CN217339242U - Exoskeleton robot leg adjusting mechanism and exoskeleton robot - Google Patents

Abstract

The utility model provides an ectoskeleton robot shank adjustment mechanism and ectoskeleton robot relates to ectoskeleton robot technical field. This adjustment mechanism includes: first joint power assembly installation piece, first sleeve, second sleeve, adjusting rack and second joint power assembly installation piece, first joint power assembly installation piece with first sleeve fixed connection, adjusting rack with second joint power assembly installation piece fixed connection, second sleeve scalable install in first sleeve, adjusting rack scalable install in the second sleeve. The utility model provides an ectoskeleton robot leg adjustment mechanism and ectoskeleton robot, second sleeve and first sleeve mutually support and realize first order length adjustment, and regulation rack and second sleeve mutually support and realize second level length adjustment, form two-stage length adjustment, increase accommodation between first joint power assembly installation piece and second joint power assembly installation piece from this.

Description

Exoskeleton robot leg adjusting mechanism and exoskeleton robot

Technical Field

The utility model relates to an ectoskeleton robot technical field especially relates to an ectoskeleton robot leg adjustment mechanism and ectoskeleton robot.

Background

The rehabilitation exoskeleton robot is greatly helpful for the rehabilitation training of spinal cord injury, and along with the development of science and technology, people have higher and higher requirements on the exoskeleton robot. Taking children as an example, the legs are short, the generation is fast, the range of the legs is large when the exoskeleton robot is used, the leg adjusting mechanism of the common exoskeleton robot at present adopts a connecting rod structure, the adjusting range is limited, and the exoskeleton robot is difficult to adapt to the change of the height of the children.

SUMMERY OF THE UTILITY MODEL

The utility model provides an ectoskeleton robot shank adjustment mechanism and ectoskeleton robot for solve among the prior art the little defect that is difficult to adapt to children's height change of exoskeleton robot control range.

The utility model provides an ectoskeleton robot shank adjustment mechanism, include: first joint power assembly installation piece, first sleeve, second sleeve, adjusting rack and second joint power assembly installation piece, first joint power assembly installation piece with first sleeve fixed connection, adjusting rack with second joint power assembly installation piece fixed connection, second sleeve scalable install in first sleeve, adjusting rack scalable install in the second sleeve.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism still includes spacing knob, be equipped with the locating hole on the first sleeve, be equipped with a plurality of regulation holes on the telescopic lateral wall of second, spacing knob threaded mounting in the locating hole with arbitrary in the regulation hole with adjust the second sleeve with first telescopic connection length.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism, the regulation hole is two, two the axial interval distribution of first telescopic is followed to the regulation hole.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism still includes the locating part, be equipped with waist type blind hole on the second sleeve, the length direction of waist type blind hole is followed the telescopic axial of second, the locating part install in first sleeve is inserted and is established in the waist type blind hole in order to inject first sleeve with the telescopic relative range of motion of second.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism, first telescopic hole is the dysmorphism hole, the telescopic appearance of second with first telescopic hole shape is unanimous, second sleeve movably inserts and establishes in the first sleeve.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism still includes adjust knob and spacing rack, and the second sleeve is kept away from first telescopic one end and is equipped with the mount pad, adjust knob install in the mount pad, adjust knob is used for adjusting the position of spacing rack is so that spacing rack with the adjustment rack meshing.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism still includes the elastic component, fixed mounting guide sleeve on the mount pad, adjust knob inserts and locates guide sleeve's one end with spacing rack butt, the elastic component install in the guide sleeve and with spacing rack butt, the elastic component with adjust knob sets up the relative both sides of the terminal surface of spacing rack.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism still includes the stopping post, the stopping post is used for injecing adjust knob's position.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism, the telescopic lateral wall of second is equipped with the mounting hole, installation pressure plunger and damping washer in the mounting hole.

According to the utility model provides a pair of ectoskeleton robot leg adjustment mechanism, the elasticity post is installed to the telescopic inner wall of second, the regulation rack is equipped with the bar groove, the expansion end of elasticity post hold in the bar groove is in order to inject the regulation rack for the telescopic range of movement of second.

The utility model also provides an ectoskeleton robot, include as above ectoskeleton robot leg adjustment mechanism.

The utility model provides an ectoskeleton robot leg adjustment mechanism and ectoskeleton robot, second sleeve and first sleeve mutually support and realize first order length adjustment, and regulation rack and second sleeve mutually support and realize second level length adjustment, form two-stage length adjustment, increase accommodation between first joint power assembly installation piece and second joint power assembly installation piece from this.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a perspective view of the exoskeleton robot leg adjusting mechanism provided by the present invention in the shortest state;

FIG. 2 is a perspective view of the exoskeleton robot leg adjustment mechanism shown in FIG. 1 in a longest state;

FIG. 3 is a cross-sectional view of the exoskeleton robot leg adjustment mechanism shown in FIG. 1 in a shortest state;

FIG. 4 is a cross-sectional view of the exoskeleton robot leg adjustment mechanism shown in FIG. 1 in a longest state;

fig. 5 is another cross-sectional view of the exoskeleton robot leg adjustment mechanism provided by the present invention;

fig. 6 is a schematic partial structure diagram of an exoskeleton robot provided in an embodiment of the present invention;

reference numerals:

10. a first joint power assembly mounting block; 20. a first sleeve; 30. a second sleeve; 31. an adjustment hole; 32. waist-shaped blind holes; 33. an elastic column; 40. adjusting the rack; 41. a strip-shaped groove; 50. a second joint power assembly mounting block; 60. a limit knob; 61. a limiting member; 70. adjusting a knob; 71. a limit rack; 72. an elastic member; 74. a guide sleeve; 75. a backstop post; 81. a damping washer; 82. a pressure plunger; 100. a foot section.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The features of the terms first and second in the description and in the claims of the present application may explicitly or implicitly include one or more of those features. In the description of the present invention, "a plurality" means two or more unless otherwise specified. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The exoskeleton robot leg adjusting mechanism of the present invention will be described with reference to fig. 1 to 5.

The embodiment of the utility model provides an ectoskeleton robot leg adjustment mechanism, as shown in fig. 1 and fig. 2, it includes first joint power assembly installation piece 10, first sleeve 20, second sleeve 30, regulation rack 40 and second joint power assembly installation piece 50. The first joint powertrain mounting block 10 is fixedly connected to the first sleeve 20. The adjusting rack 40 is fixedly connected with the second joint power assembly mounting block 50. The second sleeve 30 is connected with the first sleeve 20 in a length-adjustable manner, and the adjusting rack 40 is telescopically inserted into the second sleeve 30.

The first sleeve 20 is inserted into the first joint powertrain mounting block 10 and fixedly connected thereto by screws. The adjusting rack 40 is inserted into the second joint power assembly mounting block 50 and fixedly connected by a screw.

The first joint power assembly mounting block 10 is used for mounting an ankle joint power assembly, and correspondingly, the second joint power assembly mounting block 50 is used for mounting a knee joint power assembly. Alternatively, the first joint powertrain mounting block 10 is used to mount a hip joint powertrain and the second joint powertrain mounting block 50 is used to mount a knee joint powertrain. Alternatively, the first joint powertrain mounting block 10 is used to mount a knee joint powertrain and the second joint powertrain mounting block 50 is used to mount a hip joint powertrain or an ankle joint powertrain.

In one embodiment, as shown in fig. 3 and 4, the second sleeve 30 is inserted into the first sleeve 20, and the limit knob 60 is mounted on a sidewall of the first sleeve 20 and connected to or abutted against the second sleeve 30 to limit an extended length of the second sleeve 30 relative to the first sleeve 20. In yet another embodiment, the second sleeve 30 is sleeved outside the first sleeve 20, and the adjustment rack 40 is inserted into the second sleeve 30. Therefore, the embodiment of the utility model provides a do not specifically limit, as long as first adjusting sleeve and second adjusting sleeve mutually support and can realize length adjustment, spacing rack 71 links to each other with second sleeve 30 and can realize length adjustment can.

The embodiment of the utility model provides an ectoskeleton robot leg adjustment mechanism, second sleeve 30 and first sleeve 20 mutually support and realize first order length adjustment, and regulation rack 40 and second sleeve 30 mutually support and realize second level length adjustment, form two-stage length adjustment from this between first joint power assembly installation piece 10 and second joint power assembly installation piece 50, increase control range, satisfy children's height change demand.

Specifically, the first sleeve 20 is provided with a positioning hole, and the side wall of the second sleeve 30 is provided with a plurality of adjusting holes 31. The exoskeleton robot leg adjusting mechanism further comprises a limit knob 60, wherein the limit knob 60 is installed in the positioning hole and any one of the adjusting holes 31 in a threaded mode, so that the connecting length of the second sleeve 30 and the first sleeve 20 is adjusted.

The adjusting hole 31 and the positioning hole are threaded holes. A plurality of adjustment holes 31 are provided in the axial direction of the second sleeve 30. For example, the sidewall of the second sleeve 30 is provided with two adjustment holes 31, a first adjustment hole and a second adjustment hole, and the first adjustment hole is closer to the first joint power assembly mounting block 10 than the second adjustment hole. When the limit knob 60 is threadedly mounted in the positioning hole and the first adjusting hole, as shown in fig. 1 and 3, the length of the first sleeve 20 connected with the second sleeve 30 is the shortest. When the limit knob 60 is threadedly mounted in the positioning hole and the second adjustment hole, as shown in fig. 2 and 4, the length of the second sleeve 30 connected to the first sleeve 20 is the longest. It can be understood that the number of the adjusting holes 31 can be three, four, etc., and the limit knobs 60 are mounted in the different adjusting holes 31 to form different connecting lengths so as to meet the requirements of users with different heights.

The limit knob 60 is an adjusting bolt, and the limit knob 60 is connected with different adjusting holes 31 to form different lengths and fix the relative positions of the first sleeve 20 and the second sleeve 30.

When the length-adjustable connecting device is used, if the connecting length needs to be adjusted, the limiting knob 60 is unscrewed, the second sleeve 30 is pulled outwards, the connecting length of the first sleeve 20 and the second sleeve 30 is adjusted, and when the positioning hole is opposite to the corresponding adjusting hole 31, the limiting knob 60 is screwed, so that the relative position of the second sleeve 30 and the first sleeve 20 is limited, and the length adjustment is realized. If the connection length needs to be shortened, the limit knob 60 is unscrewed, the second sleeve 30 is pushed inwards, the length of the second sleeve 30 extending out of the first sleeve 20 is changed, and then the first sleeve 20 and the second sleeve 30 are fixed relatively by screwing the limit knob 60.

The embodiment of the present invention provides an exoskeleton robot leg adjusting mechanism, which adjusts the connection length of the first sleeve 20 and the second sleeve 30 by means of the limit knob 60.

On the basis of any of the above embodiments, the second sleeve 30 is provided with the waist-shaped blind hole 32, and the length direction of the waist-shaped blind hole 32 is along the axial direction of the second sleeve 30. The exoskeleton robot leg adjusting mechanism further comprises a limiting piece 61, wherein the limiting piece 61 is installed on the first sleeve 20 and inserted into the waist-shaped blind hole 32 to limit the relative moving range of the first sleeve 20 and the second sleeve 30.

Specifically, waist type blind hole 32 sets up at the top of second sleeve 30, and the one end that first sleeve 20 kept away from first joint power assembly installation piece 10 is provided with the connecting seat, and the connecting seat is protruding to be located the outer wall of second sleeve 30, and is the round arch, facilitates the installation locating part 61 and adjust knob 70. The limiting part 61 is a fastening bolt or a limiting pin shaft. For example, the connecting seat is provided with a screw hole, and the fastening bolt passes through the screw hole and is inserted in the waist-shaped blind hole 32. For another example, the connecting seat is provided with a mounting hole, one end of the limiting pin shaft is connected with the first sleeve 20, and the other end is inserted into the waist-shaped blind hole 32. It should be noted that the first sleeve 20 may be inserted into the second sleeve 30 or the first sleeve 20 may be sleeved outside the second sleeve 30. Under the condition that the first sleeve 20 is inserted into the second sleeve 30, the waist-shaped blind hole 32 is formed in the inner wall of the second sleeve 30, and the limiting member 61 is elastically mounted on the first sleeve 20, so that the first sleeve 20 and the second sleeve are installed and sleeved. Under the condition that the first sleeve 20 is sleeved outside the second sleeve 30, the waist-shaped blind hole 32 is disposed on the outer wall of the second sleeve 30, and the limiting member 61 may be fixed or elastically mounted on the first sleeve 20. Thus, the stopper 61 can guide the first sleeve 20 and the second sleeve 30 during the relative movement and restrain the degree of freedom of the relative rotation between the two.

Under the condition that the number of the adjusting holes 31 is two, along with relative sliding between the first sleeve 20 and the second sleeve 30, when the fastening bolt is abutted against two ends of the waist-shaped blind hole 32, one of the first adjusting hole and the second adjusting hole corresponds to the positioning hole, so that positioning is facilitated, and a user does not need to manually confirm the corresponding relation between the adjusting holes 31 and the positioning hole.

Specifically, the inner hole of the first sleeve 20 is a special-shaped hole, the outer shape of the second sleeve 30 is consistent with the shape of the inner hole of the first sleeve 20, and the second sleeve 30 is movably inserted into the first sleeve 20.

Wherein, the special-shaped hole refers to a non-circular hole, such as a square hole, a diamond hole or an elliptical hole. The freedom of movement of the second sleeve 30 is limited by the internal bore of the first sleeve 20, preventing relative rotation of the first sleeve 20 and the second sleeve 30.

The inner hole of the second sleeve 30 is a square hole, and the adjusting rack 40 is inserted in the square hole. Of course, the inner bore of the second sleeve 30 may also be a body with a flat side for corresponding with the toothed surface of the adjustment rack 40.

As shown in fig. 3 and 4, the exoskeleton robot leg adjusting mechanism comprises an adjusting knob 70 and a limiting rack 71, wherein a mounting seat is installed at one end, far away from the first sleeve 20, of the second sleeve 30, the adjusting knob 70 is installed on the mounting seat, and the adjusting knob 70 is used for adjusting the position of the limiting rack 71 so as to enable the limiting rack 71 to be meshed with the adjusting rack 40.

As shown in fig. 2, the mounting seat is a square seat protruding from an end of the second sleeve 30 away from the first sleeve 20. An adjustment knob 70 is mounted on the mounting seat to enhance the coupling strength. The length of the adjustment rack 40 within the second sleeve 30 is adjustable.

In an embodiment of the present invention, one end of the adjusting knob 70 is fixedly connected to the limiting rack 71. The adjusting knob 70 is screwed out, so that the limiting rack 71 is disengaged from the adjusting rack 40, the position of the adjusting rack 40 relative to the second sleeve 30 is conveniently adjusted, after the adjusting knob 70 is adjusted, the limiting rack 71 is engaged with the adjusting rack 40, and the degree of freedom of movement of the second sleeve 30 and the adjusting rack 40 along the axial direction is limited.

In another embodiment of the present invention, one end of the adjusting knob 70 abuts against the limit rack 71. As shown in fig. 3 and 4, the exoskeleton robot leg adjustment mechanism further comprises an elastic member 72, and a guide sleeve 74 is fixedly mounted on the mounting seat. One end of the limit rack 71 is inserted into the guide sleeve 74, and one end of the adjusting knob 70 inserted into the guide sleeve 74 abuts against the limit rack 71. The elastic member 72 and the adjusting knob 70 are disposed at opposite sides of the end surface of the limit rack 71. After the lengths of the second sleeve 30 and the adjusting rack 40 are adjusted in place, the adjusting knob 70 is screwed in to push the limiting rack 71 to be meshed with the adjusting rack 40. When the connection length of the second sleeve 30 and the adjusting rack 40 needs to be adjusted, the adjusting knob 70 is screwed out, the elastic member 72 pushes the limiting rack 71 to be disengaged from the adjusting rack 40, and pushes the adjusting knob 70 to move outwards. After the relative position between the second sleeve 30 and the adjusting rack 40 is adjusted, the adjusting knob 70 is screwed again to push the limiting rack 71 to be meshed with the adjusting rack 40.

The adjusting knob 70 is fixed to the mounting base by a screw, and the adjusting knob is screwed into or out of the mounting base to adjust the meshing state of the adjusting rack 40 and the limiting rack 71, so as to adjust the length of the second sleeve 30 and the adjusting rack 40.

The embodiment of the utility model provides an exoskeleton robot leg adjustment mechanism adjusts the engaged state of adjusting rack 40 and spacing rack 71 through adjust knob 70 to the relative position of adjusting rack 40 and second sleeve 30 is adjusted in the adjustment, realizes both length adjustment from this.

The exoskeleton robot leg adjustment mechanism further comprises a backstop post 75, the backstop post 75 is used to define the position of the adjustment knob 70.

As shown in fig. 5, to define the position of the adjustment knob 70, after the relative positions of the second sleeve 30 and the adjustment rack 40 are adjusted, the retaining posts 75 define the position of the adjustment knob 70 in a direction perpendicular to the axial direction of the adjustment knob 70, preventing it from being removed from the guide sleeve 74 and causing the adjustment rack 40 and the check rack 71 to be disengaged. Specifically, the stopping column 75 may be a locking bolt or a limit pin, and the stopping column 75 prevents the adjusting knob 70 from coming off, thereby improving the connection stability.

A mounting hole is provided in the side wall of the second sleeve 30, and a damping washer 81 and a pressure plunger 82 are mounted in the mounting hole.

The entire adjustment mechanism is longitudinally sectioned in the radial direction of the adjustment knob 70, resulting in a sectional view as shown in fig. 5. The opposite side walls of the second sleeve 30 are respectively provided with a mounting hole, and the position of the mounting hole can be on the mounting seat or the wall of the second sleeve 30. Pressure plungers 82 are mounted in both mounting holes. A damping washer 81 is also mounted in the mounting hole. Thereby improving the sliding damping between the adjusting rack 40 and the second sleeve 30, enhancing the connection stability and preventing the relative movement between the two during use. Of course, both mounting holes may be provided with the pressure plunger 82 and both mounting holes may be provided with the damping washer 81.

It will be appreciated that the number of mounting holes may be one, two, three, four, etc., as long as the sliding damping between the second sleeve 30 and the adjusting rack 40 is lifted.

As shown in fig. 3, the inner wall of the second sleeve 30 is mounted with an elastic column 33, the adjusting rack 40 is provided with a strip-shaped groove 41, and the elastic column 33 is received in the strip-shaped groove 41 to define the moving range of the adjusting rack 40 relative to the second sleeve 30.

Specifically, the strip groove 41 is provided on the side of the adjustment rack 40 opposite to the tooth surface. Of course, the adjusting rack 40 may be disposed beside the adjusting rack, and this is not particularly limited. When the elastic columns 33 are abutted against both ends of the strip-shaped groove 41, the connection length of the adjusting rack 40 and the second sleeve 30 is the longest or the shortest.

The elastic member 72 is a spring or other elastic structure, and the number of the elastic members 72 may be plural or one. For example, a spring is sleeved on the limit rack 71 for providing the return elastic force. Or four springs are arranged at intervals along the circumferential direction of the limiting rack 71 to provide the return elastic force together.

In addition, the embodiment of the present invention further provides an exoskeleton robot, as shown in fig. 6, which includes the above exoskeleton robot leg adjusting mechanism.

For example, the exoskeleton robot further comprises a hip joint power assembly and a knee joint power assembly, wherein the knee joint power assembly is mounted on the second joint power assembly mounting block 50, and the hip joint power assembly is mounted on the first joint power assembly mounting block 10. Along with the increase of the height of the user or in order to adapt to users with different heights, the length of the connection between the second sleeve 30 and the first sleeve 20 is adjusted to realize primary length adjustment, and the length of the connection between the adjusting rack 40 and the second sleeve 30 is adjusted to realize secondary length adjustment so as to adapt to the height change. Compared with the traditional adjusting mechanism, the length adjusting range is larger.

As shown in fig. 6, the exoskeleton robot includes a foot 100 and legs, each leg including two exoskeleton robot leg adjustment mechanisms as described above. One of the exoskeleton robot leg adjustment mechanisms is connected to the foot 100, wherein the ankle joint power assembly is mounted on the second joint power assembly mounting block 50 and the knee joint power assembly is mounted on the first joint power mounting assembly 10, and the exoskeleton robot leg adjustment mechanism is used to adjust the length of the lower leg; and the other exoskeleton robot leg adjusting mechanism is used for adjusting the length of the thigh. In order to simplify the installation structure, the parts of the two exoskeleton robot leg adjusting mechanisms connected with each other correspond to the knee joints, and share one joint assembly installation block. The exoskeleton robot can adapt to the growth change of the body of the child by adjusting the two exoskeleton robot leg adjusting mechanisms.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (11)

1. An exoskeleton robot leg adjustment mechanism, comprising: first joint power assembly installation piece, first sleeve, second sleeve, adjusting rack and second joint power assembly installation piece, first joint power assembly installation piece with first sleeve fixed connection, adjusting rack with second joint power assembly installation piece fixed connection, second sleeve scalable install in first sleeve, adjusting rack scalable install in the second sleeve.

2. The exoskeleton robot leg adjustment mechanism as claimed in claim 1 further comprising a limit knob, wherein the first sleeve is provided with a positioning hole, the second sleeve is provided with a plurality of adjustment holes on a sidewall thereof, and the limit knob is threadedly mounted in the positioning hole and any one of the adjustment holes to adjust a connection length between the second sleeve and the first sleeve.

3. The exoskeleton robot leg adjustment mechanism of claim 2 wherein there are two of said adjustment holes, said two adjustment holes being spaced apart axially along the first sleeve.

4. The exoskeleton robot leg adjustment mechanism as claimed in claim 1 or 3, further comprising a limiting member, wherein the second sleeve is provided with a waist-shaped blind hole, the length direction of the waist-shaped blind hole is along the axial direction of the second sleeve, and the limiting member is mounted on the first sleeve and inserted in the waist-shaped blind hole to limit the relative movable range of the first sleeve and the second sleeve.

5. An exoskeleton robot leg adjustment mechanism as claimed in any one of claims 1 to 3 wherein the inner bore of the first sleeve is a profiled bore and the second sleeve is profiled to conform to the shape of the inner bore of the first sleeve, the second sleeve being movably inserted within the first sleeve.

6. The exoskeleton robot leg adjustment mechanism of claim 1 further comprising an adjustment knob and a limit rack, wherein a mounting seat is provided at an end of the second sleeve remote from the first sleeve, the adjustment knob is mounted on the mounting seat, and the adjustment knob is used for adjusting the position of the limit rack so that the limit rack meshes with the adjustment rack.

7. The exoskeleton robot leg adjustment mechanism as claimed in claim 6 further comprising an elastic member, wherein a guide sleeve is fixedly mounted on the mounting base, the adjustment knob is inserted into one end of the guide sleeve to abut against the limit rack, the elastic member is mounted in the guide sleeve to abut against the limit rack, and the elastic member and the adjustment knob are disposed on opposite sides of an end face of the limit rack.

8. An exoskeleton robot leg adjustment mechanism as claimed in claim 6 further comprising a backstop post for defining the position of the adjustment knob.

9. The exoskeleton robot leg adjustment mechanism of claim 1 wherein the side wall of the second sleeve is provided with mounting holes in which the pressure plunger and damping washer are mounted.

10. An exoskeleton robot leg adjustment mechanism as claimed in claim 1 wherein the inner wall of the second sleeve mounts a resilient post, the adjustment rack is provided with a slotted groove in which the free end of the resilient post is received to define the range of movement of the adjustment rack relative to the second sleeve.

11. An exoskeleton robot comprising the exoskeleton robot leg adjustment mechanism as claimed in any one of claims 1 to 10.

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