hole equivalent with round pin shaft hole 28 on the parallel connection board 1, and the bottom of mounting panel 23 is the triangle-shaped, and the bionic backbone can be connected with parallel connection board 1 rotation through the round pin axle.

As shown in fig. 7, the bionic spine is rotatably connected to the parallel board 1 through the mounting plate 23, and the mounting plate 23 and the pin shaft hole 28 are arranged in a downward-protruding triangular shape, so that the bionic spine can be mounted on the waist skeleton in a splicing manner, and the bionic spine is positioned and supported through the waist skeleton.

Wherein comparatively preferred auxiliary power subassembly, all seted up the locating hole of a plurality of equidistances on first festival arm 4, second festival arm 5, second knee joint arm 7 and the third festival arm 8, still include the auxiliary power subassembly, the auxiliary power subassembly includes gas spring 12, positioning seat 13 and fulcrum seat 14 are installed respectively to the both ends of gas spring 12, the mounting hole has all been seted up on positioning seat 13 and the fulcrum seat 14, gas spring 12 accessible mounting hole is installed between thigh portion and shank portion, and the output fulcrum of gas spring 12 can change.

In the aspect of the labour protection in the industrial manufacturing, the staff can adjust the required working strength of oneself according to the demand and change the output fulcrum of air spring 12, and air spring 12 can unload to ground with the most pressure that produces in the work to alleviate worker's intensity of labour, provide certain resilience dynamics for the reseing of action simultaneously, alleviated worker's work fatigue to a great extent.

In the aspect of certain medical treatment and rehabilitation training, a wearing patient needs to perform leg movements such as leg lifting, leg stepping, bending and the like, and the gas spring 12 is arranged between the thigh part and the shank part to provide power for a user to lift and step forwards, provide certain assistance for the user to walk, and help the user to realize recovery training of a group with less healthy walking functions such as insufficient leg muscle strength.

As shown in fig. 1, the output end of the gas spring 12 is provided with a fulcrum seat 14, the fulcrum seat 14 can be installed on any one of the positioning holes of the shank through the installation hole thereof, when the installation position of the positioning seat 13 is fixed, the rotation speed of the shank can be adjusted and controlled by changing the installation position of the fulcrum seat 14, that is, the magnitude of the output quantity, so as to adapt to different use scenes.

The preferred embodiment of preventing the backbone still includes thoracic vertebra reference column 19, and thoracic vertebra reference column 19 is located between two middle foundation sections, and thoracic vertebra reference column 19 is installed in the position that corresponds with the thoracic vertebra, and thoracic vertebra reference column 19's length is between twenty centimetres to twenty-four centimetres, and thoracic vertebra reference column 19 is rigid's spliced pole, and the detachable connection in top of bottom and the ball seat 29 that is located the below of thoracic vertebra reference column 19, the top of thoracic vertebra reference column 19 and the bottom fixed connection of the ball seat 29 that is located the top.

Because the thoracic vertebra does not need special flexibility, the simplified treatment is carried out on the part of the thoracic vertebra, and the over-expansion of the vertebral column can be prevented under the condition of not influencing the flexible action of a human body, thereby achieving the aim of protecting the vertebral column.

The height of each thoracic vertebra of an adult is about two centimeters to five centimeters, and twelve thoracic vertebrae are provided, so that the length of the thoracic vertebra positioning column 19 is controlled to be less than twenty-four centimeters, and the subsequent installation of the thoracic vertebra positioning column 19 is facilitated.

Furthermore, the fixing mode of the soft coating form for the thigh part or the calf part is also included, the soft coating comprises a bandage seat 15 and two inserting holes penetrating through the outer wall of the bandage seat, the two inserting holes can be inserted and installed with any two adjacent positioning holes in the thigh part or the calf part, the outer walls of the two sides of the bandage seat 15 are respectively provided with a hard bandage 16, and the two hard bandages 16 can be connected through installing buckles.

Through setting up bandage seat 15, can install bandage seat 15 as required in the position on thigh portion or shank portion, then through connecting two rigid bandage 16 to bind thigh portion and shank and the low limbs of wearer, secondly, through the cooperation of locating hole and spliced eye, it is very convenient can carry out spacingly to bandage seat 15, insert the round pin axle with the two after to it, then can accomplish spacing installation through binding two rigid bandage 16.

Further, thigh portion and shank portion all adopt aluminum alloy, titanium alloy or carbon fiber to make, and the material of this kind of material is lighter and mechanical strength is high, can have longer life, and can control of their weight to avoid causing the use constraint to the wearer, just there is installation handle 34 bottom of shank portion through joint bearing swing joint, the outer wall fixed mounting of installation handle 34 has the foot rest 35.

For the application of the material in the invention, in the scene of heavy-load application, materials with high bearing ratio such as stainless steel, titanium alloy and the like are required to be adopted, and in the scene of light-load application, materials with light weight and capable of ensuring work use such as aluminum alloy, carbon fiber and the like are adopted.

As shown in fig. 11, the foot support 35 is movably mounted at the bottom of the fourth arm section 9 through the mounting handle 34, the fourth arm section 9 is movably connected with the mounting handle 34 through a joint bearing, and a positioning shoe cover can be mounted on the foot support 35, so that a user can conveniently wear shoes to enter the foot support, thereby completing the wearing of the foot and integrating the whole bionic exoskeleton lower limb.

In conclusion, the bionic exoskeleton can provide a bionic exoskeleton with high flexibility for a wearer, and the labor safety is guaranteed in the ways of force unloading, force storage and assistance; in a specific scenario, the device can also be used for rehabilitation training.

The standard parts used in the present embodiment can be purchased directly from the market, and the non-standard structural parts described in the specification and drawings can be obtained by processing without any doubt according to the general knowledge of the prior art, and the connection mode of the parts adopts the conventional means mature in the prior art, and the machines, parts and equipment adopt the conventional models in the prior art, so that the detailed description is not given here.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a bionical ectoskeleton of multi-functional machinery of formula of can assembling and disassembling, includes parallel connection board (1) and joint bearing, its characterized in that: the waist connecting plate (1) is movably connected with two symmetrically arranged waist back supports (2), the waist back supports (2) are of a torsional curved surface structure, the two waist back supports (2) are movably connected with lower limb bones through joint bearings, and the lower limb bones comprise thigh parts and shank parts;

the joint bearing comprises a circular plate (31), a second limiting column (32) is arranged on the outer wall of the circular plate (31), and a limiting hole (33) is integrally formed in the arc-shaped outer wall of the circular plate (31);

a first limiting column (17) is fixedly arranged on the outer wall of the waist rear support (2) which is not contacted with a human body, and the first limiting column (17) is movably connected inside the limiting hole (33);

thigh portion includes first festival arm (4), the top integrated into one piece of first festival arm (4) has outer convex seat (11), set up on outer convex seat (11) and supply spacing hole (33) to pass and the perforating hole that can move about.

2. The detachable multifunctional mechanical bionic exoskeleton of claim 1, wherein: thigh portion is still including installing second festival arm (5) in first festival arm (4) bottom, first festival arm (4) are straight structure, second festival arm (5) are to the direction slope of limbs, first knee joint arm (6) with shank swing joint are installed to the bottom of second festival arm (5), the bottom of first knee joint arm (6) is semicircular board.

3. The detachable multifunctional mechanical bionic exoskeleton of claim 1, wherein: still include bionical backbone, bionical backbone includes a plurality of middle base sections, bottom linkage segment and the top section that link to each other, middle base section includes two backbone (21), two install ball seat (29) between backbone (21), ball seat (29) are close to the outer wall at middle part and run through and have seted up ball socket (25), ball socket (25) run through the bottom of ball seat (29), the top fixed mounting of ball seat (29) has bulb (26), adjacent two the middle base section is continuous from top to bottom through the swing joint realization of bulb (26) and ball socket (25) respectively.

4. The detachable multifunctional mechanical bionic exoskeleton of claim 2, wherein: shank portion includes second knee joint arm (7) with first knee joint arm (6) swing joint, the top of second knee joint arm (7) is semicircular board, third festival arm (8) are installed to the bottom of second knee joint arm (7), second knee joint arm (7) are straight structure, third festival arm (8) are to the direction slope of keeping away from limbs, fourth festival arm (9) are installed to the bottom of third festival arm (8).

5. The multi-functional biomimetic exoskeleton of claim 3, wherein: the top integrated into one piece of ball seat (29) both sides has two ascending spacing support arm (27), is located two of upper and lower place install segmented spring (22) between backbone (21), the top section is installed at the top that is located a middle basic section of the top through ball socket (25).

6. The detachable multifunctional mechanical bionic exoskeleton of claim 3, wherein: the bottom linkage segment passes through ball seat (29) movable mounting in the bottom of the middle base section of below, and the bottom linkage segment still includes mounting panel (23), run through on the outer wall of mounting panel (23) and seted up round pin shaft hole (28), set up the hole equivalent with round pin shaft hole (28) on parallel connection board (1), just the bottom of mounting panel (23) is three horn shapes, bionical backbone can rotate with parallel connection board (1) through the round pin axle and be connected.

7. The multi-functional biomimetic exoskeleton of claim 4, wherein: all seted up the locating hole of a plurality of equidistances on first section arm (4), second section arm (5), second knee joint arm (7) and third section arm (8), still include the auxiliary power subassembly, the auxiliary power subassembly includes air spring (12), positioning seat (13) and fulcrum seat (14) are installed respectively to the both ends of air spring (12), the mounting hole has all been seted up on positioning seat (13) and fulcrum seat (14), air spring (12) accessible mounting hole is installed between thigh portion and shank portion, just the output fulcrum of air spring (12) can change.

8. The multi-functional biomimetic exoskeleton of claim 3, wherein: still include thoracic vertebra reference column (19), thoracic vertebra reference column (19) are located between two middle foundation sections, the position that corresponds with the thoracic vertebra is installed in thoracic vertebra reference column (19), the length of thoracic vertebra reference column (19) is between twenty centimetres to twenty-four centimetres, thoracic vertebra reference column (19) are the spliced pole of rigidity, the detachable connection in top of the bottom of thoracic vertebra reference column (19) and ball seat (29) that are located the below, the bottom fixed connection of the top of thoracic vertebra reference column (19) and ball seat (29) that are located the top.

9. The multi-functional biomimetic exoskeleton of claim 7, wherein: the soft cover comprises a bandage seat (15) and two inserting holes penetrating through the outer wall of the bandage seat, the two inserting holes can be inserted into any two adjacent positioning holes in the thigh part or the calf part, the outer walls of the two sides of the bandage seat (15) are provided with hard bandages (16), and the two hard bandages (16) can be connected through mounting buckles.

10. The multi-functional mechanical biomimetic exoskeleton of any one of claims 1-9, wherein: the thigh part and the shank part are made of aluminum alloy, titanium alloy or carbon fiber, the bottom of the shank part is movably connected with a mounting handle (34) through a joint bearing, and a foot support (35) is fixedly mounted on the outer wall of the mounting handle (34).