Rigid-flexible ankle exoskeleton assist device

Abstract

The present invention relates to the technical field of wearable exoskeleton, and in particular to a rigid-flexible ankle exoskeleton power-assisting device, which includes an ankle exoskeleton mechanism, a rope-driven backpack, an ankle exoskeleton mechanism, and a Bowden cable group; the Bowden cable group includes Bowden cable I, Bowden cable II, Bowden cable III, and Bowden cable IV; the ankle exoskeleton mechanism includes a calf fixing part, a wire wheel III, a swing frame, a remote motion center mechanism hinged to the swing frame, and an instep fixing part; the swing frame is provided with a guide hole I and a guide hole II; the remote motion center mechanism is a five-link mechanism, Bowden cable I passes through the guide hole I and is fixed on the hinge joint of the second connecting rod, Bowden cable II passes through the guide hole II and is fixed on the hinge joint of the second connecting rod, and the lower ends of Bowden cable III and Bowden cable IV are respectively fixedly connected to the lower part of the wire wheel III. The present invention can not only assist the dorsiflexion and plantar flexion of the ankle joint, but also correct foot drop and foot inversion. When the present invention is used, the rotation axis has a high degree of overlap with the ankle joint rotation axis, and is comfortable and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of wearable exoskeletons, and in particular to a rigid-flexible ankle joint exoskeleton power-assisting device. Background Art

[0002] When people walk, they rely on the ankle joint to achieve dorsiflexion, plantar flexion, inversion and eversion to provide forward propulsion and maintain balance. Dorsiflexion refers to the movement of the foot upward around the ankle joint, the toes moving up, and the instep approaching the front of the calf, commonly known as hooking the toes; plantar flexion refers to the movement of the foot downward around the ankle joint, the toes drooping, and the instep away from the front of the calf, commonly known as straightening the toes. Therefore, the ankle joint is a very important weight-bearing joint of the lower limbs, and plays an important role in maintaining stability and balance in walking.

[0003] Stroke patients often have motor dysfunction in the lower limbs, and it is difficult for them to achieve normal dorsiflexion and plantar flexion. Moreover, most stroke patients also have symptoms such as foot drop and foot inversion, which leads to decreased walking function and causes inconvenience in daily life.

[0004] Although a few ankle exoskeletons have been launched, they generally only assist with the dorsiflexion and plantar flexion of the ankle joint, ignoring symptoms such as foot drop and foot inversion, and have no corrective effect on symptoms such as foot drop and foot inversion. In addition, existing ankle exoskeletons are rigid structures with a low degree of overlap with the ankle joint axis, resulting in poor comfort for patients to wear. There is a safety hazard of causing secondary injury to patients when worn for a long time.

[0005] The technical problem to be solved by the present invention is as follows: the existing ankle exoskeleton only assists the dorsiflexion and plantar flexion of the ankle joint, and has no correction effect on symptoms such as foot drop and foot inversion. In addition, the existing ankle exoskeleton has a low degree of overlap with the ankle joint rotation axis. Summary of the invention

[0006] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a rigid-flexible ankle exoskeleton assisting device with correction function for symptoms such as foot drop and foot inversion. The rotating axis of the assisting device is highly coincident with the ankle joint rotating axis, and it is comfortable to wear and safe and reliable.

[0007] The technical solution adopted by the present invention is: a rigid-flexible ankle exoskeleton power-assisting device, comprising an ankle exoskeleton mechanism, a rope-driven backpack, and a Bowden cable group connecting the ankle exoskeleton mechanism and the rope-driven backpack; the Bowden cable group comprises Bowden cable I, Bowden cable II, Bowden cable III, and Bowden cable IV; the rope-driven backpack comprises a housing, a motor I and a motor II fixed in the housing through a mounting plate, and a reel I and a reel II connected to the output ends of the motor I and the motor II, respectively; the upper ends of the Bowden cables I and II are arranged on the reel I and are respectively located on both sides of the reel I, and the upper ends of the Bowden cables III and IV are arranged on the reel II and are respectively located on both sides of the reel II;

[0008] The ankle exoskeleton mechanism comprises a calf fixing part, a wire wheel III connected to the calf fixing part, a swing frame fixedly connected to the wire wheel III, a remote motion center mechanism hinged to the swing frame, and an instep fixing part connected to the lower part of the remote motion center mechanism through a sliding pair III; the upper part and the lower part of the swing frame are respectively provided with a guide hole I and a guide hole II;

[0009] The remote motion center mechanism is a "five"-shaped five-bar mechanism, the lower end of the Bowden cable I passes through the guide hole I and is fixed on the hinge joint of the second connecting rod, the lower end of the Bowden cable II passes through the guide hole II and is fixed on the hinge joint of the second connecting rod, and the lower ends of the Bowden cable III and the Bowden cable IV are respectively fixedly connected to the lower part of the line wheel III.

[0010] Furthermore, a sliding pair I, a slide rail frame, a sliding pair II, and a turntable are sequentially arranged between the calf fixing part and the wire wheel III, the sliding pair I is a vertically arranged slide rail slider structure, wherein the sliders are fixedly arranged on both sides of the outer side of the calf fixing part, and the slide rails are vertically fixed on both sides of the inner side of the slide rail frame, the sliders can slide up and down along the slide rails, and the calf fixing part can slide up and down along the slide rail frame for up and down adjustment through the sliding connection of the sliding pair I; the sliding pair II is a transversely arranged slide rail slider structure, wherein the slide rail is transversely fixed in the middle position of the outer side of the slide rail frame, the slider is fixed in the inner middle part of the turntable, the slider can slide left and right along the slide rail, and the outer side of the turntable is fixedly connected to the inner side of the wire wheel III.

[0011] Furthermore, a hinge hole I and a hinge hole II are arranged between the guide hole I and the guide hole II on the swing frame; the left end of the first connecting rod of the remote motion center mechanism is hinged to the hinge hole I through a hinge shaft, the left end of the third connecting rod is hinged to the hinge hole II through a hinge shaft, the left side of the fifth connecting rod is hinged to the lower end of the second connecting rod, and the right side is hinged to the lower end of the fourth connecting rod, the middle part of the second connecting rod is hinged to the middle part of the third connecting rod, and the lower part of the fifth connecting rod is connected to the instep fixing part through a sliding pair III.

[0012] Furthermore, the sliding pair III includes a sliding rail and a slider slidably matched with the sliding rail, the slider is fixedly connected to the lower part of the fifth connecting rod, and the sliding rail is fixedly connected to the upper surface of the instep fixing piece.

[0013] Furthermore, the calf fixing piece is an arc-shaped structure, and strap rings I are provided on the left and right sides thereof, and the strap rings I fix the calf fixing piece on the calf.

[0014] Furthermore, the instep fixing piece is an arc-shaped structure, and strap rings II are provided on the left and right sides thereof, and the strap rings II can fix the instep fixing piece on the instep.

[0015] Furthermore, the rope-driven backpack also includes a shoulder strap arranged on the upper part of the shell and a waist belt arranged on both sides of the shell, and the rope-driven backpack is fixed to the waist of the wearer by the shoulder strap and the waist belt.

[0016] Furthermore, a first wire groove is provided on the hinge joint at the upper end of the second connecting rod, and the Bowden wires I and II are fixed in the first wire groove.

[0017] Furthermore, a second wire groove is provided on the wire wheel III, and wire fixing holes are provided on both sides of the lower part of the wire wheel III, and the lower ends of the Bowden wire III and the Bowden wire IV are respectively fixed in the wire fixing holes.

[0018] Furthermore, thrust bearings are provided on the hinge shafts of all hinges of the remote motion center mechanism.

[0019] The beneficial effects of the present invention are as follows: the present invention is provided with a wire wheel, a swing frame for fixing the wire wheel, and a five-link mechanism hinged with the swing frame. When the motor driving the first Bowden cable and the second Bowden cable is reversed, the second Bowden cable is loosened and the first Bowden cable is pulled at the same time. The first Bowden cable moves upward to pull the five-link mechanism to move upward and contract. The fifth link rotates counterclockwise around the remote motion center, thereby driving the instep fixing part arranged at the lower part of the fifth link to rotate around the talus axis to achieve dorsiflexion of the ankle joint. The present invention uses dorsiflexion to correct foot drop. On the contrary, when the motor rotates clockwise to loosen the first Bowden cable and pull the second Bowden cable, the fifth link rotates clockwise around the remote motion center to achieve plantar flexion of the ankle joint. When the motor driving the third and fourth Bowden cables rotate counterclockwise, the third Bowden cable is loosened and the fourth Bowden cable is pulled at the same time, so that the cable wheel rotates counterclockwise, driving the swing frame to rotate counterclockwise, and then driving the five-link mechanism to swing counterclockwise. During the swinging process, the fifth link pushes the instep inward to make the ankle joint inverted, thereby correcting the foot valgus; on the contrary, the motor rotates clockwise, loosens the fourth Bowden cable and pulls the third Bowden cable at the same time, then the ankle joint is everted, thereby correcting the foot valgus. In addition, the remote motion center mechanism is pulled by the Bowden cable to move, and the vertically arranged sliding pair I is used in conjunction with the sliding pair III on the instep, so that the remote motion center of the remote motion center mechanism is automatically aligned with the ankle joint rotation axis. The horizontally arranged sliding pair II will slide left and right adaptively when the swing frame swings, thereby realizing the rigid-flexible combination of the ankle exoskeleton. The ankle exoskeleton power assist device is highly coincident with the ankle joint rotation axis, and the patient is comfortable to wear. The remote motion center mechanism can be adaptively adjusted and will not sprain the patient's calf. It is safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the wearing state of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the rope-driven backpack;

[0022] Figure 3 It is a schematic diagram of the connection between the ankle exoskeleton mechanism and the Bowden cable set;

[0023] Figure 4 It is a schematic diagram of the ankle exoskeleton structure;

[0024] Figure 5 It is an enlarged schematic diagram of sliding pair I and sliding pair II;

[0025] Figure 6 It is a schematic diagram of the structure of the wire wheel and the swing frame;

[0026] Figure 7 It is a schematic diagram of the connection state between the remote motion center mechanism, the instep fixing part and the swing frame;

[0027] Figure 8 for Figure 7 A magnified view of the position in the figure;

[0028] Fig. 9 for Figure 7 A magnified view of point B in FIG.

[0029] Fig.10 It is a side view schematic diagram of the remote motion center mechanism;

[0030] Fig.11 for Fig.10 Schematic diagram of the left direction;

[0031] Fig.12 for Fig.10 Schematic diagram of the exploded structure after the calf fixing parts are hidden;

[0032] Fig.13 It is a schematic diagram of the turntable structure;

[0033] Fig.14 This is an exploded view of the turntable;

[0034] The numbers and names in the figure correspond to the following:

[0035] Rope-driven backpack 1, Bowden line I 2, Bowden line II 3, Bowden line III 4, Bowden line IV 5, ankle exoskeleton mechanism 6, shell 7, back belt 8, wire wheel II 9, motor II 10, belt 11, motor I 12, wire wheel I 13, guide hole I 14, wire wheel III 15, second wire groove 151, wire fixing hole 152, swing frame 16, remote motion center mechanism 17, sliding pair III 18, slide rail 181, slider 182, instep fixing part 19, strap ring II 20, Strap ring I 21, calf fixing part 22, slide rail frame 23, guide hole II 24, remote motion center 25, quasi-ankle joint rotation axis 26, first connecting rod 27, second connecting rod 28, first wire groove 281, third connecting rod 29, fourth connecting rod 30, fifth connecting rod 31, sliding pair I 32, sliding pair II 33, turntable 34, turntable outer ring 341, turntable inner ring 342, slider connecting plate 343, hinge hole I 35, hinge hole II 36, thrust bearing 37. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] This embodiment provides the following technical solutions:

[0038] See also Figure 1 to Figure 14 The technical solution adopted by the present invention is: a rigid-flexible ankle exoskeleton power-assisting device, comprising an ankle exoskeleton mechanism 6, a rope-driven backpack 1, and a Bowden cable group connecting the ankle exoskeleton mechanism 6 and the rope-driven backpack 1; the Bowden cable group comprises Bowden cable Ⅰ2, Bowden cable Ⅱ3, Bowden cable Ⅲ4, and Bowden cable Ⅳ5; the rope-driven backpack 1 comprises a housing 7, a motor Ⅰ12 and a motor Ⅱ10 fixed in the housing 7 through a mounting plate, a reel Ⅰ13 and a reel Ⅱ9 respectively connected to the output ends of the motor Ⅰ12 and the motor Ⅱ10, the upper ends of the Bowden cables Ⅰ2 and Ⅱ3 are arranged on the reel Ⅰ13 and are respectively located on both sides of the reel Ⅰ13, and the upper ends of the Bowden cables Ⅲ4 and Ⅳ5 are arranged on the reel Ⅱ9 and are respectively located on both sides of the reel Ⅱ9;

[0039] The ankle exoskeleton mechanism 6 includes a calf fixing member 22, a wire pulley III 15 connected to the calf fixing member 22, a swing frame 16 fixedly connected to the wire pulley III 15, a remote motion center mechanism 17 hinged to the swing frame 16, and an instep fixing member 19 connected to the lower part of the remote motion center mechanism 17 through a sliding pair III 18; the upper part and the lower part of the swing frame 16 are respectively provided with a guide hole I 14 and a guide hole II 24;

[0040] The remote motion center mechanism 17 is a five-link mechanism in the shape of a five-bar. The lower end of the Bowden cable I2 passes through the guide hole I14 and is fixed to the hinge of the second link 28. The lower end of the Bowden cable II3 passes through the guide hole II24 and is fixed to the hinge of the second link 28. The lower ends of the Bowden cables III4 and IV5 are respectively fixedly connected to the lower part of the wire wheel III15. Through the guiding effect of the guide holes I14 and II24, the Bowden cables I2 and II3 can stably drive the remote motion center mechanism 17 to extend or retract.

[0041] In order to improve the flexibility of the ankle exoskeleton mechanism 6, so that it can rotate adaptively during exercise, and make the ankle exoskeleton assist device highly coincide with the ankle joint rotation axis, a sliding pair I32, a slide rail frame 23, a sliding pair II33, and a turntable 34 are sequentially arranged between the calf fixing part 22 and the wire wheel III15, wherein the sliding pair I32 is a vertically arranged slide rail and slider structure, wherein the slider is fixedly arranged on both sides of the outer side of the calf fixing part 22 by screws, and the slide rail is vertically fixed to the two inner sides of the slide rail frame 23 by connecting parts such as screws or bolts. On the other hand, the slider can slide up and down along the slide rail, and through the sliding connection of the sliding pair I 32, the calf fixing part 22 can slide up and down along the slide rail frame 23 for up and down adjustment; the sliding pair II 33 is a laterally arranged slide rail slider structure, wherein the slide rail is laterally fixed to the middle position of the outer side of the slide rail frame 23 by connecting parts such as screws or bolts, and the slider is fixed to the inner middle part of the turntable 34 by connecting parts such as screws or bolts. The slider can slide left and right along the slide rail, and the outer side of the turntable 34 is fixedly connected to the inner side of the wire wheel III 15. The turntable 34 includes a turntable outer ring 341, a turntable inner ring 342, and a slider connecting plate 343 connected to the wire wheel III15 through a connecting member. The connecting member is a bolt and nut assembly, a screw, a pin and other structures, preferably a bolt and nut assembly. A circular through hole is provided in the middle of the turntable outer ring 341, and a convex ring is provided on the turntable inner ring 342. The turntable outer ring 341 is sleeved on the convex ring of the turntable inner ring 342, and the turntable outer ring 341 can rotate relatively along the turntable inner ring 342. When the wire wheel III15 rotates, the turntable outer ring 341 is driven to rotate relatively along the turntable inner ring 342. The slider connecting plate 343 is connected to the slider of the sliding pair II33 by a connecting member such as a screw or a bolt. The turntable inner ring 342 and the slider connecting plate 343 can be an integrated structure or a detachable split structure.

[0042] A hinge hole I35 and a hinge hole II36 are arranged between the guide hole I14 and the guide hole II24 on the swing frame 16; the left end of the first connecting rod 27 of the remote motion center mechanism 17 is hinged to the hinge hole I35 through a hinge shaft, the left end of the third connecting rod 29 is hinged to the hinge hole II36 through a hinge shaft, the left side of the fifth connecting rod 31 is hinged to the lower end of the second connecting rod 28, and the right side is hinged to the lower end of the fourth connecting rod 30, the middle part of the second connecting rod 28 is hinged to the middle part of the third connecting rod 29, and the lower part of the fifth connecting rod 31 is connected to the instep fixing part 19 through a sliding pair III18.

[0043] The sliding pair III 18 includes a sliding rail 181 and a slider 182 slidably matched with the sliding rail 181 . The slider 182 is fixedly connected to the lower portion of the fifth connecting rod 31 . The sliding rail 181 is fixedly connected to the upper surface of the instep fixing member 19 .

[0044] In order to improve comfort, the calf fixing member 22 is an arc-shaped structure, and strap rings Ⅰ21 are provided on the left and right sides thereof. The strap rings Ⅰ21 fix the calf fixing member 22 on the calf.

[0045] In order to improve comfort, the instep fixing piece 19 is an arc-shaped structure, and strap rings II 20 are provided on the left and right sides thereof. The strap rings II 20 can fix the instep fixing piece 19 on the instep.

[0046] The rope-driven backpack 1 further comprises a shoulder strap 11 arranged on the upper part of the shell 7 and a waist belt 8 arranged on both sides of the shell 7 . The rope-driven backpack 1 is fixed to the waist of the wearer by the shoulder strap 11 and the waist belt 8 .

[0047] In order to facilitate the fixing of the wires and ensure the balance of the remote motion center mechanism 17 , a first wire groove 281 is provided on the hinge joint at the upper end of the second connecting rod 28 , and the Bowden wires I2 and II3 are fixed in the first wire groove 281 .

[0048] In order to ensure the installation reliability of Bowden cable III4 and Bowden cable IV5, a second wire groove 151 is provided on the wire wheel III15, and wire fixing holes 152 are provided on both sides of the lower part of the wire wheel III15. The lower ends of the Bowden cable III4 and Bowden cable IV5 are respectively fixed in the wire fixing holes 152. The fixing method can be bonding. In order to prevent the bonding from falling off, the present embodiment preferably adopts bolts and nuts for fixing, that is, the Bowden cable III4 and Bowden cable IV5 are tied to the bolt, the bolt is limited in the wire fixing hole 152, and then the nut is sleeved on the end of the bolt on the inner side of the wire fixing hole 152 and tightened.

[0049] Thrust bearings 37 are provided on the hinge shafts of all hinged joints of the remote motion center mechanism 17. The thrust bearings 37 are preferably radial thrust ball bearings, which are used to reduce the friction force generated by each connecting rod when rotating.

[0050] In order to facilitate installation, ensure the reliability of each Bowden cable and prevent it from falling off, the first Bowden cable 2 and the second Bowden cable 3 are connected as a whole cable, and the middle part of them is set in the upper accommodating groove of the wire wheel Ⅰ13, and the two ends are respectively fixed in the first wire groove 281 on the hinge joint at the upper end of the second connecting rod 28. They can be fixed by bonding. In order to prevent them from falling off, they are preferably connected by tying; similarly, the third Bowden cable 4 and the fourth Bowden cable 5 are also connected as a whole cable, and their two ends are respectively connected to the lower part of the wire wheel Ⅲ12.

[0051] The working principle of the present invention is as follows: when the motor I12 reverses and drives the wire wheel I13 to reverse, the Bowden wire II3 is loosened and the Bowden wire I2 is pulled at the same time, the Bowden wire I2 moves upward to pull the remote motion center mechanism 17 to move upward and contract, and the fifth connecting rod 31 rotates counterclockwise around the remote motion center 25 (i.e., the intersection of the extension line of the hinge point of the first connecting rod 27, the third connecting rod 29 and the swing frame 16 and the extension line of the fifth connecting rod 31), thereby driving the instep fixing piece 19 arranged at the lower part of the fifth connecting rod 31 to rotate around the ankle joint rotation axis 26, thereby realizing the dorsiflexion of the ankle joint, thereby realizing the assistance to the dorsiflexion, and at the same time, the dorsiflexion method can be used to correct foot drop; on the contrary, when the motor I12 rotates clockwise, the Bowden wire I2 is loosened, and the Bowden wire II3 is pulled, the fifth connecting rod 31 rotates clockwise around the remote motion center 25, thereby realizing the plantar flexion of the ankle joint, thereby realizing the assistance to the plantar flexion. When the motor II 10 rotates counterclockwise, the Bowden wire III 4 is loosened and the Bowden wire IV 5 is pulled, so that the wire wheel III 15 rotates counterclockwise, driving the swing frame 16 to rotate counterclockwise, and then driving the remote motion center mechanism 17 to swing counterclockwise. During the swinging process, the fifth connecting rod 31 pushes the instep inward to turn the ankle joint inward, thereby correcting the foot eversion. On the contrary, the motor II 10 rotates clockwise, loosening the Bowden wire IV 5 and pulling the Bowden wire III 4, then the ankle eversion is achieved, thereby correcting the foot eversion. The Bowden wire group pulls When the remote motion center mechanism 17 moves, the vertically arranged sliding pair I cooperates with the sliding pair III 18 on the instep to automatically align the remote motion center 25 of the remote motion center mechanism 17 with the ankle joint rotation axis 26. The horizontally arranged sliding pair II will adaptively slide left and right when the swing frame swings. The ankle exoskeleton combines rigidity and flexibility, thereby achieving a high degree of overlap between the ankle exoskeleton power assist device and the ankle joint rotation axis. The patient is comfortable to wear, the remote motion center mechanism can be adaptively adjusted, will not sprain the patient's calf, and is safe and reliable.

[0052] The advantages of the present invention are: 1. Under different body sizes, since the upper end of the ankle exoskeleton mechanism 6 is provided with a sliding pair I and a lower end sliding pair III, the remote motion center 25 of the remote motion center mechanism 17 can adaptively coincide with the ankle joint rotation axis 26, thereby avoiding the misalignment of the rotation axis of the ankle exoskeleton mechanism 6 with the ankle joint rotation axis, resulting in a large shear force on the ankle joint, greatly improving the comfort of human-computer interaction; the setting of the remote motion center mechanism 17 allows the ankle exoskeleton part to be located in the space between the back of the foot and the front of the calf, and the structure is more compact.

[0053] 2. Bowden cable I2 and Bowden cable II3 drive the remote motion center mechanism 17 to contract or extend, so that the instep fixing part 19 rotates around the talar axis of the ankle joint (ankle joint rotation axis), thereby driving the dorsiflexion or plantar flexion of the ankle joint. Bowden cable III and Bowden cable IV drive the wire wheel III to rotate, driving the swing frame to swing the remote motion center mechanism, thereby assisting the ankle joint inversion or eversion, and finally achieving assisted plantar flexion, dorsiflexion and eversion of the ankle joint during walking, and preventing foot drop and foot eversion of stroke patients.

[0054] 3. Since the present invention adopts a Bowden cable group drive, adopts a rigid-flexible coupling exoskeleton form, and uses a rope to drive the rigid connecting rod, the overall weight of the present invention is reduced, it is easy to wear, and will not affect other parts of the body, which is safer.

[0055] Finally, it should be noted that the above is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention. In addition, the directional words such as "up, down, left, right, front, back" mentioned in this application do not represent the actual position, but only indicate the relative position of each component.

Claims

1. A rigid-flexible ankle exoskeleton assisting device, comprising an ankle exoskeleton mechanism (6), characterized in that: It also includes a rope-driven backpack (1), and a Bowden cable group connecting the ankle exoskeleton mechanism (6) and the rope-driven backpack (1); the Bowden cable group includes Bowden cable I (2), Bowden cable II (3), Bowden cable III (4), and Bowden cable IV (5); the rope-driven backpack (1) includes a housing (7), a motor I (12) and a motor II (10) fixed in the housing (7) via a mounting plate, and a reel I (13) and a reel II (9) respectively connected to the output ends of the motor I (12) and the motor II (10); the upper ends of the Bowden cables I (2) and II (3) are arranged on the reel I (13) and are respectively located on both sides of the reel I (13); the upper ends of the Bowden cables III (4) and IV (5) are arranged on the reel II (9) and are respectively located on both sides of the reel II (9); The ankle exoskeleton mechanism (6) comprises a calf fixing member (22), a wire wheel III (15) connected to the calf fixing member (22), a swing frame (16) fixedly connected to the wire wheel III (15), a remote motion center mechanism (17) hinged to the swing frame (16), and an instep fixing member (19) connected to the lower part of the remote motion center mechanism (17) via a sliding pair III (18); the upper part and the lower part of the swing frame (16) are respectively provided with a guide hole I (14) and a guide hole II (24); The remote motion center mechanism (17) is a "five"-shaped five-bar linkage mechanism, the lower end of the Bowden cable I (2) passes through the guide hole I (14) and is fixed to the hinge joint of the second link (28), the lower end of the Bowden cable II (3) passes through the guide hole II (24) and is fixed to the hinge joint of the second link (28), and the lower ends of the Bowden cable III (4) and the Bowden cable IV (5) are respectively fixedly connected to the lower part of the line wheel III (15); A sliding pair I (32), a slide rail frame (23), a sliding pair II (33), and a turntable (34) are sequentially arranged between the calf fixing member (22) and the wire wheel III (15); the sliding pair I (32) is a vertically arranged slide rail and slider structure, wherein the sliders are fixedly arranged on both sides of the outer side of the calf fixing member (22), and the slide rails are vertically fixed on both sides of the inner side of the slide rail frame (23); the sliders can slide up and down along the slide rails, and the calf fixing member (22) can slide up and down along the slide rail frame (23) for up and down adjustment through the sliding connection of the sliding pair I (32); the sliding pair II (33) is a horizontally arranged slide rail and slider structure, wherein the slide rail is horizontally fixed at the middle position of the outer side of the slide rail frame (23), the slider is fixed at the inner middle part of the turntable (34), and the slider can slide left and right along the slide rail, and the outer side of the turntable (34) is fixedly connected to the inner side of the wire wheel III (15); A hinge hole I (35) and a hinge hole II (36) are provided between the guide hole I (14) and the guide hole II (24) on the swing frame (16); the left end of the first connecting rod (27) of the remote motion center mechanism (17) is hinged to the hinge hole I (35) via a hinge shaft, the left end of the third connecting rod (29) is hinged to the hinge hole II (36) via a hinge shaft, the left side of the fifth connecting rod (31) is hinged to the lower end of the second connecting rod (28), and the right side is hinged to the lower end of the fourth connecting rod (30), the middle part of the second connecting rod (28) is hinged to the middle part of the third connecting rod (29), and the lower part of the fifth connecting rod (31) is connected to the instep fixing member (19) via a sliding pair III (18); The sliding pair III (18) comprises a sliding rail (181), a sliding block (182) slidably matched with the sliding rail (181), the sliding block (182) being fixedly connected to the lower portion of the fifth connecting rod (31), and the sliding rail (181) being fixedly connected to the upper surface of the instep fixing member (19).

2. The rigid-flexible ankle exoskeleton assisting device according to claim 1, characterized in that: The calf fixing piece (22) is an arc-shaped structure, and strap rings I (21) are provided on the left and right sides thereof, and the strap rings I (21) fix the calf fixing piece (22) on the calf.

3. The rigid-flexible ankle exoskeleton assisting device according to claim 1, characterized in that: The instep fixing piece (19) is an arc-shaped structure, and is provided with strap rings II (20) on its left and right sides. The strap rings II (20) are capable of fixing the instep fixing piece (19) on the instep.

4. The rigid-flexible ankle exoskeleton assisting device according to claim 1, characterized in that: The rope-driven backpack (1) further comprises a shoulder strap (11) arranged on the upper part of the shell (7) and a waist belt (8) arranged on both sides of the shell (7); the rope-driven backpack (1) is fixed to the waist of the wearer by the shoulder strap (11) and the waist belt (8).

5. The rigid-flexible ankle exoskeleton power-assisting device according to claim 1, characterized in that: A first wire groove (281) is provided on the hinged joint at the upper end of the second connecting rod (28), and the Bowden wire I (2) and the Bowden wire II (3) are fixed in the first wire groove (281).

6. The rigid-flexible ankle exoskeleton assisting device according to claim 1, characterized in that: The wire wheel III (15) is provided with a second wire groove (151), and wire fixing holes (152) are provided on both sides of the lower part of the wire wheel III (15), and the lower ends of the Bowden wire III (4) and the Bowden wire IV (5) are respectively fixed in the wire fixing holes (152).

7. The rigid-flexible ankle joint exoskeleton assisting device according to any one of claims 1 to 6, characterized in that: Thrust bearings (37) are provided on the hinge shafts of all hinged locations of the remote motion center mechanism (17).

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