Unpowered knee joint elastic support exoskeleton and exoskeleton robot

Abstract

The present invention belongs to the technical field of walking-assisting exoskeleton robots, and discloses an unpowered knee joint elastic support exoskeleton, comprising a thigh support assembly, a calf support assembly, an elastic push rod assembly, and a positioning sliding assembly. The thigh support assembly comprises a fixedly connected thigh strap and a thigh support rod, and the thigh support rod provided with a slot fits the wearer's thigh. The calf support assembly comprises a fixedly connected calf strap and a calf support rod, and the calf support rod fits the wearer's calf, and one end of the calf support rod is hinged to one end of the thigh support rod. One end of the elastic push rod assembly, which can elastically extend and retract along its own axis, is hinged to the calf support rod, and the free end is slidably connected to the thigh support rod. The positioning sliding assembly is slidably connected to the thigh support rod and can push the free end into the slot. The unpowered knee joint elastic support exoskeleton of the present invention can provide fixed-position support for people who work in a bent-knee or squatting position for a long time, eliminate knee joint pressure, and reduce knee joint strain.

Description

Technical Field

[0001] The present invention relates to the technical field of walking-assisting exoskeleton robots, and in particular to an unpowered knee joint elastic support exoskeleton and an exoskeleton robot. Background Art

[0002] Currently, the vast majority of wearable power-assisted exoskeleton robots are powered by a power supply, requiring a reduction motor and battery. These two components account for approximately one-third of the robot's total weight. Furthermore, the integration costs of the reduction motor, drive, sensors, control system, and battery account for approximately 70% to 80% of the total cost. Furthermore, workers in industries such as logistics and handling, construction handling, and automotive and aircraft assembly often require prolonged periods of squatting or half-squatting, depending on the type of work they do. This is particularly tiring for the human body and places significant pressure on the knee joints.

[0003] The patent application "CN201710820057.X - A non-powered human exoskeleton walker" discloses a bracket that supports the weight of the human body, but it can only provide support when the human body is standing, and cannot provide support for workers who are squatting or bending over. The patent application "CN201710796962.6 - A non-powered wearable power-assisting robot" discloses a device that uses elastic support rods to provide power. Since it does not involve a limiting function, it only provides elastic support for the dynamic process of people walking. It is ineffective for people who are in fixed postures such as bent knees, squatting, or working in nearly fixed postures for a long time, and cannot provide support. For workers in industries such as logistics handling, construction handling, automobile assembly, and aircraft assembly, since they work in postures such as bent knees, squatting, or half-squatting for a long time, they need a device with a fixed position support to support the weight of the human body, eliminate the pressure on the knee joint caused by the working posture, and reduce knee joint strain. Summary of the Invention

[0004] The purpose of the present invention is to provide a non-powered knee joint elastic support exoskeleton and exoskeleton robot, which can provide workers who are in a fixed posture or a near-fixed posture with an exoskeleton with a fixed position to support the body weight, thereby eliminating the pressure on the knee joint caused by this posture and reducing knee joint strain.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In one aspect, a non-powered knee joint elastic support exoskeleton is provided, comprising:

[0007] A thigh support assembly, the thigh support assembly comprising a fixedly connected thigh strap and a thigh support rod, the thigh strap being configured to strap the wearer's thigh, the thigh support rod being able to fit the wearer's thigh, and the thigh support rod being provided with a slot;

[0008] A calf support assembly, the calf support assembly comprising a fixedly connected calf strap and a calf support rod, the calf strap being configured to strap the wearer's calf, the calf support rod being able to fit the wearer's calf, one end of the calf support rod being hinged to one end of the thigh support rod;

[0009] an elastic push rod assembly, one end of which is hinged to the calf support rod, and the other end is a free end, the free end being slidably connected to the thigh support rod and capable of sliding freely along the axial direction of the thigh support rod, and the elastic push rod assembly being capable of elastically extending and contracting along its own axial direction; and

[0010] A positioning sliding assembly is slidably connected to the thigh support rod. When the positioning sliding assembly slides, it can push the free end to be clamped into the clamping slot.

[0011] As a preferred structure of the present invention, the elastic push rod assembly includes:

[0012] a cylinder body, one end of which is hinged to the calf support rod;

[0013] a piston rod, the piston rod being slidably connected to the cylinder body and being capable of extending and retracting along the axial direction of the cylinder body;

[0014] a first compression spring, wherein both ends of the first compression spring are respectively connected to the cylinder body and the piston rod; and

[0015] A roller is rotatably connected to one end of the piston rod away from the cylinder body, and the roller is slidably connected to the thigh support rod and can be clamped in the clamping slot.

[0016] As a preferred structure of the present invention, the positioning sliding assembly includes:

[0017] a push rod, the push rod being slidably connected to the thigh support rod;

[0018] A positioning slider is detachably connected to one end of the push rod, and the positioning slider abuts against the roller and can push the roller to be clamped into the clamping slot.

[0019] As a preferred structure of the present invention, the thigh support rod also includes a linear slide groove, which extends axially along the thigh support rod. The linear slide groove is connected to the card slot, and the roller can slide along the linear slide groove and engage with the card slot.

[0020] As a preferred structure of the present invention, the thigh support rod is further provided with a guide groove, which is parallel to the linear slide groove, and the positioning slider includes a guide column, which can slide along the guide groove.

[0021] As a preferred structure of the present invention, it also includes an elastic support component, which is configured to push the roller away from the slot and always stay in the linear slide. The elastic support component includes:

[0022] a push plate, the push plate abutting against the roller and capable of pushing the roller;

[0023] A second compression spring, wherein both ends of the second compression spring are respectively connected to the thigh support rod and the push plate, and applies an elastic preload force to the push plate.

[0024] As a preferred structure of the present invention, the clamping slot includes a plurality of tooth-shaped grooves, and the plurality of tooth-shaped grooves are arranged in parallel along the length direction of the linear slide groove.

[0025] As a preferred structure of the present invention, the positioning slider includes a guide surface, the guide surface is inclined, and the guide surface abuts against the roller.

[0026] As a preferred structure of the present invention, it also includes a hip support member, which is configured to cover the wearer's hips, the hip support member is provided with a throat clamp, and the thigh support rod is provided with an adjustment shaft, and the adjustment shaft is detachably connected to the throat clamp.

[0027] On the other hand, an exoskeleton robot is provided, comprising the above-mentioned unpowered knee joint elastic support exoskeleton and an ankle joint support exoskeleton, wherein the ankle joint support exoskeleton is configured to support the wearer's ankle joint, and the calf support rod is fixedly connected to the ankle joint support exoskeleton.

[0028] The present invention provides the following beneficial effects: The unpowered knee joint elastic support exoskeleton provided by the present invention has a thigh support rod secured to the wearer's thigh near the outside of the knee joint via a thigh strap, and a calf support rod secured to the wearer's calf near the outside of the knee joint via a calf strap. The thigh support assembly, calf support assembly, and elastic push rod assembly are hinged together to form an elastically supported knee exoskeleton. When the wearer is walking freely, the free end of the elastic push rod assembly slides freely relative to the thigh support rod, and the calf support rod can swing at any angle around its hinge axis with the thigh support rod without interfering with walking movements. When the wearer is in a half-squat or full-squat position, the positioning slide assembly is controlled to slide up and down, pushing the free end of the elastic push rod assembly into a slot, causing the elastic push rod assembly to extend and retract within its elastic range. This defines the elastic support and positioning support position of the elastic push rod assembly, adapting to the wearer's different squatting positions. This provides stable support and protection for the knee joints of industrial workers performing squatting tasks, alleviating knee strain and other illnesses associated with long-term squatting. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the structure of the unpowered knee joint elastic support exoskeleton provided by an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the partial structural decomposition of the unpowered knee joint elastic support exoskeleton provided by an embodiment of the present invention;

[0031] Figure 3 1 is a schematic diagram of the structural decomposition of the elastic push rod assembly provided by an embodiment of the present invention;

[0032] Figure 4 is a cross-sectional view of the structure of an unpowered knee joint elastic support exoskeleton provided by an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the wearer standing in the exoskeleton robot provided by the embodiment of the present invention. Figure 1 ;

[0034] Figure 6 This is a schematic diagram of the structure of the wearer standing in the exoskeleton robot provided by the embodiment of the present invention. Figure 2 ;

[0035] Figure 7 This is a schematic diagram of the structure of a wearer wearing an exoskeleton robot in a half-squatting position provided by an embodiment of the present invention;

[0036] Figure 8 1 is a schematic diagram of the structure of a wearer wearing an exoskeleton robot in a full squat position according to an embodiment of the present invention.

[0037] In the picture:

[0038] 1. Thigh support assembly; 11. Thigh strap; 12. Thigh support rod; 121. Slot; 122. Linear slide; 123. Guide groove; 124. Adjustment shaft;

[0039] 2. Calf support assembly; 21. Calf strap; 22. Calf support rod;

[0040] 3. Elastic push rod assembly; 31. Cylinder; 32. Piston rod; 33. First compression spring; 34. Roller;

[0041] 4. Positioning sliding assembly; 41. Push rod; 42. Positioning slider; 421. Guide column; 422. Guide surface; 43. Reducer motor;

[0042] 5. Elastic support assembly; 51. Push plate; 52. Second compression spring;

[0043] 6. Hip support; 61. Hose clamp;

[0044] 100. Ankle support exoskeleton. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, rather than all structures.

[0046] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0047] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0048] In the description of this embodiment, terms such as "upper," "lower," "left," and "right" are used to refer to positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0049] like Figures 1-8 As shown, an embodiment of the present invention provides an unpowered knee joint elastic support exoskeleton, comprising a thigh support assembly 1, a calf support assembly 2, an elastic push rod assembly 3, and a positioning slide assembly 4. The thigh support assembly 1 comprises a fixedly connected thigh strap 11 and a thigh support rod 12. The thigh strap 11 is configured to bind the wearer's thigh. The thigh support rod 12 is capable of conforming to the wearer's thigh and is provided with a slot 121. The calf support assembly 2 comprises a fixedly connected calf strap 21 and a calf support rod 22. The calf strap 21 is configured to bind the wearer's calf. The calf support rod 22 is capable of conforming to the wearer's calf. One end of the calf support rod 22 is hinged to one end of the thigh support rod 12. The elastic push rod assembly 3 has one end hinged to the calf support rod 22 and the other end is free. The free end is slidably connected to the thigh support rod 12 and can slide freely along the axial direction of the thigh support rod 12. The elastic push rod assembly 3 can elastically expand and contract along its own axial direction. The positioning sliding assembly 4 is slidably connected to the thigh support rod 12 . When the positioning sliding assembly 4 slides, the free end can be pushed into the card slot 121 . The card slot 121 is used to define the position of the positioning sliding assembly 4 .

[0050] In an embodiment of the present invention, a non-powered elastically supported knee exoskeleton is constructed by attaching a thigh support rod 12 to the wearer's thigh near the outside of the knee joint via a thigh strap 11, and attaching a calf support rod 22 to the wearer's calf near the outside of the knee joint via a calf strap 21. Preferably, the thigh strap 11 and calf strap 21 are double-layered, with the inner layer made of a soft, elastic material and the outer layer made of leather or nylon with a certain degree of hardness to meet the wearer's comfort requirements. The specific materials are not limited in this embodiment. The thigh support assembly 1 and the elastic push rod assembly 3 are respectively hinged to either side of the same end of the calf support assembly 2. The hinged connection between the thigh support assembly 1, the calf support assembly 2, and the elastic push rod assembly 3 forms a resiliently supported knee exoskeleton. When the wearer is walking freely, the free end of the elastic push rod assembly 3 slides freely relative to the thigh support rod 12, and the calf support rod 22 can swing at any angle around the hinge axis between itself and the thigh support rod 12 without interfering with walking movements. When the wearer is in a half-squatting or full-squatting position, by controlling the up and down sliding of the positioning sliding assembly 4, the free end of the elastic push rod assembly 3 is pushed into the card slot 121, and the elastic push rod assembly 3 is pushed to expand and contract within its own elastic expansion and contraction range, thereby limiting the elastic support and positioning support position of the elastic push rod assembly 3, adapting to the squatting state of the wearer at different angles, and providing knee joint assistance and protection for industrial personnel who work in a squatting position through stable support, thereby reducing diseases such as knee joint strain caused by long-term squatting work among industrial personnel.

[0051] Furthermore, the elastic push rod assembly 3 includes a cylinder 31, a piston rod 32, a first compression spring 33, and a roller 34. One end of the cylinder 31 is hinged to the calf support rod 22; the piston rod 32 is slidably connected within the cylinder 31 and can extend and retract along the axial direction of the cylinder 31; the two ends of the first compression spring 33 are respectively connected to the cylinder 31 and the piston rod 32; and the roller 34 is rotationally connected to the end of the piston rod 32 away from the cylinder 31. The roller 34 is slidably connected to the thigh support rod 12 and can engage the slot 121. The elastic push rod assembly 3 slides or limits its position relative to the thigh support rod 12 via the roller 34. Once the position of the elastic push rod assembly 3 is determined, the elastic push rod assembly 3 is elastically compressed or completely relaxed via the first compression spring 33. When the wearer is in a half-squat or full-squat posture, the roller 34 is stuck in the slot 121 and can only rotate but not slide up and down. Under the action of the wearer's gravity, the thigh support rod 12 presses the roller 34 through the slot 121, and the roller 34 presses the piston rod 32, causing it to compress the first compression spring 33, thereby achieving positioning elastic support within the travel range of the piston rod 32, flexibly adapting to the wearer's squatting action, providing buffering for the wearer's squatting action, and reducing the pressure on the knee joint during squatting.

[0052] Furthermore, the positioning sliding assembly 4 includes a push rod 41 and a positioning slider 42. The push rod 41 is slidably connected to the thigh support rod 12; the positioning slider 42 is fixedly connected to one end of the push rod 41, the positioning slider 42 abuts the roller 34, and can push the roller 34 into the slot 121. Preferably, the push rod 41 is a screw rod, and the thigh support rod 12 is provided with a threaded hole. The push rod 41 is threadedly connected to the threaded hole. The push rod 41 can be raised or lowered by rotating in the threaded hole, and drives the positioning slider 42 to push the roller 34. Furthermore, the positioning sliding assembly 4 is also provided with a reduction motor 43. The movement of the push rod 41 is driven by the reduction motor 43, and the control of the roller 34 is more labor-saving.

[0053] Furthermore, the thigh support rod 12 further includes a linear slide 122 extending axially along the thigh support rod 12 and communicating with the engaging slot 121. The roller 34 can slide along the linear slide 122 and engage with the engaging slot 121. The linear slide 122 facilitates the free up and down sliding of the roller 34, allowing the roller 34 of the elastic push rod assembly 3 to slide freely up and down when the wearer walks freely without restricting the wearer's walking movements.

[0054] Furthermore, the thigh support rod 12 is further provided with a guide groove 123, which is parallel to the linear slide groove 122. The positioning slider 42 includes a guide post 421, which can slide along the guide groove 123. The guide groove 123 can limit the upward and downward movement trajectory of the positioning slider 42, making the movement of the positioning slider 42 smoother and preventing the inability to accurately control the pushing of the roller 34 due to trajectory deviation.

[0055] Furthermore, the unpowered knee elastic support exoskeleton also includes an elastic support assembly 5, which is configured to push the roller 34 away from the slot 121 and always remain within the linear slide 122. The elastic support assembly 5 includes a push plate 51 and a second compression spring 52. The push plate 51 abuts against the roller 34 and is capable of pushing the roller 34. The two ends of the second compression spring 52 are respectively connected to the thigh support rod 12 and the push plate 51, and apply an elastic preload force to the push plate 51. When the wearer is walking freely, the positioning slider 42 does not push the roller 34. Under the action of the preload force of the second compression spring 52, the push plate 51 pushes the roller 34 of the elastic push rod assembly 3 to always contact the linear slide 122 of the thigh support rod 12. Moreover, when the wearer changes from a squatting position to a standing position, the push rod 41 rises and removes the push of the positioning slider 42 on the roller 34. The elastic support assembly 5 can quickly push the roller 34 from the slot 121 into the linear slide 122, thereby facilitating the release of the positioning support of the elastic push rod assembly 3, so that the wearer can resume a standing position or walk freely.

[0056] Furthermore, the slot 121 includes a plurality of tooth-shaped grooves arranged in parallel along the length of the linear slideway 122. Preferably, the tooth-shaped grooves have arc-shaped surfaces to facilitate the sliding in and out of the roller 34 and to limit the upward, downward, and leftward and rightward movement of the roller 34. The plurality of tooth-shaped grooves arranged in parallel allow the positioning slider 42 to push the roller 34, thereby enabling the selection of tooth-shaped grooves in different positions according to the wearer's squatting angle. This facilitates adjusting the angle between the thigh support rod 12 and the calf support rod 22 to meet the wearer's different squatting requirements.

[0057] Furthermore, the positioning slider 42 includes a guide surface 422, which is inclined and abuts the roller 34. When the push rod 41 drives the positioning slider 42 to push the roller 34 to a predetermined position, the guide surface 422 guides the roller 34 into one of the toothed grooves of the retaining slot 121, causing the elastic push rod assembly 3 to be compressed by the thigh support rod 12, thereby providing elastic support for the thigh support rod 12. The inclined guide surface 422 facilitates guidance of the roller 34.

[0058] Furthermore, the unpowered knee elastic support exoskeleton also includes a hip support member 6, which is configured to cover the wearer's hips. The hip support member 6 is provided with a throat clamp 61, and the thigh support rod 12 is provided with an adjustment shaft 124, which is detachably connected to the throat clamp 61. The hip support member 6 further covers the wearer's body, allowing the thigh support rod 12 and the calf support rod 22 to better fit the wearer's body. Preferably, the adjustment shaft 124 is perpendicular to the thigh support rod 12, and the relative position of the adjustment shaft 124 and the throat clamp 61 can be adjusted to meet the height requirements of different wearers.

[0059] On the other hand, an embodiment of the present invention further provides an exoskeleton robot, comprising the above-mentioned unpowered knee elastic support exoskeleton, and also comprising an ankle support exoskeleton 100, wherein the ankle support exoskeleton 100 is configured to support the ankle joint of the wearer, and the calf support rod 22 is fixedly connected to the ankle support exoskeleton 100. The connection between the calf support rod 22 and the ankle support exoskeleton 100 can be welding or standard fastener connection, which is not limited in this embodiment. By wearing the exoskeleton robot, the wearer can support and protect the knee and ankle joints when in a squatting position, wherein the unpowered knee elastic support exoskeleton of this embodiment provides assistance to the knee joint, and the ankle support exoskeleton provides assistance to the ankle joint, so as to reduce occupational diseases such as knee and ankle strain caused by long-term squatting work.

[0060] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. A person skilled in the art would be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A non-powered knee joint elastic support exoskeleton, characterized in that: include: A thigh support assembly (1), the thigh support assembly (1) comprising a fixedly connected thigh binding belt (11) and a thigh support rod (12), the thigh binding belt (11) being configured to bind the wearer's thigh, the thigh support rod (12) being able to fit the wearer's thigh, and the thigh support rod (12) being provided with a clamping groove (121) and a linear slide groove (122); A calf support assembly (2), the calf support assembly (2) comprising a fixedly connected calf strap (21) and a calf support rod (22), the calf strap (21) being configured to strap the wearer's calf, the calf support rod (22) being able to fit the wearer's calf, one end of the calf support rod (22) being hinged to one end of the thigh support rod (12); An elastic push rod assembly (3), one end of the elastic push rod assembly (3) is hinged to the calf support rod (22), and the other end is a free end, the free end is slidably connected to the thigh support rod (12) and can slide freely along the axial direction of the thigh support rod (12), and the elastic push rod assembly (3) can elastically expand and contract along its own axial direction; the elastic push rod assembly (3) comprises: a cylinder body (31), a piston rod (32), a first compression spring (33), and a roller (34); and A positioning sliding assembly (4), wherein the positioning sliding assembly (4) is slidably connected to the thigh support rod (12), and when the positioning sliding assembly (4) slides, it can push the free end to be clamped into the clamping slot (121); An elastic support assembly (5), wherein the elastic support assembly (5) is configured to push the roller (34) away from the slot (121) and always be located in the linear slide (122), and the elastic support assembly (5) includes: a push plate (51), wherein the push plate (51) abuts against the roller (34) and is capable of pushing the roller (34); and a second compression spring (52), wherein both ends of the second compression spring (52) are respectively connected to the thigh support rod (12) and the push plate (51), and apply an elastic preload to the push plate (51).

2. The unpowered knee joint elastic support exoskeleton according to claim 1, characterized in that: One end of the cylinder (31) is hinged to the calf support rod (22); The piston rod (32) is slidably connected to the cylinder body (31) and is capable of extending and retracting along the axial direction of the cylinder body (31); The two ends of the first compression spring (33) are respectively connected to the cylinder (31) and the piston rod (32); and The roller (34) is rotatably connected to one end of the piston rod (32) away from the cylinder body (31), and the roller (34) is slidably connected to the thigh support rod (12) and can be engaged with the card slot (121).

3. The unpowered knee joint elastic support exoskeleton according to claim 2, characterized in that: The positioning sliding assembly (4) comprises: A push rod (41), wherein the push rod (41) is slidably connected to the thigh support rod (12); A positioning slider (42) is detachably connected to one end of the push rod (41), and the positioning slider (42) abuts against the roller (34) and can push the roller (34) to be clamped into the clamping slot (121).

4. The unpowered knee joint elastic support exoskeleton according to claim 3, characterized in that: The linear slide groove (122) extends along the axial direction of the thigh support rod (12), the linear slide groove (122) is connected to the clamping groove (121), and the roller (34) can slide along the linear slide groove (122) and clamp the clamping groove (121).

5. The unpowered knee joint elastic support exoskeleton according to claim 4, characterized in that: The thigh support rod (12) is further provided with a guide groove (123), wherein the guide groove (123) is parallel to the linear slide groove (122), and the positioning slider (42) includes a guide column (421), wherein the guide column (421) can slide along the guide groove (123).

6. The unpowered knee joint elastic support exoskeleton according to claim 4, characterized in that: The clamping groove (121) includes a plurality of tooth-shaped grooves, and the plurality of tooth-shaped grooves are arranged in parallel along the length direction of the linear slide groove (122).

7. The unpowered knee joint elastic support exoskeleton according to claim 3, characterized in that: The positioning slider (42) comprises a guide surface (422), the guide surface (422) is arranged at an angle, and the guide surface (422) abuts against the roller (34).

8. The unpowered knee joint elastic support exoskeleton according to any one of claims 1 to 7, characterized in that: The invention also includes a hip support member (6), which is configured to cover the buttocks of the wearer, and the hip support member (6) is provided with a throat hoop (61). The thigh support rod (12) is provided with an adjustment shaft (124), and the adjustment shaft (124) is detachably connected to the throat hoop (61).

9. An exoskeleton robot, characterized in that: The invention comprises the unpowered knee elastic support exoskeleton according to any one of claims 1 to 8, and an ankle support exoskeleton (100), wherein the ankle support exoskeleton (100) is configured to support the ankle joint of the wearer, and the calf support rod (22) is fixedly connected to the ankle support exoskeleton (100).

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