A modular, novel passive lower extremity exoskeleton structure

Abstract

The application relates to a novel passive lower-limb exoskeleton structure, which comprises a waist module, a hip joint module, a thigh length adjustment module, a knee joint module, a lower leg length adjustment module, an ankle joint assisting module and a detachable assisting module; the detachable assisting module is arranged on the hip joint module or the knee joint module. The application has the beneficial effects that: the detachable assisting module can be selectively installed on the corresponding position of the hip joint or the knee joint according to the requirements, so that different assisting requirements can be met; the waist circumference dimension and the installation position of the lower limb can be adjusted; the thigh length adjustment module and the lower leg length adjustment module can further improve the adaptability of the exoskeleton structure to the length of the lower limbs of the wearer; hinges are arranged at the knee joint, the hip joint and the ankle joint, so that the exoskeleton can be outwardly extended and inwardly retracted at the joints, and the wearing is facilitated.

Description

A novel modular passive lower limb exoskeleton structure Technical Field

[0001] This invention belongs to the field of lower limb exoskeleton technology, and particularly relates to a novel modular passive lower limb exoskeleton structure. Background Technology

[0002] Passive lower limb exoskeletons have been widely used as a power assist device. Existing technologies, such as the passive lower limb exoskeleton power assist device and method proposed in CN114102564A, include the following components: a lumbar plate, a hip joint mechanism, an exoskeleton thigh, and an exoskeleton lower leg. The hip joint mechanism includes a hip joint cam, a hip joint end cap, a straight spring, and a hip joint fixing end. The hip joint cam is mounted on the upper end of the hip joint end cap and contacts the lumbar plate via an end-face bearing. The straight spring is rotatably connected to the lower end of the hip joint end cap, and its lower end is connected to the hip joint fixing end. The upper end of the exoskeleton thigh is connected to the hip joint end cap. The knee joint energy storage mechanism includes a knee joint assembly, an elastic rod, and a foot assembly. The upper end of the elastic rod is connected to the knee joint assembly, and its lower end is connected to the foot assembly. The knee joint assembly is connected to the lower end of the exoskeleton thigh. The knee joint energy storage mechanism stores and releases the gravitational potential energy generated during walking. The upper and lower ends of the exoskeleton lower leg are connected to the knee joint assembly and the foot assembly, respectively.

[0003] This structure provides assistance through the energy storage and release of straight springs. However, the energy storage mechanism applied to the straight springs is fixed to various parts of the exoskeleton structure, making it impossible to selectively install as needed. Furthermore, the fixed energy storage mechanism is not conducive to the maintenance and upkeep of the exoskeleton, and it cannot be quickly replaced. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a modular, novel passive lower limb exoskeleton structure.

[0005] This modular, novel passive lower limb exoskeleton structure is characterized by comprising: a waist module, a hip joint module, a thigh length adjustment module, a knee joint module, a calf length adjustment module, an ankle joint assist module, and a detachable assist module.

[0006] The waist module is connected to the hip joint module via a waist ring; the hip joint module includes an upper hip joint rod and a lower hip joint rod, which are connected by gear meshing, and the lower hip joint rod is connected to the thigh length adjustment module via an adjusting hinge;

[0007] The thigh length adjustment module includes a thigh fixation rod and a knee fixation rod, which are connected by an adjustment rod. The knee fixation rod is connected to the knee joint module, which includes a lower knee joint rod. The knee fixation rod and the lower knee joint rod are also connected by gear meshing. The lower knee joint rod is connected to the calf length adjustment module via a hinge. The bottom of the calf length adjustment module is connected to the ankle joint assist module via an ankle hinge.

[0008] The detachable power assist module is located in the hip joint module or the knee joint module. The detachable power assist module includes a straight spring, an eccentric wheel, and an adjustment knob. The initial length of the straight spring is determined by the depth of the bottom of the adjustment knob inside the detachable power assist module. The lower part of the eccentric wheel has a connecting end that extends out of the detachable power assist module. When the detachable power assist module is located in the hip joint module, the upper hip joint rod and the detachable power assist module are fixedly connected, and the lower hip joint rod is fixedly connected to the connecting end of the eccentric wheel through the power assist module connector.

[0009] As a preferred embodiment: the waist module includes a waist ring and a back frame, the bottom of the back frame is connected to a back frame adjustment plate, and the waist ring is symmetrically connected to both sides of the back frame adjustment plate; one end of the waist ring is provided with several pin holes, and the waist ring is connected to the back frame adjustment plate through the pin holes and pins, and the other end of the waist ring is provided with several screw holes; the hip joint module is connected to the screw holes on the waist ring through the upper side rod of the hip joint.

[0010] Preferably, the hip joint module also includes an intra-articular fixation rod and an extra-articular fixation rod, which are fixed to both sides of the engaging portion of the upper hip joint rod and the lower hip joint rod by fastening screws.

[0011] As a preferred embodiment: when the detachable assist module is located on the knee joint module, the knee fixation rod and the detachable assist module are fixedly connected, and the lower side rod of the knee joint is fixedly connected to the connecting end of the eccentric wheel through the assist module connector.

[0012] As a preferred option, both the hip and knee joint modules are equipped with detachable assist modules.

[0013] Preferably, the adjusting rod is connected to the adjusting button through an inner groove. The adjusting button is connected to the adjusting plate and the adjusting spring through a slot. When the adjusting button moves in the inner groove of the adjusting rod, the adjusting spring is compressed, and the thigh fixing rod and the knee fixing rod change from a fixed connection to a sliding connection in the vertical direction.

[0014] As a preferred embodiment, the structure of the calf length adjustment module is the same as that of the thigh length adjustment module, but the knee fixing rod at the bottom of the thigh length adjustment module is connected to the knee joint lower side rod in the knee joint module through gear meshing, while the lower part of the calf length adjustment module is an ankle joint fixing rod, which is connected to the ankle joint assist module through an ankle hinge; the thigh fixing rod is connected to a thigh binding structure, and the calf length adjustment module is also equipped with a calf binding structure.

[0015] Preferably, the ankle support module includes an ankle hinge, an ankle sliding rod, an ankle support structure, and a shoe connecting block. The ankle support structure includes a shell, a large-headed bolt, and a support spring. The screw of the large-headed bolt is located inside the support spring coil. The bottom end of the support spring is connected to the bottom surface of the shoe connecting block via a nut. The shell covers the outside of the large-headed bolt, the support spring, and the nut. The top of the ankle sliding rod is connected to the ankle hinge, and the lower section of the ankle sliding rod is inserted into the shell of the ankle support structure, with its bottom end contacting the head of the large-headed bolt. The ankle sliding rod has a groove of a certain length in the vertical direction, and the ankle support structure is connected to the groove of the ankle sliding rod via an ankle pin.

[0016] The method for wearing this modular, novel passive lower limb exoskeleton structure includes the following steps:

[0017] Step 1: Wear the ankle support module, calf length adjustment module, knee module, thigh length adjustment module, hip module, and waist module in the following order from top to bottom;

[0018] Step 2: Install a detachable power assist module on the hip or knee joint module, or install detachable power assist modules on both the hip and knee joint modules, depending on the power assist requirements.

[0019] Step 3: Adjust the initial length of the straight spring using the adjustment knob on the detachable assist module according to the required assist.

[0020] Preferably, in step two, the method for installing the detachable assist module on the hip joint module is as follows: the upper hip joint rod and the detachable assist module are fixedly connected, and the lower hip joint rod and the connecting end of the eccentric wheel inside the detachable assist module are fixedly connected through the assist module connector; when the lower hip joint rod swings, the eccentric wheel inside the detachable assist module rotates synchronously.

[0021] The method for installing the detachable assist module on the knee joint module is as follows: the knee fixation rod and the detachable assist module are fixedly connected, and the connection end of the lower knee joint rod and the eccentric wheel of the detachable assist module are fixedly connected through the assist module connector; when the lower knee joint rod swings, the eccentric wheel in the detachable assist module rotates synchronously.

[0022] The beneficial effects of this invention are:

[0023] 1) This invention adopts a modular design and is equipped with a detachable assist module, which can be selectively installed on the corresponding position on the hip or knee joint as needed to meet different assist requirements. The installation method of the assist module is simple, easy to maintain and repair, and can also be quickly replaced as needed.

[0024] 2) The present invention can adjust the waist ring dimension by means of the pin and the pin hole, and can also adjust the installation position of the lower limbs by means of the screw hole, so that the exoskeleton structure can match the body of different body sizes; at the same time, the thigh length adjustment module and the calf length adjustment module can further improve the adaptability of the exoskeleton structure to the wearer's lower limb length, and further improve the comfort.

[0025] 3) The present invention has an ankle spring in the ankle joint assisting structure of the ankle joint assisting module, and the ankle spring can be replaced according to different load indicators. The replacement method is simple and quick and can meet the assisting needs under different loads.

[0026] 4) The present invention has hinges at the knee, hip and ankle joints, so that the exoskeleton can be abducted and retracted at these joints, making it easy to wear. Attached Figure Description

[0027] Figure 1 is a schematic diagram of the connection of each module of the present invention;

[0028] Figure 2 is a structural diagram of the waist module of the present invention;

[0029] Figure 3 is an exploded view of the connection between the detachable power assist module and the hip joint module of the present invention;

[0030] Figure 4 is a structural diagram of the thigh length adjustment module of the present invention;

[0031] Figure 5 is a schematic diagram of the installation of the detachable assist module in the hip or knee joint of the present invention (where Figure 5a is a schematic diagram of the installation of the detachable assist module in the hip joint, and Figure 5b is a schematic diagram of the installation of the detachable assist module in the knee joint).

[0032] Figure 6 is a structural schematic diagram of the ankle joint assist module of the present invention;

[0033] Figure 7 is a schematic diagram of the internal structure of the ankle joint assist structure of the present invention.

[0034] Explanation of reference numerals in the attached diagram: 1. Waist joint module; 2. Hip joint module; 3. Thigh length adjustment module; 4. Knee joint module; 5. Calf length adjustment module; 6. Ankle joint assist module; 7. Detachable assist module; 8. Buckle 101; Waist belt 102; Waist ring 103; Pin 104; Backrest adjustment plate 105; Backrest 106; Upper hip joint bar 201; Fastening screw 203; Intra-articular fixation bar 204; Out-of-articular fixation bar 205; Lower hip joint bar 206; Assist module. Connector 207, Adjustable hinge 208, Thigh fixing rod 301, Thigh binding structure 302, Adjustment button 303, Adjustment spring 304, Adjustment plate 305, Adjustment rod 306, Knee fixing rod 307, Ankle hinge 601, Ankle pin 602, Ankle sliding rod 603, Ankle joint assist structure 604, Shoe connecting block 605, Big head bolt 6041, Assist spring 6042, Nut 6043, Assist module connector 701. Detailed Implementation

[0035] The present invention will be further described below with reference to embodiments. The description of the embodiments below is only for the purpose of helping to understand the present invention. It should be noted that those skilled in the art can make several modifications to the present invention without departing from the principle of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0036] Example 1

[0037] As one embodiment, as shown in Figures 1 to 7, a novel modular passive lower limb exoskeleton structure includes: a waist module 1, a hip joint module 2, a thigh length adjustment module 3, a knee joint module 4, a calf length adjustment module 5, an ankle joint assist module 6, and a detachable assist module 7.

[0038] The waist module 1 includes a waist ring 103 and a back frame 106. The back frame 106 is connected to the bottom of the back frame adjustment plate 105. The waist ring 103 is symmetrically connected to both sides of the back frame adjustment plate 105. One end of the waist ring 103 is provided with several pin holes. The waist ring 103 is connected to the back frame adjustment plate 105 through the pin holes and pins 104. The other end of the waist ring 103 is provided with several screw holes. The hip joint module 2 is connected to the screw holes on the waist ring 103 through the upper side rod 201 of the hip joint.

[0039] The waist module 1 is connected to the hip joint module 2 via a waist ring 103. The hip joint module 2 includes an upper hip joint rod 201 and a lower hip joint rod 206, which are connected by gear meshing. The hip joint module 2 also includes an intra-articular fixation rod 204 and an external fixation rod 205, which are fixed to both sides of the meshing portion of the upper hip joint rod 201 and the lower hip joint rod 206 by fastening screws 203, ensuring gear meshing without axial displacement. The lower hip joint rod 206 is connected to the thigh length adjustment module 3 via an adjusting hinge 207 for easy wear.

[0040] The thigh length adjustment module 3 includes a thigh fixing rod 301 and a knee fixing rod 307. The thigh fixing rod 301 has a boss, and the knee fixing rod 307 has a long groove. The boss and long groove interlock, allowing the thigh fixing rod 301 and knee fixing rod 307 to slide relative to each other. The thigh fixing rod 301 and knee fixing rod 307 are connected by an adjusting rod 306. The adjusting rod 306 is connected to an adjusting button 303 via an inner groove. The adjusting button 303 has an adjusting plate 305 and an adjusting spring 304 connected to it via a slot. When the adjusting button 303... Moving the adjustment lever 306 within its inner groove controls the compression and release of the adjustment spring 304 in the adjustment button 303. When the adjustment button 303 moves within the inner groove of the adjustment lever 304 to press the adjustment spring 304, the thigh fixing rod 301 and the knee fixing rod 307 change from a fixed connection to a sliding connection in the vertical direction. The knee fixing rod 307 can then be adjusted up or down according to the wearer's needs. When the adjustment button 303 is released, causing the adjustment spring 304 to release, the thigh fixing rod 301 and the knee fixing rod 307 become fixedly connected again in the vertical direction. The knee fixation rod 307 is connected to the knee joint module 4. The knee joint module 4 includes a lower knee joint rod. The knee fixation rod 307 and the lower knee joint rod are also connected by gear meshing. The meshing parts are provided with internal and external joint fixation rods similar to those in the hip joint module 2. The lower knee joint rod is connected to the calf length adjustment module 5 via a hinge. The structure of the calf length adjustment module 5 is the same as that of the thigh length adjustment module 3. The thigh fixation rod 301 is connected to the thigh binding structure 302. The calf length adjustment module 5 also has a calf binding structure. However, the knee fixation rod 307 at the bottom of the thigh length adjustment module 3 is connected to the lower knee joint rod in the knee joint module 4 via gear meshing. The lower part of the calf length adjustment module 5 is an ankle joint fixation rod. The ankle joint fixation end is connected to the ankle joint assist module 6 via an ankle hinge 601.

[0041] The thigh length adjustment module 3 and the calf length adjustment module 5 allow the exoskeleton to fit the size of the lower body, and the knee joint module 4 to be aligned with the wearer's knee joint, achieving the goal of aligning the joint with the exoskeleton and achieving the best assist effect.

[0042] The ankle joint assist module 6 includes an ankle hinge 601, an ankle sliding rod 603, an ankle joint assist structure 604, and a shoe connecting block 605. The ankle joint assist structure 604 includes a shell, a large-head bolt 6041, and an assist spring 6042. The screw of the large-head bolt 6041 is located inside the coil of the assist spring 6042. The bottom end of the assist spring 6042 is connected to the bottom surface of the shoe connecting block 605 through a nut 6043. The shell covers the outside of the large-head bolt 6041, the assist spring 6042, and the nut 6043. The top end of the ankle sliding rod 603 is connected to the ankle hinge 601, and the lower section of the ankle sliding rod 603 is inserted into the shell of the ankle joint assist structure 604, with the bottom end contacting the head of the large-head bolt 6041. This forms a module that only assists the ankle joint, transferring the load to the ground, thereby reducing the burden on the human body. At the same time, the ankle hinge 601 can also realize the abduction and adduction freedom of the ankle joint, making it easy to wear.

[0043] The ankle sliding rod 603 has a groove of a certain length in the vertical direction. The ankle joint assist structure 604 is connected to the groove of the ankle sliding rod 603 through the ankle pin 602 to prevent the ankle sliding rod 603 from being pulled out of the ankle joint assist structure 604. When the assist spring 6042 needs to be replaced, it can be replaced by disassembling the ankle pin 602.

[0044] The detachable assist module 7 can be selectively located on the hip joint module 2 or the knee joint module 4, or it can be located on both the hip joint module 2 and the knee joint module 4. The detachable assist module 7 includes a straight spring, an eccentric wheel, and an adjustment knob. The initial length of the straight spring is determined by the depth of the bottom of the adjustment knob within the detachable assist module 7. The lower part of the eccentric wheel has a connecting end that extends out of the detachable assist module 7. When the detachable assist module 7 is located on the hip joint module 2, the upper hip joint rod 201 and the detachable assist module 7 are fixedly connected, and the lower hip joint rod 206 is fixedly connected to the connecting end of the eccentric wheel through the assist module connector 701, so that the lower hip joint rod 206 and the eccentric wheel in the detachable assist module 7 rotate synchronously.

[0045] When the detachable assist module 7 is installed on the knee joint module 4, the knee fixation rod 307 and the detachable assist module 7 are fixedly connected. The lower side rod of the knee joint is fixedly connected to the connecting end of the eccentric wheel through the assist module connector 701, so that the lower side rod of the knee joint and the eccentric wheel in the detachable assist module 7 rotate synchronously.

[0046] The upper outer edge of the eccentric wheel contacts and connects to the straight spring. When walking, the lower hip joint rod 206 and the lower knee joint rod drive the eccentric wheel to rotate. Due to the change in radius of the eccentric wheel at different angles, the straight spring contracts and extends during walking, providing assistance for walking.

[0047] Example 2

[0048] As another embodiment, the method for wearing a novel modular passive lower limb exoskeleton structure proposed in Embodiment 1 includes the following steps:

[0049] Step 1: Wear the ankle support module 6, calf length adjustment module 5, knee joint module 4, thigh length adjustment module 3, hip joint module 2, and waist module 1 in the following order from top to bottom; specifically:

[0050] First, select and install the assist spring 6042 of the ankle joint assist module 6 according to the weight-bearing situation; the installation method of the assist spring 6042 in the ankle joint assist module 6 is as follows: remove the ankle pin 602 in the groove of the ankle sliding rod 603, remove the big head bolt 6041, take out the original assist spring 6042, replace it with the required assist spring 6042, then insert the big head bolt 6041, insert the ankle sliding rod 603 back into the ankle joint assist structure 604, and reinstall the ankle pin 602 to complete the limit; then wear the ankle joint assist module 6 through the shoe connecting block 605;

[0051] Then, adjust the calf length adjustment module 5 to match the wearer's leg length. Generally, the binding structure is located in the middle of the calf. Repeat the same operation to adjust the thigh length adjustment module 3 to match the wearer, with the binding structure located in the middle of the thigh, completing the wearing of the calf and thigh. Next, align the hip of the wearer with the hole position of the upper hip joint rod 201 on the hip joint module 2, and fix it to the screw hole on the waist module 1 with screws. Repeat the same operation to complete the wearing of the other leg. Finally, adjust the waist module 1 according to the matching position of the pin 104 and the hole position of the waist ring 103, thereby enabling wearers with different waist sizes.

[0052] Step 2: Install the detachable power assist module 7 on the hip joint module 2 or the knee joint module 4 as needed, or install the detachable power assist module 7 on both the hip joint module 2 and the knee joint module 4.

[0053] The method for installing the detachable assist module 7 on the hip joint module 2 is as follows: the upper hip joint rod 201 and the detachable assist module 7 are fixedly connected, and the lower hip joint rod 206 and the connecting end of the eccentric wheel inside the detachable assist module 7 are fixedly connected through the assist module connector 701; when the lower hip joint rod 206 swings, the eccentric wheel inside the detachable assist module 7 rotates synchronously. The method for installing the detachable assist module 7 on the knee joint module 4 is as follows: the knee fixing rod 307 and the detachable assist module 7 are fixedly connected, and the lower knee joint rod and the connecting end of the eccentric wheel inside the detachable assist module 7 are fixedly connected through the assist module connector 701; when the lower knee joint rod swings, the eccentric wheel inside the detachable assist module 7 rotates synchronously.

[0054] Step 3: Rotate the adjustment knob of the detachable assist module 7 according to the assist requirements, so that its bottom presses against the top of the straight spring, shortening the initial length of the straight spring and providing it with prestress.

Claims

1. A modular, passive lower limb exoskeleton structure, characterized in that, include: The system includes a waist module (1), a hip joint module (2), a thigh length adjustment module (3), a knee joint module (4), a calf length adjustment module (5), an ankle joint assist module (6), and a detachable assist module (7); the waist module (1) is connected to the hip joint module (2) via a waist ring (103); the hip joint module (2) includes an upper hip joint rod (201) and a lower hip joint rod (206), which are connected by gear meshing, and the lower hip joint rod (206) is connected by gear meshing. The thigh length adjustment module (3) is connected via an adjusting hinge (208); the thigh length adjustment module (3) includes a thigh fixing rod (301) and a knee fixing rod (307), which are connected via an adjusting rod (306); the knee fixing rod (307) is connected to the knee joint module (4), which includes a knee joint lower side rod, and the knee fixing rod (307) and the knee joint lower side rod are also connected via gear meshing, and the knee joint lower side rod is connected to the lower leg length adjustment module (4) via a hinge. The lower leg length adjustment module (5) is connected to the ankle joint assist module (6) at the bottom via an ankle hinge (601); the detachable assist module (7) is located on the hip joint module (2) or the knee joint module (4), or both the hip joint module (2) and the knee joint module (4) are equipped with a detachable assist module (7). The detachable assist module (7) includes a straight spring, an eccentric wheel and an adjustment knob. The initial length of the straight spring is determined by the depth of the bottom of the adjustment knob in the detachable assist module (7). The lower part of the eccentric wheel is provided with an extendable detachable spring. The connection end of the assist module (7); when the detachable assist module (7) is located on the hip joint module (2), the upper hip joint rod (201) and the detachable assist module (7) are fixedly connected, and the lower hip joint rod (206) is fixedly connected to the connection end of the eccentric wheel through the assist module connector (701); when the detachable assist module (7) is located on the knee joint module (4), the knee fixing rod (307) and the detachable assist module (7) are fixedly connected, and the lower knee joint rod is fixedly connected to the connection end of the eccentric wheel through the assist module connector (701).

2. The modular passive lower limb exoskeleton structure according to claim 1, characterized in that: The waist module (1) includes a waist ring (103) and a back frame (106). The back frame (106) is connected to the back frame adjustment plate (105) at the bottom. The waist ring (103) is symmetrically connected to both sides of the back frame adjustment plate (105). One end of the waist ring (103) is provided with several pin holes. The waist ring (103) is connected to the back frame adjustment plate (105) through the pin holes and pins (104). The other end of the waist ring (103) is provided with several screw holes. The hip joint module (2) is connected to the screw holes on the waist ring (103) through the upper side rod (201) of the hip joint.

3. The modular passive lower limb exoskeleton structure according to claim 1, characterized in that: The hip joint module (2) also includes an intra-articular fixation rod (204) and an extra-articular fixation rod (205), which are fixed to the meshing portions of the upper hip joint rod (201) and the lower hip joint rod (206) by fastening screws (203).

4. The modular passive lower limb exoskeleton structure according to claim 1, characterized in that: The adjusting rod (306) is connected to the adjusting button (303) through the inner groove. The adjusting button (303) is connected to the adjusting plate (305) and the adjusting spring (304) through the slot. When the adjusting button (303) moves in the inner groove of the adjusting rod (306), the adjusting spring (304) is compressed, and the thigh fixing rod (301) and the knee fixing rod (307) change from a fixed connection to a sliding connection in the vertical direction.

5. The modular passive lower limb exoskeleton structure according to claim 1, characterized in that: The structure of the calf length adjustment module (5) is the same as that of the thigh length adjustment module (3), but the knee fixing rod (307) at the bottom of the thigh length adjustment module (3) is connected to the knee joint lower side rod in the knee joint module (4) through gears, while the lower part of the calf length adjustment module (5) is an ankle joint fixing rod, which is connected to the ankle joint assist module (6) through the ankle hinge (601); the thigh fixing rod (301) is connected to the thigh binding structure (302), and the calf length adjustment module (5) is also provided with a calf binding structure.

6. The modular passive lower limb exoskeleton structure according to claim 1, characterized in that: The ankle joint assist module (6) includes an ankle hinge (601), an ankle sliding rod (603), an ankle joint assist structure (604), and a shoe connecting block (605). The ankle joint assist structure (604) includes a shell, a big-head bolt (6041), and an assist spring (6042). The screw of the big-head bolt (6041) is located inside the coil of the assist spring (6042). The bottom end of the assist spring (6042) is connected to the bottom surface of the shoe connecting block (605) through a nut (6043). The shell is wrapped around the big-head bolt. The outer side of the bolt (6041), the assist spring (6042), and the nut (6043); the top of the ankle sliding rod (603) is connected to the ankle hinge (601), the lower section of the ankle sliding rod (603) is inserted into the outer shell of the ankle joint assist structure (604), and the bottom end contacts the screw head of the big head bolt (6041); the ankle sliding rod (603) has a certain length of groove in the vertical direction, and the ankle joint assist structure (604) is connected to the groove of the ankle sliding rod (603) through the ankle pin (602).

7. The method for wearing the modular passive lower limb exoskeleton structure as described in claim 1, characterized in that, Includes the following steps: Step 1: Wear the ankle joint assist module (6), calf length adjustment module (5), knee joint module (4), thigh length adjustment module (3), hip joint module (2) and waist module (1) from top to bottom; Step 2: Install the detachable assist module (7) on the hip joint module (2) or knee joint module (4) according to the assist requirements, or install the detachable assist module (7) on both the hip joint module (2) and knee joint module (4); Step 3: Adjust the initial length of the straight spring by adjusting the knob of the detachable assist module (7) according to the assist requirements.

8. The method for wearing the modular passive lower limb exoskeleton structure according to claim 7, characterized in that, In step two: the method of installing the detachable assist module (7) on the hip joint module (2) is to fix the upper hip joint rod (201) and the detachable assist module (7) together, and fix the lower hip joint rod (206) and the connecting end of the eccentric wheel in the detachable assist module (7) together through the assist module connector (701); when the lower hip joint rod (206) swings, the eccentric wheel in the detachable assist module (7) rotates synchronously. The method of installing the detachable assist module (7) on the knee joint module (4) is to fix the knee fixing rod (307) and the detachable assist module (7) together, and fix the lower knee joint rod and the connecting end of the eccentric wheel in the detachable assist module (7) together through the assist module connector (701); when the lower knee joint rod swings, the eccentric wheel in the detachable assist module (7) rotates synchronously.

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