CN216229379U - Exoskeleton transfer robot - Google Patents

Abstract

The utility model discloses an exoskeleton transfer robot, which comprises a back frame structure, a rigid waistband, a hip joint assembly, a leg assembly and a foot assembly, wherein the back frame structure comprises a back frame body and a back frame body; the upper part of the back frame structure extends to the shoulders of the human body, and the lower part of the back frame structure is positioned at the two sides of the hips of the human body; the bottom of the back frame structure is connected with the rigid waistband; the hip joint component is connected with the rigid waistband; the bottom of the hip joint component is provided with a leg component; the bottom of the leg component is provided with a foot component; the rear side of the foot component is provided with a power assisting device. The weight can be transmitted to the ground, and the weight reduction effect is achieved. The back frame is connected with the leg structure through the elastic drawstring, and the back frame is used for assisting in carrying and rising. The power assisting device at the position of the lower leg helps the lower leg to return to the right during the walking process, and the power assisting effect is achieved. The width, the height and the waist circumference can be adjusted to match people of different statures. And a matched joint device is arranged at the human motion joint to match the human motion. The legs, the shanks, the waist, the chest and the feet are all tied up, so that the man-machine fit is well ensured.

Description

Exoskeleton transfer robot

Technical Field

The utility model relates to the technical field of power-assisted exoskeleton robots, in particular to an exoskeleton carrying robot.

Background

The exoskeleton robot is a wearable mechanical integrated system for assisting in movement or enhancing the movement capability, and is mainly applied to the fields of military affairs, medical treatment, logistics, factory operation and the like. From the power source, the exoskeleton robot can be divided into an active exoskeleton robot and a passive exoskeleton robot. The passive exoskeleton robot is an exoskeleton without a power source, and mainly assists power by guiding gravity to the ground, mechanically storing energy and the like.

Disclosure of Invention

In order to solve the technical problems, the utility model provides an exoskeleton carrying robot which can guide the weight of a heavy object to the ground after the heavy object is grabbed, and has the function of assisting in walking and climbing processes, so that the energy consumption of a human body in the carrying and advancing processes is reduced.

In order to achieve the purpose, the utility model provides the following scheme:

the utility model provides an exoskeleton transfer robot, which comprises a back frame structure, a rigid waistband, a hip joint assembly, a leg assembly and a foot assembly, wherein the back frame structure comprises a back frame body and a back frame body; the upper part of the back frame structure extends to the shoulders of the human body, and the lower part of the back frame structure is positioned at the two sides of the hip of the human body; the bottom of the back frame structure is connected with the rigid waistband; the hip joint component is positioned right below the joint of the back frame structure and the rigid waistband and is connected with the rigid waistband; the leg component is arranged at the bottom of the hip joint component; the foot component is arranged at the bottom of the leg component; and a power assisting device is arranged at the rear side of the foot component.

Optionally, the back frame structure comprises a shoulder brace, a back frame and a hip brace; the shoulder supporting rods are arranged on two sides of the back frame, the upper parts of the shoulder supporting rods extend to the front of the human body along the shoulders of the human body, and the lower parts of the back frame are connected with the tops of the hip supporting rods; the bottom of the hip stay bar is connected with the rigid waistband; the bottom of the back clip is connected with the leg component through an elastic drawstring.

Optionally, the back frame structure further comprises a hand hook; the top of the hand hook is connected with the front end of the upper part of the shoulder support rod through a connecting belt.

Optionally, the hip joint assembly comprises a connecting seat and a rotating head; the upper part of the connecting seat is rotatably connected with the rigid waistband; the lower part of the connecting seat is rotatably connected with the upper part of the rotating head, and the lower part of the rotating head is rotatably connected with the leg component.

Optionally, the rotating head is connected with the connecting seat through a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limiting block is arranged in the middle of the rotating head.

Optionally, the leg assembly comprises a thigh adjusting member, a thigh assembly, a shank assembly and a shank adjusting member which are sequentially connected from top to bottom; the top of the thigh adjusting component is connected with the hip joint component, and the bottom of the shank adjusting component is connected with the foot component;

wherein,

a rotation limiting seat is arranged at the top of the thigh adjusting component, a vertical connecting hole is formed in the middle of the rotation limiting seat, and a rotation limiting part extending upwards is arranged at the top of the rotation limiting seat; a plurality of first adjusting holes are formed in the middle lower part of the thigh adjusting component and are used for being in adjustable connection with the thigh assembly;

and/or, the thigh assembly comprises a thigh member; the top of the thigh component is connected with the thigh adjusting component, and the bottom of the thigh component is rotatably connected with the shank component;

and/or, the lower leg assembly comprises a lower leg member and a lower leg girth plate; the top of the shank component is rotatably connected with the thigh component, and the bottom of the shank component is connected with the shank adjusting component; the shank binding plate is connected with the shank component through a binding belt;

and/or the bottom of the lower leg adjusting component is rotatably connected with the foot component, and a plurality of second adjusting holes are formed in the middle upper part of the lower leg adjusting component.

Optionally, a limit adjusting groove is formed in the bottom of the shank member, a shank limiting groove is formed in the side wall of the shank member, and the shank limiting groove is communicated with the limit adjusting groove; the shank height adjusting handle is arranged on the side wall of the shank member, one end of the shank height adjusting handle is rotatably connected with the side wall of the shank member, the other end of the shank height adjusting handle is provided with a fixing block, and the fixing block penetrates through the shank limiting groove and is inserted into the limiting adjusting groove to be clamped and connected with the shank adjusting member.

Optionally, the rigid waistband comprises a binding block located at the front end of the hip joint assembly, a fixing block connected with the hip joint assembly, a plurality of connecting blocks located at the rear end of the hip joint assembly, and a waistband adjusting assembly arranged in the middle of the connecting blocks.

Optionally, the belt adjusting assembly comprises a belt adjusting fixed plate and a belt adjusting movable plate; the waistband adjusting fixed plate is connected with the waistband adjusting movable plate in a limiting way; fixed plate one end is adjusted to the waistband with the connecting block is connected, the fixed plate orientation is adjusted to the waistband one side middle part of adjusting the fly leaf is provided with first semicylindrical light groove, and first semicylindrical light groove one end is provided with the spacing half groove of fifth, the waistband adjust fly leaf one end with the connecting block is connected, the fly leaf orientation is adjusted to the waistband one side middle part of adjusting the fixed plate is provided with the first semicylindrical thread groove, and first semicylindrical thread groove one end is provided with the spacing half groove of sixth, and the spacing half groove of fifth and the spacing half groove of sixth form the spacing adjustment tank of third, first semicylindrical light groove with first semicylindrical thread groove phase-match forms the third and adjusts the screw, be provided with first adjusting bolt in the third adjusts the screw, and first adjusting bolt's end is located the spacing adjustment tank of third.

Optionally, the power assisting device comprises a base, a movable block, a preload piece and an elastic piece; the inner wall of the bottom of the base is provided with internal threads, the bottom of the base is connected with the foot component, the movable block is arranged in the base in a sliding manner, the outer wall of the pretensioning piece is provided with external threads, the pretensioning piece is in threaded connection with the inner wall of the bottom of the base, the top of the pretensioning piece is connected with the bottom of the movable piece, one end of the elastic piece is connected with the top of the movable block, the other end of the elastic piece is connected with the top of the base, and the top of the movable block is connected with the shank through a pull rope;

or the power assisting device comprises a pre-tightening structure movable end, a pre-tightening seat, a mounting seat and an elastic piece; the mounting seat comprises an upper part and a lower part, the upper part and the lower part are rotatably connected through a rotating shaft, the lower part is connected with the foot component, and the upper part is connected with the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end can be adjusted; the upper part of the pre-tightening end is provided with a pre-tightening structure movable end, the elastic piece is an elastic belt, and the elastic belt is wound on the seat shaft and the pre-tightening structure movable end.

Compared with the prior art, the utility model has the following technical effects:

the exoskeleton carrying robot can transfer part of carried weight to the bottom surface through the back frame, the thigh structure, the shank structure and the sole structure, and has the effect of reducing weight.

The back frame is connected with the leg structure through the elastic drawstrings, so that energy can be stored when stooping, and the back frame can be used for assisting in carrying and getting up.

The power assisting device is arranged at the position of the lower leg, so that the lower leg can be assisted to return to the right during the walking process, and the power assisting effect is achieved.

Be provided with a plurality of adjusting device for width, height, waistline all can be adjusted, can match the crowd of different statures.

The joint device matched with the human motion joint is arranged at the human motion joint, so that the aim of matching the human motion is fulfilled.

The legs, the shanks, the waist, the chest and the feet are all tied up, so that the man-machine fit is well ensured.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed 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 to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an exoskeleton transfer robot according to the present invention;

FIG. 2 is a schematic structural diagram of a rigid waist belt of the exoskeleton transfer robot according to the present invention;

FIG. 3 is a schematic structural view of a belt adjustment assembly of the exoskeleton transfer robot according to the present invention;

FIG. 4 is a schematic structural view of another perspective of the belt adjustment assembly of the exoskeleton transfer robot of the present invention;

FIG. 5 is a schematic structural view of a belt adjusting movable plate of the exoskeleton transfer robot according to the present invention;

FIG. 6 is a schematic structural view of a belt adjusting and fixing plate of the exoskeleton transfer robot according to the present invention;

FIG. 7 is a schematic structural view of a first semi-cylindrical optical groove in the exoskeleton transfer robot of the present invention;

FIG. 8 is a schematic structural view of an adjustment seat in the exoskeleton transfer robot of the present invention;

FIG. 9 is a schematic structural view of a hip joint assembly of the exoskeleton transfer robot of the present invention;

FIG. 10 is a schematic view of the configuration of the thigh adjustment member and thigh assembly of the exoskeleton transfer robot of the present invention;

fig. 11 is a schematic structural view of a thigh adjustment member of the exoskeleton transfer robot of the present invention;

fig. 12 is a schematic structural view of a thigh member and a shank member of the exoskeleton transfer robot of the present invention;

FIG. 13 is a schematic view of the lower leg member and foot assembly of the exoskeleton transfer robot of the present invention;

FIG. 14 is a schematic structural view of a shank height adjustment handle of the exoskeleton transfer robot according to the present invention;

FIG. 15 is a schematic structural view of the bottom of the lower leg member of the exoskeleton transfer robot of the present invention;

FIG. 16 is a schematic structural diagram of a power assisting device in the exoskeleton robot for loading loads;

fig. 17 is a schematic structural diagram of another power assisting device in the exoskeleton load bearing robot.

Description of reference numerals: 1. a shoulder brace; 2. a hip stay; 3. a belt adjustment assembly; 4. a rigid waist band; 5. a hip joint assembly; 6. a hand hook; 7. a thigh adjusting member; 8. a thigh member; 9. a lower leg member; 10. a shank restraint plate; 11. a booster device; 12. a shank adjustment member; 13. a foot component;

111. pre-tightening the movable end of the structure; 112. pre-tightening ends; 113. an elastic member; 114. a mounting seat; 115. pre-tightening the base; 116. a base; 117. pulling a rope;

31. a waistband adjusting fixing plate; 32. a waistband adjusting movable plate; 33. a waistband connecting seat; 34. a first adjusting bolt; 35. a first semi-cylindrical optical groove; 36. a first semi-cylindrical thread groove;

41. binding blocks; 42. a fixed block; 43. connecting blocks;

51. a joint connecting seat; 52. a connecting seat; 53. connecting the rotating shaft; 54. rotating the head;

541. a limiting block; 542. a rotating shaft;

71. a vertical connecting hole; 72. a rotation limiting part;

731. a first adjustment aperture; 732. a vertical through hole;

91. a shank limiting groove; 92. a return spring aperture; 93. a limit adjusting groove;

121. a second adjustment aperture; 122. a shank height adjusting handle;

1221. a fixed block; 1222. and resetting the connecting hole.

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.

The first embodiment is as follows:

as shown in fig. 1 to 16, the present embodiment provides an exoskeleton transfer robot comprising a back frame structure, a rigid waist belt 4, a hip joint assembly 5, a leg assembly and a foot assembly 13; the upper part of the back frame structure extends to the shoulders of the human body, and the lower part of the back frame structure is positioned at the two sides of the hip of the human body; the bottom of the back frame structure is connected with the rigid waistband 4; the hip joint component 5 is positioned right below the joint of the back frame structure and the rigid waistband 4 and is connected with the rigid waistband 4; the leg component is arranged at the bottom of the hip joint component 5; the foot component 13 is arranged at the bottom of the leg component; the power assisting device 11 is arranged on the rear side of the foot component 13.

In this embodiment, the back frame structure comprises a shoulder brace 1, a back frame and a hip brace 2; the shoulder support rods 1 are arranged on two sides of the back frame, the upper parts of the shoulder support rods 1 extend to the front of the human body along the shoulders of the human body, and the lower part of the back frame is connected with the top parts of the hip support rods 2; the bottom of the hip stay bar 2 is connected with the rigid waistband; the bottom of the back frame is connected with the leg component 13 through an elastic drawstring, one end of the elastic drawstring is connected to the strip-shaped opening at the bottom of the back frame, and the other end of the elastic drawstring is connected to the top of the thigh binding plate 6. The shoulder supporting rod 1 is connected with the back frame through a sliding groove and fixed through a bolt, and the length of the shoulder supporting rod 1 extending out of the back frame can be adjusted through adjusting a hole position fixed through the bolt.

The back frame structure also comprises a hand hook 6; the top of the hand hook 6 is connected with the front end of the upper part of the shoulder brace rod 1.

The hip joint assembly 5 comprises a connecting base 52 and a rotating head 54; the upper part of the connecting seat 52 is rotatably connected with the hip plate 1; the lower portion of the connecting base 52 is rotatably connected to the upper portion of the rotating head 54, and the lower portion of the rotating head 54 is rotatably connected to the leg assembly.

The rotation limiting part 72 between the rotating head 54 and the connecting seat 52 is connected through a rotating shaft, the lower part of the rotating head 54 is provided with a rotating shaft 542, and the middle part of the rotating head 54 is provided with a limiting block 541. The rotation shaft 542 is inserted into the bearings in the vertical coupling hole 71 and the vertical through hole 732, and the stopper 541 is located between the rotation stopper portions 72, thereby allowing the rotation head 54 to rotate within a certain range.

The thigh assembly comprises a thigh member 8 and a thigh beam plate; the top of the thigh member 8 is connected with the thigh adjusting member 7, and the bottom of the thigh member 8 is rotatably connected with the lower leg assembly; the thigh binding plate is connected with the thigh component 8 through a binding belt;

the lower leg assembly comprises a lower leg member 9 and a lower leg girth plate 10; the top of the shank member 9 is rotatably connected with the thigh assembly, and the bottom of the shank member 9 is connected with the shank adjusting member; the shank binding plate 10 is connected with the shank component 9 through a binding belt;

the bottom of the lower leg adjusting member 12 is rotatably connected with the foot component 13, and a plurality of second adjusting holes 121 are arranged at the middle upper part of the lower leg adjusting member 12.

The bottom of the shank member 9 is provided with a limit adjusting groove 93, the side wall of the shank member 9 is provided with a shank limit groove 91, and the shank limit groove 91 is communicated with the limit adjusting groove 93; a shank height adjusting handle 122 is arranged on the side wall of the shank member 9, one end of the shank height adjusting handle 122 is rotatably connected with the side wall of the shank member 9, a fixing block 42 is arranged at the other end of the shank height adjusting handle 122, and the fixing block 42 penetrates through the shank limiting groove 91 and is inserted into the limiting adjusting groove 93 to be clamped and connected with the shank adjusting member 12.

Further, a return spring hole 92 is formed in the bottom of the lower leg member 9, a return connection hole 1222 is formed in the lower leg height adjustment handle 122, the return spring hole 92 and the return connection hole 1222 are coaxially arranged, and a return spring is provided, so that the fixing block 42 is kept inserted into the lower leg limiting groove 91 by the elastic force of the return spring.

The foot component 13 comprises a vertical connecting seat 52 and a foot plate, the top of the vertical connecting seat 52 is connected with the bottom of the leg component, and the bottom of the vertical connecting seat 52 is rotatably connected with one side of the foot plate; the power assisting device 11 is arranged at the rear end of the foot plate.

The power assisting device comprises a base 116, a movable block, a pre-tightening piece and an elastic piece; the inner wall of the bottom of the base 116 is provided with internal threads, the bottom of the base is connected with the foot component 13, the movable block can be slidably arranged in the base 116, the outer wall of the pretensioning piece is provided with external threads, the pretensioning piece is in threaded connection with the inner wall of the bottom of the base 116, and the extension amount of the elastic piece is adjusted by adjusting the depth of the pretensioning piece screwed into the base 116, so that the pre-tightening force is adjusted; the top of the pretensioning piece is connected with the bottom of the moving piece, one end of the elastic piece is connected with the top of the movable block, the other end of the elastic piece is connected with the top of the base, and the top of the movable block is connected with the calf bundle plate 10 through a pull rope 117. The elastic part adopts a spiral spring, and in the walking process of a human body, the elastic part stretches to store energy and releases to pull the position of the shank to be adjusted back in the next step process, thereby playing the role of assisting power.

Example two:

as shown in fig. 17, in this embodiment, the boosting device 11 includes a pre-tightening structure movable end 111, a pre-tightening end 112, a pre-tightening seat 115, a mounting seat 114 and an elastic element 113; the mounting seat 114 comprises an upper portion and a lower portion, the upper portion and the lower portion are rotatably connected through a rotating shaft, the lower portion is connected with the foot component 13, and the upper portion is connected with the bottom of the pre-tightening seat 115; the relative height between the pre-tightening seat 115 and the pre-tightening end 112 can be adjusted, specifically, an internal thread is arranged in the pre-tightening seat 115, an external thread rod is arranged at the bottom of the pre-tightening end 112, the external thread rod is matched with the internal thread, and the relative height between the pre-tightening seat 115 and the pre-tightening end 112 can be adjusted by adjusting the depth of the external thread rod screwed into the internal thread; a movable end 111 of the pre-tightening structure is arranged above the pre-tightening end 112, the elastic piece 113 is an elastic belt, and the elastic belt 113 is wound on the seat shaft and the movable end of the pre-tightening structure. The movable end 111 of the pre-tightening structure is connected with the shank restraint plate 10 through a pull rope, and the elastic piece 113 stretches to store energy in the walking process of a human body and releases to pull the shank position to return to the right position in the next walking process, so that the function of assisting is achieved.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the utility model.

Claims (10)

1. An exoskeleton transfer robot comprising a back frame structure, a rigid waist belt, a hip joint assembly, a leg assembly and a foot assembly; the upper part of the back frame structure extends to the shoulders of the human body, and the lower part of the back frame structure is positioned at the two sides of the hip of the human body; the bottom of the back frame structure is connected with the rigid waistband; the hip joint component is positioned right below the joint of the back frame structure and the rigid waistband and is connected with the rigid waistband; the leg component is arranged at the bottom of the hip joint component; the foot component is arranged at the bottom of the leg component; and a power assisting device is arranged at the rear side of the foot component.

2. An exoskeleton transfer robot as claimed in claim 1 wherein the back frame structure comprises shoulder, back and hip stays; the shoulder supporting rods are arranged on two sides of the back frame, the upper parts of the shoulder supporting rods extend to the front of the human body along the shoulders of the human body, and the lower parts of the back frame are connected with the tops of the hip supporting rods; the bottom of the hip stay bar is connected with the rigid waistband; the bottom of the back clip is connected with the leg component through an elastic drawstring.

3. An exoskeleton transfer robot as claimed in claim 2 wherein the back frame structure further comprises a hand hook; the top of the hand hook is connected with the front end of the upper part of the shoulder support rod through a connecting belt.

4. An exoskeleton handling robot as claimed in claim 1 wherein the hip joint assembly comprises a connecting socket and a swivel head; the upper part of the connecting seat is rotatably connected with the rigid waistband; the lower part of the connecting seat is rotatably connected with the upper part of the rotating head, and the lower part of the rotating head is rotatably connected with the leg component.

5. The exoskeleton transfer robot as claimed in claim 4, wherein the rotating head is connected with the connecting seat through a rotating shaft, a rotating shaft is arranged at the lower part of the rotating head, and a limit block is arranged at the middle part of the rotating head.

6. An exoskeleton transfer robot as claimed in claim 1 wherein the leg assembly comprises a thigh adjustment member, a thigh assembly, a shank assembly and a shank adjustment member connected in series from top to bottom; the top of the thigh adjusting component is connected with the hip joint component, and the bottom of the shank adjusting component is connected with the foot component;

wherein,

a rotation limiting seat is arranged at the top of the thigh adjusting component, a vertical connecting hole is formed in the middle of the rotation limiting seat, and a rotation limiting part extending upwards is arranged at the top of the rotation limiting seat; a plurality of first adjusting holes are formed in the middle lower part of the thigh adjusting component and are used for being in adjustable connection with the thigh assembly;

and/or, the thigh assembly comprises a thigh member; the top of the thigh component is connected with the thigh adjusting component, and the bottom of the thigh component is rotatably connected with the shank component;

and/or, the lower leg assembly comprises a lower leg member and a lower leg girth plate; the top of the shank component is rotatably connected with the thigh component, and the bottom of the shank component is connected with the shank adjusting component; the shank binding plate is connected with the shank component through a binding belt;

and/or the bottom of the lower leg adjusting component is rotatably connected with the foot component, and a plurality of second adjusting holes are formed in the middle upper part of the lower leg adjusting component.

7. The exoskeleton transfer robot as claimed in claim 6, wherein the lower leg member is provided with a limit adjustment groove at the bottom, and a lower leg limit groove is provided on the side wall of the lower leg member, and the lower leg limit groove is communicated with the limit adjustment groove; the shank height adjusting handle is arranged on the side wall of the shank member, one end of the shank height adjusting handle is rotatably connected with the side wall of the shank member, the other end of the shank height adjusting handle is provided with a fixing block, and the fixing block penetrates through the shank limiting groove and is inserted into the limiting adjusting groove to be clamped and connected with the shank adjusting member.

8. The exoskeleton transfer robot of claim 1 wherein said rigid waist belt comprises a cinching block located at a front end of said hip joint assembly, a fixed block connected to said hip joint assembly, a plurality of attachment blocks located at a rear end of said hip joint assembly and a waist belt adjustment assembly located intermediate said plurality of attachment blocks.

9. The exoskeleton transfer robot of claim 8 wherein said belt adjustment assembly comprises a belt adjustment fixed plate and a belt adjustment movable plate; the waistband adjusting fixed plate is connected with the waistband adjusting movable plate in a limiting way; fixed plate one end is adjusted to the waistband with the connecting block is connected, the fixed plate orientation is adjusted to the waistband one side middle part of adjusting the fly leaf is provided with first semicylindrical light groove, and first semicylindrical light groove one end is provided with the spacing half groove of fifth, the waistband adjust fly leaf one end with the connecting block is connected, the fly leaf orientation is adjusted to the waistband one side middle part of adjusting the fixed plate is provided with the first semicylindrical thread groove, and first semicylindrical thread groove one end is provided with the spacing half groove of sixth, and the spacing half groove of fifth and the spacing half groove of sixth form the spacing adjustment tank of third, first semicylindrical light groove with first semicylindrical thread groove phase-match forms the third and adjusts the screw, be provided with first adjusting bolt in the third adjusts the screw, and first adjusting bolt's end is located the spacing adjustment tank of third.

10. An exoskeleton transfer robot as claimed in claim 1 wherein said booster means comprises a base, a movable block, a preload member and a resilient member; the inner wall of the bottom of the base is provided with internal threads, the bottom of the base is connected with the foot component, the movable block is arranged in the base in a sliding manner, the outer wall of the pretensioning piece is provided with external threads, the pretensioning piece is in threaded connection with the inner wall of the bottom of the base, the top of the pretensioning piece is connected with the bottom of the movable piece, one end of the elastic piece is connected with the top of the movable block, the other end of the elastic piece is connected with the top of the base, and the top of the movable block is connected with the shank through a pull rope;

or the power assisting device comprises a pre-tightening structure movable end, a pre-tightening seat, a mounting seat and an elastic piece; the mounting seat comprises an upper part and a lower part, the upper part and the lower part are rotatably connected through a rotating shaft, the lower part is connected with the foot component, and the upper part is connected with the bottom of the pre-tightening seat; the relative height between the pre-tightening seat and the pre-tightening end can be adjusted; the upper part of the pre-tightening end is provided with a pre-tightening structure movable end, the elastic piece is an elastic belt, and the elastic belt is wound on the seat shaft and the pre-tightening structure movable end.

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