Passive power-assisted exoskeleton

Abstract

The invention discloses a passive power-assisted exoskeleton, and belongs to the technical field of auxiliary walking appliances, the passive power-assisted exoskeleton comprises a leg assembly, the leg assembly comprises a thigh supporting assembly, a shank supporting assembly, a crossed four-bar linkage assembly and an energy storage power-assisted assembly, the thigh supporting assembly is in power connection with the shank supporting assembly through the crossed four-bar linkage assembly, and the energy storage power-assisted assembly is in power connection with the energy storage power-assisted assembly; the energy storage assisting assembly comprises an elastic energy storage assembly, a brake cable, a guide wheel set and a cable length adjusting device. Passive power assisting is achieved through the energy storage power assisting assembly, the leg load is reduced, the wearing comfort and the feasibility of long-time walking are improved, the crossed four-connecting-rod assembly enables the motion trail of the exoskeleton to better conform to the natural motion trail of the knee joint of the human body, and the motion trail is more stable. Through the elastic energy storage assembly, the cable length adjusting device and the guide wheel set, the adjusting precision of the tensioning degree of the brake cable is improved, the influence of knee joint bending on the length of the brake cable is amplified, the compression degree of an elastic piece and the control precision of stored energy are improved, and the load-bearing auxiliary effect is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of assistive walking devices, and particularly to a passive assistive exoskeleton. Background Art

[0002] In the field of assistive walking, existing knee exoskeletons usually have motors or driving devices installed, which affect the flexibility and comfort of wearing, and are prone to causing the movement trajectory to deviate from the natural knee movement pattern of the human body, resulting in a rigid movement process and non-compliant assistance. Existing products are difficult to provide a balanced force distribution during long-term load-bearing, leading to excessive local pressure on the user's body and prone to fatigue or injury.

[0003] Existing knee exoskeletons are generally only divided into adult models and child models, which are difficult to meet the needs of users with different heights and leg shapes. The adjustment range of the brake cable is small, resulting in a rigid movement process, non-compliant assistance, and unstable assistance effect. The present invention proposes a new solution to the above problems. Summary of the Invention

[0004] In order to overcome at least one of the above-mentioned drawbacks, the present invention provides a passive assistive exoskeleton. The object of the present invention can be achieved by adopting the following technical solutions: The present invention provides a passive assistive exoskeleton, including a leg assembly, and the leg assembly includes: A thigh support assembly for mounting on the thigh; A calf support assembly for mounting on the calf; A cross four-bar linkage assembly, and the thigh support assembly is power-connected to the calf support assembly through the cross four-bar linkage assembly; An energy storage and assistance assembly, which includes an elastic energy storage assembly, a brake cable, a guide pulley group, and a cable length adjustment device. The elastic energy storage assembly and the cable length adjustment device are respectively located on both sides of the cross four-bar linkage assembly, and the guide pulley group is arranged on the cross four-bar linkage assembly; Wherein, the elastic energy storage assembly is connected to the first end of the brake cable for applying an elastic force to tighten the brake cable, the cable length adjustment device is connected to the second end of the brake cable for adjusting the length of the brake cable between the elastic energy storage assembly and the cable length adjustment device, the brake cable is wound around the guide pulley group, and the guide pulley group can drive the brake cable to move as the cross four-bar linkage assembly deforms.

[0005] In an implementable embodiment, the elastic energy storage assembly includes: A first support plate provided on the thigh support assembly or the calf support assembly; a second support plate, the second support plate being movably connected to the first support plate and being located on a side of the first support plate away from the cross four-bar linkage assembly; An elastic telescopic rod, which is arranged between the first support plate and the second support plate, and the elastic telescopic rod is deformed by an elastic member to drive the second support plate to move; A connecting block is connected to the second supporting plate, and the connecting block is connected to the brake line, and the brake line can drive the connecting block to move along the direction in which the elastic member undergoes elastic deformation.

[0006] In one possible implementation, the elastic telescopic rod comprises: A sleeve, the sleeve comprising a receiving cavity; A slide rod, one end of which is embedded in the sleeve and can move along the axial direction of the sleeve; An elastic member, wherein the elastic member is located in the accommodating cavity, one end of the elastic member is relatively fixed to the first support plate, and the other end of the elastic member is in contact with the slide bar, exerting an elastic force on the slide bar to move it away from the first support plate.

[0007] In one possible implementation manner, elastic members with different elastic coefficients can be replaced in the sleeve, and the elastic member includes one of a spring and an elastic sheet.

[0008] In one possible implementation manner, the number of the elastic telescopic rods is at least two, the shape of the connecting block is adapted to the shape of the sleeve, and at least two of the elastic telescopic rods are located on the outer peripheral side of the connecting block to form a stop for the radial movement of the connecting block, so that the connecting block can move axially.

[0009] In one possible implementation, the energy storage booster assembly further includes a line length fine-tuning device, and the line length fine-tuning device includes: A screw rod, wherein the second support plate is provided with a through hole for the screw rod to pass through, one end of the screw rod is connected to the connection block, the screw rod is threadedly connected to the second support plate, and the rotation of the screw rod is used to drive the connection block to move axially; A handle, wherein the screw rod is passed through the second support plate and the other end is connected to the handle, and the outer diameter of the handle is greater than the inner diameter of the through hole.

[0010] In one possible implementation, the line length adjustment device comprises: A housing structure, the housing structure comprising a first half housing and a second half housing that match each other, the first half housing and the second half housing enclosing a wire winding chamber, the wire winding chamber comprising a hole for the brake wire to pass through; A wire reel, the wire reel includes a support rod, and a knob, a compression spring, a baffle plate and a meshing plate sequentially arranged on the support rod. The support rod passes through the second half shell, and the compression spring, the baffle plate and the meshing plate are located in the wire winding cavity. The brake wire is wound around the support rod between the baffle plate and the meshing plate. A limiting groove for the meshing plate is formed on the first half shell. The compression spring is arranged between the wire reel and the second half shell to apply an elastic force to the wire reel, so that a part of the meshing plate is embedded into the limiting groove. The shape of the limiting groove forms a stop for the circumferential rotation of the wire reel. The knob is located outside the housing mechanism, and the knob can drive the wire reel to move axially against the elastic force to be connected or separated from the limiting groove, so as to drive the wire reel to rotate to adjust the winding or release of part of the brake wire.

[0011] In an implementable embodiment, the thigh support assembly includes a thigh bracket and a thigh binding mechanism for binding to the thigh, and the calf support assembly includes a calf bracket and a calf binding mechanism for binding to the calf; The cross four-bar linkage assembly includes: A femur support frame connected to the thigh bracket; A tibia support frame connected to the calf bracket; A first cross link, the first end of the first cross link is rotatably connected to the first end of the femur support frame through a first connecting shaft, and the second end of the first cross link is rotatably connected to the first end of the tibia support frame; A second cross link, the first end of the second cross link is rotatably connected to the second end of the femur support frame through a second connecting shaft, and the second end of the second cross link is rotatably connected to the second end of the tibia support frame through a third connecting shaft; Wherein, the thigh support assembly is rotatably connected to the calf support assembly through the cross four-bar linkage assembly.

[0012] In an implementable embodiment, the guide pulley group includes: A first guide pulley arranged on the first connecting shaft; A second guide pulley arranged on the second connecting shaft; A third guide pulley arranged on the third connecting shaft; Wherein, the brake wire sequentially winds around the first guide pulley, the third guide pulley and the second guide pulley. The positions of the first guide pulley and the second guide pulley are relatively fixed, and the third guide pulley can move in a direction approaching or moving away from the first guide pulley.

[0013] In one implementable manner, the passive assist exoskeleton further includes at least one of a harness and a foot guard. The harness is detachably connected to the thigh support assembly, and the harness includes a back support structure, shoulder straps, and a waist belt. The foot guard is detachably connected to the calf support assembly, and the foot guard includes a foot binding mechanism and a connecting rod that are rotatably connected.

[0014] Advantageous technical effects of the present invention: According to the present disclosure, the passive assist exoskeleton includes an energy storage assist component. A linkage system is formed by an elastic energy storage component, a brake wire, a guide wheel set, and a wire length adjustment device to achieve passive assistance, reducing the leg load, improving wearing comfort and the feasibility of long-term walking. The instantaneous rotation center of the human knee joint is simulated by a cross four-bar linkage component, making the movement trajectory of the exoskeleton more in line with the natural movement trajectory of the human knee joint, providing a more stable and effective load-bearing assistance. Elastic energy storage is achieved through the elastic energy storage component, and the user can adjust the length of the brake wire through the wire length adjustment device according to needs, meeting the needs of users of different heights. The adjustment accuracy of the tension of the brake wire is also improved. The guide wheel set amplifies the influence of the bending process at the knee joint position on the length of the brake wire, enabling more precise control of the compression degree of the spring and the stored energy, improving the adjustment accuracy, flexibility, and response speed of the assistance intensity, and greatly improving the load-bearing assistance effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In the drawings, the following is given by way of example and not limitation: Figure 1 An overall schematic diagram of the exoskeleton at one angle is shown; Figure 2 A structural schematic diagram of the exoskeleton at another angle is shown; Figure 3 A structural schematic diagram of the exoskeleton at yet another angle is shown; Figure 4 Shows Figure 3 An enlarged schematic diagram of the structure of part A; Figure 5 A structural schematic diagram of the harness at one angle is shown; Figure 6 A structural schematic diagram of the harness at another angle is shown; Figure 7 A structural schematic diagram of the harness at yet another angle is shown; Figure 8 A structural schematic diagram of the foot guard is shown; Figure 9 A structural schematic diagram of the leg assembly at one angle is shown; Figure 10Shows a schematic structural diagram of another angle of the leg assembly; Figure 11 Shows a partially enlarged schematic structural diagram of the energy storage assist component and the cross four-bar linkage component at one angle; Figure 12 Shows a partially enlarged schematic structural diagram of the energy storage assist component and the cross four-bar linkage component at another angle; Figure 13 Shows an enlarged schematic structural diagram of the cross four-bar linkage component at yet another angle; Figure 14 Shows a schematic structural diagram of the energy storage assist component and the cross four-bar linkage component at one angle; Figure 15 Shows a schematic structural diagram of the energy storage assist component; Figure 16 Shows a schematic structural diagram of the energy storage assist component and the cross four-bar linkage component at another angle; Figure 17 Shows a partially schematic structural diagram of the thigh support component, the elastic energy storage component, and the wire length fine-tuning device; Figure 18 Shows a perspective structural view of the elastic energy storage component and the wire length fine-tuning device; Figure 19 Shows a partially schematic structural diagram of the connection block and the elastic telescopic rod; Figure 20 Shows a schematic structural diagram of the calf support component; Figure 21 Shows an exploded view of the structure of the calf binding mechanism, the calf support plate, and the second position adjusting member; Figure 22 Shows a schematic structural diagram of the wire length adjusting device; Figure 23 Shows a schematic structural diagram of the wire length adjusting device; Figure 24 Shows a schematic structural diagram of the wire reel.

[0016] In the figure: 100, leg assembly; 1, thigh support component; 11, thigh binding mechanism; 111, thigh fixing plate; 112, thigh adjusting mechanism; 12, thigh bracket; 121, thigh adjusting hole; 122, first buckle of the back strap; 13, first position adjusting member; 2, calf support component; 21, calf binding mechanism; 211, calf fixing plate; 212, calf adjusting mechanism; 213, sliding groove; 214, fixing hole; 22, calf bracket; 221, calf adjusting hole; 222, first buckle of the foot; 23, second position adjusting member; 231, pin; 232, connecting plate; 3. Cross four-bar linkage assembly; 31. Femur support frame; 32. First cross-link; 33. Second cross-link; 34. Tibia support frame; 35. First connecting shaft; 36. Second connecting shaft; 37. Third connecting shaft; 38. First rotating shaft; 39. Second rotating shaft; 4. Energy storage and boosting assembly; 41. Elastic energy storage assembly; 411. First support plate; 412. Second support plate; 413. Elastic telescopic rod; 4131. Sleeve; 4132. Slide bar; 4133. Elastic member; 414. Connecting block; 42. Brake cable; 43. Guide pulley group; 431. First guide pulley; 432. Second guide pulley; 433. Third guide pulley; 44. Cable length adjusting device; 441. First half shell; 4411. Limit groove; 442. Second half shell; 443. Cable reel; 4431. Knob; 4432. Support rod; 4433. Compression spring; 4434. Baffle; 4435. Meshing plate; 45. Cable length fine-tuning device; 451. Screw; 452. Handle; 46. Thigh guide pulley; 47. Calf guide pulley; 200. Shoulder strap; 201. Back support structure; 202. Vertical support frame; 203. Cross beam support frame; 204. Second buckle of shoulder strap; 205. Shoulder strap; 206. Belt; 300. Foot protector; 301. Foot binding mechanism; 302. Connecting rod; 303. Second buckle of foot. Detailed implementation manners

[0017] In the following detailed disclosure, reference is made to the accompanying drawings and these embodiments are fully described. To make the technical solutions of the present invention clearer and more definite for those skilled in the art, the described implementation manners are not limited thereto. The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings.

[0018] As Figures 1 - 24As shown in the figure, the present invention provides a passive assistive exoskeleton, which includes a leg component 100. The leg component 100 includes a thigh support component 1, a calf support component 2, a cross four-bar linkage component 3, and an energy storage assist component 4. The thigh support component 1 is used to be installed on the thigh, and the calf support component 2 is used to be installed on the calf. The thigh support component 1 is power-connected to the calf support component 2 through the cross four-bar linkage component 3. The energy storage assist component 4 includes an elastic energy storage component 41, a brake wire 42, a guide wheel set 43, and a wire length adjustment device 44. The elastic energy storage component 41 and the wire length adjustment device 44 are respectively located on both sides of the cross four-bar linkage component 3. The guide wheel set 43 is arranged on the cross four-bar linkage component 3. The elastic energy storage component 41 is connected to the first end of the brake wire 42 and is used to apply an elastic force to make the brake wire 42 taut. The wire length adjustment device 44 is connected to the second end of the brake wire 42 and is used to adjust the length of the brake wire 42 between the elastic energy storage component 41 and the wire length adjustment device 44. The brake wire 42 is wound around the guide wheel set 43, and the guide wheel set 43 can drive the brake wire 42 to move as the cross four-bar linkage component 3 deforms.

[0019] The passive assistive exoskeleton provided in this embodiment replaces the traditional motor drive with the energy storage assist component 4, eliminates the redundant weight of the battery pack and the transmission mechanism, makes the overall structural mass distribution more ergonomic, and forms a biomechanical coupling system without external energy supply through the elastic energy storage component 41, the brake wire 42, the guide wheel set 43, and the wire length adjustment device 44. It converts the flexion and extension movement of the knee joint into elastic potential energy storage, realizes the autonomous conversion of potential energy and kinetic energy in the gait cycle, realizes passive assistance, reduces the leg load, and improves the wearing comfort and the feasibility of long-term walking.

[0020] The passive assistive exoskeleton provided in this embodiment simulates the instantaneous rotation center of the human knee joint through the cross four-bar linkage component 3, makes the movement trajectory of the exoskeleton more in line with the natural movement trajectory of the human knee joint, the movement is more natural and comfortable, brings a smoother walking experience, avoids the interference of rigid mechanical movements on the knee joint, provides more stable and effective load assistance, and can also be finely adjusted according to the leg contour to ensure the fit and comfort of the exoskeleton during walking, thereby improving the user experience and achieving a better assistance effect.

[0021] The passive assistive exoskeleton provided in this embodiment realizes the compression and energy storage of the elastic member 4133 through the elastic energy storage component 41, realizes the autonomous conversion of potential energy and kinetic energy in the gait cycle, and matches the biomechanical requirements at different walking speeds through the deformation of the elastic member 4133 to form an auxiliary rhythm close to the natural movement of the human body.

[0022] The passive power-assisted exoskeleton provided in this embodiment can adjust the length of the brake line 42 according to user needs through the line length adjustment device 44, meet the needs of users of different heights, improve the consistency of the initial preload force when worn by users of different body shapes, and improve the tension calibration and adjustment accuracy of the brake line 42.

[0023] It can be understood that the elastic energy storage component 41 and the line length adjustment device 44 are respectively arranged on both sides of the cross four-bar assembly 3, that is, the elastic energy storage component 41 is arranged on the thigh support component 1, and the line length adjustment device 44 is arranged on the calf support component 2; or the elastic energy storage component 41 is arranged on the calf support component 2, and the line length adjustment device 44 is arranged on the thigh support component 1, and the brake line 42 is used as a power transmission medium, and non-elastic materials are used to ensure efficient and accurate transmission of the energy released by the spring to avoid energy loss.

[0024] The passive power-assisted exoskeleton provided in this embodiment amplifies the effect of the bending process of the knee joint position on the length of the brake line 42 through the guide wheel group 43. The multi-axis pulley array designed based on the kinematic lever principle converts the slight angle change of the knee joint into the effective stroke of the brake line 42, significantly improving the sensitivity of motion signal acquisition, and being able to more accurately control the compression degree and stored energy of the spring, thereby improving the adjustment accuracy, flexibility and reaction speed of the power-assisted intensity, and greatly improving the load-bearing assistance effect.

[0025] The passive power-assisted exoskeleton provided in this embodiment works synergistically through the cross four-bar linkage assembly 3 and the energy storage power-assisted assembly 4. The line length adjustment device 44 adjusts the initial tension of the brake line 42 to be within the optimal range. After the knee joint movement is decoupled by the cross four-bar linkage assembly 3, the motion trajectory is nonlinearly amplified by the guide wheel assembly 43, driving the elastic energy storage assembly 41 to complete efficient energy conversion, and finally achieving a passive power-assisted effect of reducing the wearer's exercise energy consumption.

[0026] In one possible implementation, Figures 17 - 19 As shown, the elastic energy storage assembly 41 includes a first support plate 411, a second support plate 412, an elastic telescopic rod 413 and a connecting block 414. The first support plate 411 is arranged on the thigh support assembly 1 or the calf support assembly 2, the second support plate 412 is movably connected to the first support plate 411, and is located on the side of the first support plate 411 away from the cross four-bar linkage assembly 3, the elastic telescopic rod 413 is arranged between the first support plate 411 and the second support plate 412, the elastic telescopic rod 413 is deformed through the elastic member 4133 to drive the second support plate 412 to move, the connecting block 414 is connected to the second support plate 412, the connecting block 414 is connected to the brake line 42, and the brake line 42 can drive the connecting block 414 to move along the direction of elastic deformation of the elastic member 4133.

[0027] Among them, the first support plate 411 is arranged on the thigh support assembly 1 or the calf support assembly 2 as a static reference. The second support plate 412 is movably connected to the first support plate 411 through an elastic telescopic rod 413 to form a dynamic carrier for elastic deformation. The elastic telescopic rod 413 is internally provided with an elastic member 4133 as the core energy storage medium. When the knee joint bends, the cross four-link assembly 3 pulls the brake wire 42 through the guide wheel set 43 to drive the connecting block 414 to move along a preset trajectory, that is, move along the axial direction of the elastic telescopic rod 413, causing the elastic telescopic rod 413 to generate compressive deformation and convert mechanical energy into elastic potential energy for storage. During the knee joint extension stage, the elastic telescopic rod 413 releases the stored elastic potential energy, reversely pushing the second support plate 412 to reset, and transferring the energy to the guide wheel set 43 through the connecting block 414 and the brake wire 42, converting it into mechanical power for assisting leg lifting. This process forms a closed-loop energy cycle, enabling autonomous energy recovery and reuse within the gait cycle without external power intervention.

[0028] It can be understood that through the elastic energy storage assembly 41, heavy driving components such as traditional motors and reducers can be eliminated, significantly reducing the system inertial load. The non-linear deformation characteristics of the elastic member 4133 enable the assistive force output to naturally fit the gait cycle curve, and can also improve the accuracy of matching the movement trajectory of the instantaneous rotation center of the knee joint. The pre-tightening force of the elastic telescopic rod 413 can be dynamically adjusted according to the walking frequency, automatically enhancing the energy storage stiffness in large-load scenarios such as squatting and climbing slopes, and maintaining a low-resistance mode during flat-ground walking, forming an intelligent response characteristic similar to that of biological tendons.

[0029] In an implementable embodiment, as Figure 17 and Figure 18 shown, the elastic telescopic rod 413 includes a sleeve 4131, a sliding rod 4132, and an elastic member 4133. The sleeve 4131 includes a receiving cavity. One end of the sliding rod 4132 is embedded in the sleeve 4131 and can move along the axial direction of the sleeve 4131. The elastic member 4133 is located in the receiving cavity. One end of the elastic member 4133 is relatively fixed in position with the first support plate 411, and the other end of the elastic member 4133 is in contact with the sliding rod 4132, applying an elastic force to the sliding rod 4132 to move it away from the first support plate 411.

[0030] Among them, the sleeve 4131 is fixedly connected to the first support plate 411 through a rigid connection. Its internal receiving cavity is provided with an axial guiding slide rail to ensure that the sliding rod 4132 slides only along the axial direction of the sleeve 4131. The exposed end of the sliding rod 4132 is connected to the second support plate 412. When the knee joint flexes and extends, the connecting block 414 is pulled by the brake wire 42 to generate an axial displacement. One end of the elastic member 4133 is fixed to the inner wall of the sleeve 4131 through a card slot, and the other end forms a pressure contact with the end face of the sliding rod 4132 to construct a stable elastic force transmission.

[0031] Among them, when the knee joint bends, the cross four-link component 3 drives the brake wire 42 through the guide wheel set 43 to pull the connecting block 414 to move. The connecting block 414 pulls the second support plate 412 closer to the first support plate 411. At this time, the sliding rod 4132 slides into the inside of the sleeve 4131, and the axial displacement of the sliding rod 4132 continuously compresses the elastic member 4133, converting mechanical kinetic energy into elastic potential energy for storage. During the knee joint extension stage, the resilience of the elastic member 4133 pushes the sliding rod 4132 to reset, and the stored energy is released in the reverse direction through the connecting block 414, forming an assist pulse synchronized with the human motion phase.

[0032] Among them, the deformation direction of the elastic member 4133 is always consistent with the human force direction. When the knee joint bends, the linear displacement of the sliding rod 4132 has an accurate proportional relationship with the compression amount of the elastic member 4133, ensuring the energy storage efficiency; during the extension stage, the time curve of the energy released by the elastic member 4133 naturally fits the torque requirement of the human joint, forming the assist characteristics of a biological tendon. The gradually changing stiffness characteristic of the elastic member 4133 provides a small resistance in the initial compression stage, reducing the physical energy consumption of the wearer when starting; as the compression amount increases, the resistance increases non-linearly, providing strong support in the middle and late stages of the gait cycle, simulating the force characteristics of human muscles, and enabling the assist intensity to automatically adapt to different motion states such as walking and running.

[0033] Among them, elastic members 4133 with different elastic coefficients can be replaced inside the sleeve 4131, and the elastic member 4133 includes one of a spring and an elastic sheet.

[0034] Among them, by replacing the spring or elastic sheet with different elastic coefficients, it can accurately match the weight, gait characteristics, and motion scenario requirements of the wearer. High-elasticity coefficient components are suitable for large-load working conditions such as climbing slopes and carrying loads, providing strong support; low-elasticity coefficient components reduce the motion resistance during flat-ground walking, improving the naturalness of wearing. By quickly replacing the elastic members 4133 with different elastic coefficients, the function mode switching of the exoskeleton can be realized.

[0035] It can be understood that making the elastic member 4133 an independent replaceable unit, when there is local wear or failure, there is no need to replace the overall structure, significantly extending the service life of the device.

[0036] Among them, the sleeve 4131 can adopt a split structure, and its end cover is quickly disassembled and assembled through snap or threaded connections. Or, a split structure can be adopted between the sleeve 4131 and the first support plate 411, and the sleeve 4131 is connected to the first support plate 411 through a snap or thread for quick disassembly and assembly. Standardized slots can be set inside the sleeve 4131, and matching positioning flanges are provided at both ends of the elastic member 4133 (spring or elastic sheet) to ensure that elastic members 4133 with different elastic coefficients can be accurately installed at the preset positions, realizing the quick replacement of the elastic member 4133.

[0037] In an implementable manner, as Figures 17 - 19 shown, the number of the elastic telescopic rods 413 is at least two, the shape of the connecting block 414 is adapted to the shape of the sleeve 4131, and at least two elastic telescopic rods 413 are located on the outer peripheral side of the connecting block 414 to form a stop for the radial movement of the connecting block 414, so that the connecting block 414 can move axially.

[0038] Among them, at least two elastic telescopic rods 413 can be arranged in a circumferential symmetry or a rectangular symmetry on the outer peripheral side of the connecting block 414. A guiding groove matching the outer contour of the sleeve 4131 is machined on the outer surface of the connecting block 414, so that the movement track of the connecting block 414 always remains parallel to the axis of the elastic telescopic rod 413. When the brake wire 42 applies a pulling force, multiple sliding rods 4132 synchronously compress the elastic member 4133, generating a uniform energy storage effect, improving the stability, and also being able to avoid the failure of the overall device caused by the damage of a single elastic telescopic rod 413.

[0039] Furthermore, a small clearance fit can be adopted between the sleeve 4131 and the connecting block 414. The surrounding layout formed by multiple elastic telescopic rods 413 generates a radially uniform binding force on the connecting block 414, effectively suppressing the lateral offset of the connecting block 414, ensuring that the deviation of the movement track from the axis of the sleeve 4131 is controlled within a very small range. The elastic telescopic rod 413 allows a small-angle offset of the connecting block 414, ensuring that linear tension transmission can still be maintained during the multi-degree-of-freedom movement of the knee joint, and avoiding mechanical interference during the energy conversion process.

[0040] In an implementable manner, as Figure 9 and Figure 10 shown, the energy storage and boosting assembly 4 further includes a wire length fine-tuning device 45. As Figures 14 - 19 shown, the wire length fine-tuning device 45 includes a screw 451 and a handle 452. A through hole for the screw 451 to pass through is formed on the second support plate 412. One end of the screw 451 is connected to the connecting block 414, and the screw 451 is in threaded connection with the second support plate 412. The rotation of the screw 451 is used to drive the connecting block 414 to move axially; the screw 451 passes through the second support plate 412 and a handle 452 is connected to the other end, and the outer diameter of the handle 452 is greater than the inner diameter of the through hole.

[0041] Among them, the screw 451 penetrates through the through hole of the second support plate 412, one end of which is rigidly connected to the connecting block 414, and the other end is fixed with the handle 452. The screw 451 can be in threaded connection with the second support plate 412 or in threaded connection with the connecting block 414.

[0042] Among them, internal threads are machined on the inner wall of the through hole of the second support plate 412 to form a fit with the external threads of the screw rod 451. When the handle 452 is rotated, the screw rod 451 generates an axial displacement under the action of the thread guide, pushing the connecting block 414 to move along the axis direction of the sleeve 4131, thereby changing the effective length of the brake wire 42 and improving the adjustment accuracy of the tension of the brake wire 42. The screw rod 451 adopts a bidirectional symmetric thread design. When rotated forward, it pushes the connecting block 414 to move towards the first support plate 411, releasing the tension of the brake wire 42; when rotated in the reverse direction, it makes the connecting block 414 move towards the second support plate 412, increasing the pre-tightening force of the elastic member 4133 and the tension of the brake wire 42.

[0043] It can be understood that the outer diameter of the handle 452 is larger than the inner diameter of the through hole to form a physical limit, preventing the screw rod 451 from completely disengaging from the second support plate 412.

[0044] In an implementable embodiment, as Figures 22 - 24 shown, the wire length adjusting device 44 includes a housing mechanism and a wire reel 443. The housing mechanism includes a first half housing 441 and a second half housing 442 that are adapted to each other. The first half housing 441 and the second half housing 442 enclose to form a wire winding cavity. The wire winding cavity includes a hole for the brake wire 42 to pass through; the wire reel 443 includes a support rod (4432) and a knob 4431, a compression spring 4433, a baffle 4434, and a meshing plate 4435 that are sequentially arranged on the support rod (4432). The support rod (4432) passes through the second half housing 442. The compression spring 4433, the baffle 4434, and the meshing plate 4435 are located in the wire winding cavity. The brake wire 42 is wound around the support rod (4432) between the baffle 4434 and the meshing plate 4435. A limit groove 4411 for the meshing plate 4435 is formed on the first half housing 441. The compression spring 4433 is arranged between the wire reel 443 and the second half housing 442 to apply an elastic force to the wire reel 443, so that a part of the meshing plate 4435 is embedded in the limit groove 4411. The shape of the limit groove 4411 forms a stop for the circumferential rotation of the wire reel 443. The knob 4431 is located outside the housing mechanism. The knob 4431 can drive the wire reel 443 to move axially against the elastic force to be connected or separated from the limit groove 4411, for driving the wire reel 443 to rotate to adjust the winding or releasing of part of the brake wire 42.

[0045] Among them, the meshing plate 4435 adopts a star-shaped toothed disc structure or a polygonal toothed disc structure, and the limiting groove 4411 is correspondingly designed as a radial groove array or a polygonal groove array. The pre-tightening force of the compression spring 4433 makes the winding wheel 443 be in a circumferentially locked state when the meshing plate 4435 is embedded in the limiting groove 4411. When the knob 4431 is pulled outward, the winding wheel 443 moves axially along the support rod (4432) to compress the compression spring 4433, so that the meshing plate 4435 is disengaged from the limiting groove 4411. At this time, rotating the knob 4431 can drive the baffle 4434 to rotate synchronously with the meshing plate 4435, so as to realize the winding or release of the brake line 42. After releasing the knob 4431, the compression spring 4433 pushes the winding wheel 443 to reset and automatically mesh and lock.

[0046] The line length adjustment device 44 adopts a rotation adjustment and self-locking structure, and a ratchet mechanism is formed on the winding wheel 443, which allows segmented adjustment. When the adjustment is in place, the meshing plate 4435 automatically snaps into the limit groove 4411 under the action of the compression spring 4433. The meshing plate 4435 allows the locking force to be automatically enhanced when the line is reeled in the forward rotation, and the tooth surface forms a self-locking when the force is reversed, which can prevent the knob 4431 from being accidentally touched and causing the brake line 42 to be accidentally released, and quickly adjust the rope length and lock it stably, realizing the flexible adjustment and efficient fixation of the manual tightening brake line 42, which can be suitable for the needs of different heights, is convenient to operate, and ensures the reliability and stability of the system, ensuring that the length of the brake line 42 does not change during movement, and avoiding affecting the power-assisting effect.

[0047] Among them, an anti-skid layer can be provided on the surface of the knob 4431, and the anti-skid layer includes an anti-skid silicone layer and / or anti-skid texture.

[0048] It is understandable that if Figure 9 and Figure 10 As shown, a passive power-assisted exoskeleton provided in this embodiment is realized through a hierarchical adjustment architecture by the coordinated work of a cable length adjustment device 44 and a cable length fine-tuning device 45, thereby forming a "coarse adjustment-fine adjustment" dual-mode control system.

[0049] In the coarse adjustment stage, the brake line 42 is quickly retracted and released through the winding wheel 443 device to adjust the length in centimeters. The knob 4431 is pulled outward to unlock and then rotated to adjust the cable length to the target range. After the knob 4431 is released, the engagement plate 4435 is embedded in the limit groove 4411 and locked. In the fine adjustment stage, on the basis of the coarse adjustment locking, the rotating handle 452 drives the axial displacement of the connecting block 414 through the screw 451 to achieve millimeter-level precision adjustment. The threaded transmission of the screw 451 and the toothed disc locking of the winding wheel 443 form a series control, and the two work together to keep the exoskeleton in the optimal power assistance range.

[0050] In one possible implementation, Figures 1 - 3As shown, the thigh support assembly 1 includes a thigh bracket 12 and a thigh binding mechanism 11. The thigh binding mechanism 11 is used to bind to the thigh. The calf support assembly 2 includes a calf bracket 22 and a calf binding mechanism 21. The calf binding mechanism 21 is used to bind to the calf.

[0051] Among them, as Figure 20 and Figure 21 shown, the thigh binding mechanism 11 includes a thigh fixing plate 111 and a thigh adjustment structure. The thigh fixing plate 111 is used to sleeve on the thigh part; a sliding groove 213 for accommodating the thigh bracket 12 is provided on the thigh fixing plate 111, and a fixing hole 214 is provided on the sliding groove 213. A number of thigh adjustment holes 121 are provided at intervals along the length direction of the thigh bracket 12. Fixing is achieved by a part of the first position adjustment member 13 being inserted into the fixing hole 214 and the thigh adjustment hole 121.

[0052] Among them, as Figure 20 and Figure 21 shown, the calf binding mechanism 21 includes a calf fixing plate 211 and a calf adjustment structure. The calf fixing plate 211 is used to sleeve on the calf part; a sliding groove 213 for accommodating the calf bracket 22 is provided on the calf fixing plate 211, and a fixing hole 214 is provided on the sliding groove 213. A number of calf adjustment holes 221 are provided at intervals along the length direction of the calf bracket 22. Fixing is achieved by a part of the first position adjustment member 13 being inserted into the fixing hole 214 and the calf adjustment hole 221.

[0053] Among them, a position adjustment member is provided between the thigh bracket 12 and the thigh binding mechanism 11, and between the calf bracket 22 and the calf binding mechanism 21. Specifically, a sliding groove 213 for the bracket to slide is provided on the fixing plate, and a fixing hole 214 is opened on the sliding groove 213. A number of adjustment holes are opened on the bracket, and the position of the binding mechanism is adjusted by aligning the fixing hole 214 with different adjustment holes. The porous structure can not only provide multi-gear adjustment accuracy, but also achieve quick fixation through the position adjustment member. It can adjust the distance between the thigh binding mechanism 11 and the cross four-bar linkage assembly 3, and the distance between the calf binding mechanism 21 and the cross four-bar linkage assembly 3. It significantly simplifies the operation process, solves the problem of slipping or loosening during exercise load, effectively reduces the overall weight of the device, improves durability and adaptability, meets the needs of users with different heights and leg shapes, realizes multi-directional adaptation of the lateral width and vertical height of the knee joint, and ensures the stability and safety after adjustment. By adjusting the position and angle of the exoskeleton, it can accurately match the contour of the user's knee, avoid discomfort caused by insufficient rigidity or excessive compression of the device. The dynamic adaptation device makes the support mechanism closely fit the leg during movement through multi-directional fine-tuning, optimizing the matching between the knee joint movement trajectory and the device assistance path, thereby improving naturalness and flexibility during walking.

[0054] Further, as Figure 21 shown, both the first position adjusting member 13 and the second position adjusting member 23 include a pin 231 and a connecting plate 232. The connecting plate 232 is pressed on the sliding groove 213, and the thigh bracket 12 or the calf bracket 22 is located between the sliding groove 213 and the connecting plate 232. A hole corresponding to the fixing hole 214 is formed in the connecting plate 232. The end of the pin 231 sequentially passes through the hole in the connecting plate 232, the adjusting hole in the thigh bracket 12 or the calf bracket 22 until it is embedded in the fixing hole 214. The end of the pin 231 may be provided with an external thread, and an internally threaded portion adapted thereto is provided in the fixing hole 214. The pin 231 and the fixing plate are connected by a thread.

[0055] In an implementable embodiment, as Figure 20 and Figure 21 shown, both the thigh binding mechanism 11 and the calf binding mechanism 21 include a fixing plate, a flexible pad, a binding line, and a binding adjustment assembly. The fixing plate is arc-shaped for sleeving on the leg. The flexible pad is arranged on the inner side of the fixing plate for making flexible contact with the leg. One end of the binding line is connected to the fixing plate or the flexible pad. The binding adjustment assembly is arranged on the fixing plate. The binding line is arranged circumferentially on the outer side of the flexible pad. The binding adjustment assembly is connected to the other end of the binding line for adjusting the tension degree of the binding line.

[0056] Among them, the fixing plate is arc-shaped, and the notch of the arc is located on the inner side of the leg during wearing, reducing the friction on the leg during walking and improving the comfort and stability of wearing.

[0057] Among them, the flexible pad is arranged on the inner side of the fixing plate and is in direct contact with the human skin. It is made of a soft material, which can provide comfortable flexible support and at the same time disperse the pressure of the exoskeleton on the leg, further reducing the discomfort during wearing.

[0058] Among them, the binding line is circumferentially bound on the outer sides of the fixing plate and the flexible pad. The tension degree of the binding line is adjusted by the binding adjustment assembly, so as to ensure that the thigh binding mechanism 11 and the calf binding mechanism 21 can closely fit on the leg. The binding adjustment assembly is arranged on the fixing plate, which is convenient for the wearer to quickly adjust. By adjusting the binding adjustment assembly, the wearer can easily adjust the tension degree of the binding line according to his own leg size and comfort requirements, realizing a personalized wearing experience.

[0059] This embodiment provides a specific composition of the binding adjustment assembly. The binding adjustment assembly includes a base, a ratchet mechanism, and a rotary buckle. The base is arranged on the fixing plate. The ratchet mechanism includes a ratchet and a pawl that are adapted to each other. The rotary buckle is connected to the pawl. The binding line is connected to the ratchet. The rotary buckle is arranged on the base, and the rotary buckle is screwed to release or tighten the binding line.

[0060] Among them, the base is the support structure of the binding adjustment component, which is arranged on the fixed plate. The rotary buckle is connected to the ratchet pawl, and the ratchet wheel is connected to the binding wire. When the ratchet pawl rotates or moves under the manual drive of the rotary buckle, it will interact with the ratchet wheel, thereby driving the ratchet wheel to rotate, and then tightening or releasing the binding wire to achieve the adjustment of the binding tightness.

[0061] Among them, the rotary buckle is arranged on the base, which provides an interface for the wearer to manually adjust the tightness of the binding wire. The binding wire can be released or tightened by screwing the rotary buckle, so as to adjust the tightness of the binding according to their own needs and comfort, making the binding adjustment more convenient and flexible.

[0062] In an implementable manner, as Figure 13 and Figure 16 shown, one end of the thigh bracket 12 for connecting with the cross four-bar linkage assembly 3 is provided with a first rotating shaft 38, and both ends of the calf bracket 22 for connecting with the cross four-bar linkage assembly 3 are provided with second rotating shafts 39. The axes of the first rotating shaft 38 and the second rotating shaft 39 are parallel and perpendicular to the plane where the cross four-bar linkage assembly 3 is located, so as to adjust the position of the calf bracket 22.

[0063] Among them, one end of the thigh bracket 12 is rotatably connected to the cross four-bar linkage assembly 3, and one end of the calf bracket 22 is rotatably connected to the cross four-bar linkage assembly 3. The cross four-bar linkage assembly 3 is rotatably connected to the thigh bracket 12 through the first rotating shaft 38, and the cross four-bar linkage assembly 3 is rotatably connected to the calf bracket 22 through the second rotating shaft 39, so that the calf bracket 22 can rotate an angle in the vertical plane, adaptively adjust the position of the calf bracket 22, and enable the exoskeleton to be finely adjusted according to the leg contour and body type of the wearer at the knee joint to meet the needs of people with different leg types, ensuring that the knee joint part can dynamically fit the leg curve, thereby providing personalized wearing adaptability and comfort.

[0064] Furthermore, the axes of the two rotating shafts are parallel and perpendicular to the plane where the cross four-bar linkage assembly 3 is located, so as to adjust the position of the calf bracket 22 and be applicable to different leg types such as X-shaped legs and O-shaped legs.

[0065] The passive assist exoskeleton provided in this embodiment includes multi-directional flexible fitting degrees of freedom, which are realized through rotating shafts. The rotating shafts at the knee joint can adapt to small angular changes in different directions with the movement of the joint, dynamically adjusting the fitting angle between the exoskeleton and the leg, and avoiding discomfort caused by joint transformation.

[0066] In an implementable manner, as Figures 9 - 13As shown in the figure, the cross four-bar linkage assembly 3 includes a femur support frame 31, a tibia support frame 34, a first cross-link 32 and a second cross-link 33. The femur support frame 31 is connected to the thigh support 12, and the tibia support frame 34 is connected to the calf support 22. There is a rotational connection between the first end of the first cross-link 32 and the first end of the femur support frame 31 through a first connecting shaft 35. The second end of the first cross-link 32 is rotatably connected to the first end of the tibia support frame 34. There is a rotational connection between the first end of the second cross-link 33 and the second end of the femur support frame 31 through a second connecting shaft 36. There is a rotational connection between the second end of the second cross-link 33 and the second end of the tibia support frame 34 through a third connecting shaft 37. The thigh support assembly 1 is rotatably connected to the calf support assembly 2 through the cross four-bar linkage assembly 3.

[0067] The passive assistive exoskeleton provided in this embodiment uses a bionic cross four-bar linkage assembly 3 to achieve bionic movement. The cross four-bar linkage assembly 3 includes a femur support frame 31, a tibia support frame 34, a first cross-link 32 and a second cross-link 33. Rotation and fixation are achieved through connecting shafts, jointly constituting a flexible support system for the knee joint. As Figures 11 - 13 shown in the figure, the femur support frame 31 is connected to the thigh support 12, and the tibia support frame 34 is connected to the calf support 22. The femur support frame 31 and the tibia support frame 34 achieve rotation through the first cross-link 32 and the second cross-link 33. The first cross-link 32 and the second cross-link 33 are arranged in an X-shaped cross layout, which plays a role in connecting and transmitting motion, enabling the femur support frame 31 and the tibia support frame 34 to move relative to each other. During movements such as walking, running, and jumping, the human knee joint will perform complex rotational movements around an instantaneous rotation center. The cross four-bar linkage assembly 3 is set to simulate the instantaneous rotation center of the human knee joint, making the movement trajectory of the exoskeleton more consistent with the movement of the natural human knee joint, effectively increasing the naturalness and comfort of the knee joint flexion and extension movements, ensuring that the movement trajectory of the exoskeleton knee joint is more consistent with the movement of the natural human knee joint, avoiding rigid movements during the mechanical drive process, and enabling the wearer to enjoy a more natural and smooth movement experience during wearing.

[0068] Among them, the cross four-bar linkage assembly 3 consists of a femur support frame 31, a tibia support frame 34, and two sets of cross-links. This structure can perform multi-axis rotation like the human knee joint, thereby adapting to various complex movement postures. By precisely controlling the rotation angle and speed of the links, it is ensured that the exoskeleton always remains synchronized with the human knee joint during movement, reducing friction and resistance during movement. The highly simulated design enables the exoskeleton to provide just the right amount of assistance when the wearer performs various daily activities, reducing the burden on the knee joint and improving the efficiency and comfort of walking.

[0069] In an implementable manner, as Figures 10 - 16As shown, the guide wheel set 43 includes a first guide pulley 431, a second guide pulley 432, and a third guide pulley 433. The first guide pulley 431 is arranged on the first connecting shaft 35, the second guide pulley 432 is arranged on the second connecting shaft 36, and the third guide pulley 433 is arranged on the third connecting shaft 37. The brake cable 42 is successively wound around the first guide pulley 431, the third guide pulley 433, and the second guide pulley 432. The positions of the first guide pulley 431 and the second guide pulley 432 are relatively fixed, and the third guide pulley 433 can move in a direction approaching or moving away from the first guide pulley 431.

[0070] Among them, the movement trajectory of the guide wheel set 43 is determined by the movement model of the cross four-link assembly 3. The guide wheel set 43 realizes the precise wire control adjustment during the knee joint movement through the elastic energy storage cooperation mechanism of the dynamic path compensation and the elastic energy storage component 41. As Figure 11 and Figure 12 shown, when the knee joint flexes, the third guide pulley 433 is pushed by the cross four-link assembly 3 to move away from the first guide pulley 431 and the second guide pulley 432. The movement of the third pulley amplifies the displacement of the brake cable 42 through the geometric lever effect, and converts the linear displacement pulled by the guide wheel set 43 into the axial compression of the elastic member 4133, improving the accuracy of the elastic force adjustment. When the knee joint extends, the third guide pulley 433 is pushed by the cross four-link assembly 3 to move closer to the first guide pulley 431 and the second guide pulley 432, releasing the redundant length of the brake cable 42. The elastic member 4133 rebounds to release the stored energy, assisting the knee joint to quickly reset.

[0071] Furthermore, as Figures 11 - 16 shown, a thigh guide pulley 46 is provided on the thigh bracket 12 to adjust the inlet angle of the brake cable 42, and a calf guide pulley 47 is provided on the calf bracket 22 to adjust the outlet angle of the brake cable 42. The brake cable 42 forms a wavy winding path according to the thigh guide pulley 46, the first guide pulley 431, the third guide pulley 433, the second guide pulley 432, and the calf guide pulley 47.

[0072] In an implementable manner, as Figures 1 - 8 shown, the passive assistive exoskeleton further includes at least one of a back strap 200 and a foot protector 300.

[0073] The passive assistive exoskeleton provided in this embodiment includes a back strap 200. The back strap 200 is detachably connected to the thigh support assembly 1. The back strap 200 includes a back support structure 201, shoulder straps 205, and a waistband 206.

[0074] Among them, the shoulder straps 205 and the waistband 206 are arranged on the back support structure 201, and connection buckles can be arranged between the two relatively arranged shoulder straps 205, and connection buckles can also be arranged on the waistband 206 for easy wearing.

[0075] Furthermore, as Figures 4 - 7 shown, the back strap 200 further includes a vertical support frame 202 and a crossbeam support frame 203. The vertical support frame 202 is disposed on the back support structure 201, and the crossbeam support frame 203 is disposed at the bottom of the vertical support frame 202 and encloses the outer peripheral side of the wearer's waist. A first back strap buckle 122 is provided on the thigh bracket 12, and second back strap buckles 204 are provided at both ends of the crossbeam support frame 203. The thigh bracket 12 and the back strap 200 are snap-connected through the first back strap buckle 122 and the second back strap buckle 204.

[0076] The support structure of the back strap 200 realizes the compatibility of rigid support and flexible fitting. The shoulder strap 205 and the waist strap 206 are connected to the back support structure 201 through adjustable webbing, and the connection buckle adopts a mechanical lock design, supporting quick one-handed donning and doffing. The vertical support frame 202 is distributed along the spinal column and is dynamically connected to the crossbeam support frame 203 through a universal ball hinge. The second back strap buckle 204 at the end of the crossbeam support frame 203 and the corresponding first back strap buckle 122 of the thigh bracket 12 form a positioning and locking mechanism to ensure the stability of the structure.

[0077] It can be understood that through multi-point pressure dispersion of the back strap 200, the combined connection design of the shoulder strap 205 and the waist strap 206 changes the pressure distribution from the traditional concentration on the legs to the coordinated bearing of the shoulders and the waist, converts the weight of the exoskeleton into a vertical force chain and disperses it to the core area of the trunk, reduces muscle fatigue caused by traditional single-point pressure bearing, avoids fatigue accumulation caused by excessive local stress, can effectively reduce the pressure on the knee joint when bearing weight, enhances the stability of the exoskeleton at the same time, reduces local compression points, and reduces the risk of skin abrasion during long-term wearing, so that the user still feels comfortable during long-term use.

[0078] The passive assistive exoskeleton provided in this embodiment includes a foot protector 300, as Figures 1 - 3 shown, the foot protector 300 is detachably connected to the calf support assembly 2, and the foot protector 300 includes a foot binding mechanism 301 and a connecting rod 302 that are rotatably connected.

[0079] Among them, as Figure 8 shown, the foot protector 300 is connected to the calf bracket 22. The foot binding mechanism 301 is used for binding on the foot. A connecting rod 302 is rotatably connected to the foot binding mechanism 301. A first foot buckle 222 is provided on the calf bracket 22, and a second foot buckle 303 is provided on the connecting rod 302. The calf bracket 22 and the foot binding mechanism 301 are snap-connected through the first foot buckle 222 and the second foot buckle 303.

[0080] Among them, the foot binding mechanism 301 adopts a combined design of split pedals and straps. The pedals fit the soles of the shoes, and the surfaces are covered with high-friction texture layers to enhance stability. The straps can be adjusted in tightness through elastic webbing and Velcro, adapting to different foot sizes and reducing local pressure, which can reduce the pressure on the legs and improve the structural stability. A ball hinge connection can be adopted between the connecting rod 302 and the foot binding mechanism 301, allowing multi-dimensional movement of the ankle joint when walking, and at the same time, the rotation range can be controlled through the limit groove 4411 to avoid structural instability caused by excessive deflection.

[0081] It can be understood that the passive assistive exoskeleton is used in combination with the harness 200 and the foot protector 300. The harness 200 transfers the load traditionally concentrated on the lower limbs to the trunk core area, and the foot protector 300 forms a "sole-calf" continuous force chain, converting part of the longitudinal pulling force exerted on the leg by the exoskeleton into a vertical supporting force, reducing the leg load and improving the comfort of long-term wearing.

[0082] In the description of this specification, the descriptions of terms such as "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0083] The above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0084] In view of the above detailed description, these and other changes can be made to these embodiments. This written description includes the best mode of implementing the present invention. The patent scope obtained by the present invention is defined by the claims, and the claims are not limited by the content of this disclosure. The protection scope of the present invention is not limited thereto. Any person skilled in the art within the scope disclosed by the present invention, according to the technical solution and concept of the present invention, makes equivalent replacements or changes, and all are within the protection scope of the present invention.

Claims

1. A passive assistive exoskeleton, characterized in that, The invention comprises a leg assembly (100), wherein the leg assembly (100) comprises: A thigh support assembly (1), wherein the thigh support assembly (1) is used for being installed on the thigh; A calf support assembly (2), the calf support assembly (2) being used for being installed on the calf; A cross four-link assembly (3), wherein the thigh support assembly (1) is dynamically connected to the calf support assembly (2) via the cross four-link assembly (3); An energy storage assisting assembly (4), the energy storage assisting assembly (4) comprising an elastic energy storage assembly (41), a brake line (42), a guide wheel assembly (43) and a line length adjusting device (44), the elastic energy storage assembly (41) and the line length adjusting device (44) being respectively located on two sides of the cross four-link assembly (3), and the guide wheel assembly (43) being arranged on the cross four-link assembly (3); The elastic energy storage component (41) is connected to the first end of the brake line (42) for applying elastic force to the brake line (42) to make it tight; the line length adjustment device (44) is connected to the second end of the brake line (42) for adjusting the length of the brake line (42) between the elastic energy storage component (41) and the line length adjustment device (44); the brake line (42) is wound around the guide wheel group (43); the guide wheel group (43) can deform with the cross four-bar linkage assembly (3) to drive the brake line (42) to move.

2. The passive assistive exoskeleton according to claim 1, wherein The elastic energy storage component (41) comprises: A first support plate (411), the first support plate (411) being arranged on the thigh support assembly (1) or the calf support assembly (2); a second support plate (412), the second support plate (412) being movably connected to the first support plate (411) and being located on a side of the first support plate (411) away from the cross four-bar linkage assembly (3); An elastic telescopic rod (413), the elastic telescopic rod (413) being arranged between the first support plate (411) and the second support plate (412), the elastic telescopic rod (413) being deformed through an elastic member (4133) to drive the second support plate (412) to move; A connecting block (414), the connecting block (414) being connected to the second support plate (412), the connecting block (414) being connected to the brake line (42), and the brake line (42) being capable of driving the connecting block (414) to move in a direction in which the elastic member (4133) undergoes elastic deformation.

3. The passive assistive exoskeleton according to claim 2, wherein The elastic telescopic rod (413) comprises: A sleeve (4131), wherein the sleeve (4131) comprises a receiving cavity; A sliding rod (4132), one end of which is embedded in the sleeve (4131) and is capable of moving along the axial direction of the sleeve (4131); An elastic member (4133), the elastic member (4133) is located in the accommodation cavity, one end of the elastic member (4133) is relatively fixed in position with the first support plate (411), and the other end of the elastic member (4133) is in contact with the sliding rod (4132), applying an elastic force to the sliding rod (4132) to move it away from the first support plate (411).

4. The passive assistive exoskeleton according to claim 3, wherein Elastic members (4133) with different elastic coefficients can be replaced within the sleeve (4131), and the elastic member (4133) includes one of a spring and an elastic sheet.

5. The passive assistive exoskeleton according to claim 3, wherein The number of the elastic telescopic rods (413) is at least two, the shape of the connecting block (414) is adapted to the shape of the sleeve (4131), and at least two of the elastic telescopic rods (413) are located on the outer peripheral side of the connecting block (414) to form a stop for the radial movement of the connecting block (414), so that the connecting block (414) can move axially.

6. The passive assistive exoskeleton according to claim 2, characterized in that, The energy storage and boosting assembly (4) further includes a wire length fine-tuning device (45), and the wire length fine-tuning device (45) includes: A screw rod (451), a through hole for the screw rod (451) to pass through is provided on the second support plate (412), one end of the screw rod (451) is connected to the connecting block (414), the screw rod (451) is threadedly connected to the second support plate (412), and the rotation of the screw rod (451) is used to drive the axial movement of the connecting block (414); A handle (452), the screw rod (451) passes through the second support plate (412) and the other end is connected with the handle (452), and the outer diameter of the handle (452) is larger than the inner diameter of the through hole.

7. The passive assistive exoskeleton according to claim 1 or 6, characterized in that, The wire length adjusting device (44) includes: A housing mechanism, the housing mechanism includes a first half housing (441) and a second half housing (442) that are adapted to each other, the first half housing (441) and the second half housing (442) enclose to form a wire winding cavity, and the wire winding cavity includes a hole for the brake wire (42) to pass through; A wire reel (443), the wire reel (443) includes a support rod (4432), and a knob (4431), a compression spring (4433), a baffle (4434) and an engaging plate (4435) sequentially arranged on the support rod (4432). The support rod (4432) passes through the second half housing (442). The compression spring (4433), the baffle (4434) and the engaging plate (4435) are located in the wire winding cavity. The brake wire (42) is wound around the support rod (4432) between the baffle (4434) and the engaging plate (4435). A limiting groove (4411) for the engaging plate (4435) is formed on the first half housing (441). The compression spring (4433) is arranged between the wire reel (443) and the second half housing (442) to apply an elastic force to the wire reel (443), so that a part of the engaging plate (4435) is embedded into the limiting groove (4411). The shape of the limiting groove (4411) forms a stop for the circumferential rotation of the wire reel (443). The knob (4431) is located outside the housing mechanism. The knob (4431) can drive the wire reel (443) to move axially against the elastic force to be connected to or separated from the limiting groove (4411), for driving the wire reel (443) to rotate to adjust the winding or releasing of part of the brake wire (42).

8. The passive assistive exoskeleton according to claim 1, wherein The thigh support assembly (1) includes a thigh bracket (12) and a thigh binding mechanism (11). The thigh binding mechanism (11) is used for binding on the thigh. The calf support assembly (2) includes a calf bracket (22) and a calf binding mechanism (21). The calf binding mechanism (21) is used for binding on the calf; The cross four-bar linkage assembly (3) includes: A femur support frame (31), the femur support frame (31) is connected to the thigh bracket (12); A tibia support frame (34), the tibia support frame (34) is connected to the calf bracket (22); A first cross link (32), a first end of the first cross link (32) is rotatably connected to a first end of the femur support frame (31) through a first connecting shaft (35), and a second end of the first cross link (32) is rotatably connected to a first end of the tibia support frame (34); A second cross link (33), a first end of the second cross link (33) is rotatably connected to a second end of the femur support frame (31) through a second connecting shaft (36), and a second end of the second cross link (33) is rotatably connected to a second end of the tibia support frame (34) through a third connecting shaft (37); Wherein, the thigh support assembly (1) is rotatably connected to the calf support assembly (2) through the cross four-bar linkage assembly (3).

9. The passive assistive exoskeleton according to claim 8, wherein, The guide pulley group (43) includes: A first guide pulley (431), the first guide pulley (431) is arranged on the first connecting shaft (35); A second guiding pulley (432) is provided on the second connecting shaft (36); A third guiding pulley (433) is provided on the third connecting shaft (37); Wherein, the brake wire (42) sequentially winds around the first guiding pulley (431), the third guiding pulley (433) and the second guiding pulley (432). The positions of the first guiding pulley (431) and the second guiding pulley (432) are relatively fixed, and the third guiding pulley (433) can move in a direction approaching or departing from the first guiding pulley (431).

10. The passive assistive exoskeleton according to claim 1, wherein The passive assistive exoskeleton further includes at least one of a back strap (200) and a foot protector (300); The back strap (200) is detachably connected to the thigh support assembly (1), and the back strap (200) includes a back support structure (201), shoulder straps (205) and a waist belt (206); The foot protector (300) is detachably connected to the calf support assembly (2), and the foot protector (300) includes a foot binding mechanism (301) and a connecting rod (302) which are rotatably connected.

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