Heterogeneous passive assisted weight-bearing lower extremity exoskeleton

Abstract

The application discloses a heterogeneous unpowered auxiliary load-bearing lower limb exoskeleton, which comprises a waist device, rear branch chain devices, front branch chain devices, front-rear branch chain connecting devices, foot devices, locking ropes and transmission ropes; two rear branch chain devices are symmetrically installed on the left side and the right side of the rear part of the waist device; two front branch chain devices are symmetrically installed on the left side and the right side of the front part of the waist device; one front-rear branch chain connecting device, one locking rope and one transmission rope are installed between the rear branch chain device and the front branch chain device on the same side; and one foot device is installed at the lower part of each front branch chain device. The application is based on the walking gait rule of the human body and the load-bearing principle of the human body, and a unilateral double-branch chain structure is designed. The rear branch chain device is a direct-acting non-anthropomorphic design, the structural complexity caused by the rotary pair of the front-rear branch chain is avoided, and the load-bearing gravity of the human body is more directly transmitted to the ground through the rear branch chain device of the exoskeleton.

Description

Technical Field

[0001] This invention relates to the field of lower limb exoskeleton robots, specifically a heterogeneous, unpowered, weight-bearing lower limb exoskeleton. Background Technology

[0002] Weight-bearing walking, as one of the main activities in daily human life, is frequently involved in various fields and situations. For example, soldiers carrying weapons and equipment on marches, factory workers processing and manufacturing materials, logistics personnel transporting goods, rescue workers carrying rescue equipment, and mountaineering tourists carrying supplies all require carrying a certain amount of weight. To reduce the burden on the human body and improve walking endurance, researchers have conducted extensive research on weight-bearing exoskeletons. Due to their strong terrain adaptability and high demand, weight-bearing exoskeletons have gradually become important equipment for applications in various industries. Currently, most weight-bearing exoskeletons are powered, which have disadvantages such as heavy weight, insufficient endurance, complex control methods, and high cost, hindering large-scale promotion.

[0003] Current research on unpowered weight-bearing lower limb exoskeletons mainly focuses on two types: quasi-passive and passive. The primary aim is to address the drawbacks of exoskeletons, such as heavy weight and limited endurance. A document with application number 202010549936.5 discloses a multi-joint, rigid-flexible combined lower limb assistive exoskeleton. It possesses the same degrees of freedom as the human lower limb in the sagittal plane, employing a flexible linear wheel transmission structure to assist hip joint extension. The rigid knee joint uses a locking mechanism to lock during the lower limb's support phase, improving the efficiency of weight-bearing force transmission to the ground. However, because the weight is not aligned with the body's center of gravity on the back, the weight generates a tilting torque that hinders movement.

[0004] Unpowered weight-bearing exoskeletons avoid problems such as insufficient battery life, inadequate control, and high cost, while also offering advantages like strong adaptability and lightweight design. However, current weight-bearing exoskeletons still face many challenges, such as insufficient assistance to the lower limbs, excessively short weight-bearing time during the gait cycle, and indirect weight-bearing efficiency due to knee rotational freedom resulting from anthropomorphic design. Therefore, improving weight-bearing efficiency and lower limb assistance is the technical problem this invention attempts to solve. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a heterogeneous unpowered weight-bearing lower limb exoskeleton.

[0006] The technical solution of the present invention to solve the aforementioned technical problem is to provide a heterogeneous, unpowered, weight-bearing lower limb exoskeleton, characterized in that the lower limb exoskeleton includes a waist device, a rear branch chain device, a front branch chain device, a front and rear branch chain connecting device, a foot device, a locking rope, and a transmission rope.

[0007] Two rear branch chain devices are symmetrically installed on the left and right sides of the rear of the waist device; two front branch chain devices are symmetrically installed on the left and right sides of the front of the waist device; a front and rear branch chain connecting device, a locking rope and a transmission rope are installed between the rear branch chain devices and the front branch chain devices on the same side; a foot device is installed at the lower part of each front branch chain device.

[0008] The waist device includes a left longitudinal support plate, a left rear plate, a left horizontal support plate, a left front plate, a left binding support plate, a waist binding piece, a waist back plate, a connecting square tube, a right binding support plate, a right rear cable spool support plate, a right horizontal support plate, a right longitudinal support plate, a right front plate, a right front cable spool support plate, a right rear plate, a right transmission cable spool, a right locking cable spool, a left front cable spool support plate, a left rear cable spool support plate, a left transmission cable spool, and a left locking cable spool.

[0009] One end of the left binding support plate is nested inside the right binding support plate via one end of the right binding support plate, and is slidably connected to the right binding support plate. The relative positions of the two are fixed by threaded connectors to accommodate different wearers. The other end of the left binding support plate is fixed to the left longitudinal support plate. The other end of the right binding support plate is fixed to the right longitudinal support plate. One end of the left horizontal support plate and one end of the right horizontal support plate are nested inside the connecting square tube via both ends of the connecting square tube. The left horizontal support plate and the connecting square tube, as well as the right horizontal support plate and the connecting square tube, are slidably connected, and the relative positions of the three are fixed by threaded connectors to accommodate different wearers.

[0010] The left front plate, left front spool support plate, and left rear plate are respectively fixed to the front end, middle, and rear end of the left longitudinal support plate; the right front plate, right front spool support plate, and right rear plate are respectively fixed to the front end, middle, and rear end of the right longitudinal support plate; the waist binding is fixed to the waist back plate, and the waist back plate is fixed to the right binding support plate and the left binding support plate; the left rear spool support plate is fixed to the left horizontal support plate, and the right rear spool support plate is fixed to the right horizontal support plate;

[0011] The two ends of the right-side drive spool are respectively mounted on the right-side front spool support plate and the left-side rear spool support plate; the two ends of the right-side locking spool are respectively mounted on the right-side front spool support plate and the left-side rear spool support plate; the two ends of the left-side drive spool are respectively mounted on the left-side front spool support plate and the right-side rear spool support plate; the two ends of the left-side locking spool are respectively mounted on the left-side front spool support plate and the right-side rear spool support plate.

[0012] Both the left and right rear plates are equipped with locking mechanisms at their ends, which are used to start and stop the relative sliding between the connecting plate on the long spring and the moving square tube of the long spring.

[0013] The locking mechanism includes a rear branch upper drive three-wire wheel, a return spring, a return spring shaft, a return spring moving plate, a rear branch upper limit support sleeve, a return spring upper limit plate, a return spring lower limit plate, an upper locking gear, a lower locking gear, a gear limit plate, a lower locking gear shaft, and an upper locking gear shaft.

[0014] The upper locking gear shaft is rotatably mounted in the left or right rear plate via the upper limit support sleeve of the rear branch chain; the lower locking gear is fixed on the upper locking gear shaft; the upper drive three-wire wheel of the rear branch chain is fixed on the lower locking gear shaft via a flat key; the upper locking gear shaft is slidably mounted in the through groove of the left or right rear plate, and can move up and down along the through groove of the left or right rear plate; the upper locking gear is fixed on the upper locking gear shaft; the upper locking gear and the lower locking gear are meshed and connected; one end of the gear limiting plate is fixed in the upper locking gear shaft, and the other end is fixedly connected to the reset spring moving plate; the upper limit plate and the lower limit plate of the reset spring are fixed on the left or right rear plate; both ends of the reset spring shaft are fixed to the upper limit plate and the lower limit plate of the reset spring, respectively; the reset spring moving plate is slidably mounted on the reset spring shaft; the reset spring is nested on the outside of the reset spring shaft, with one end in contact or fixed to the upper limit plate of the reset spring, and the other end in contact or fixed to the reset spring moving plate;

[0015] The rear branch chain device includes an upper connecting rod, a long spring upper connecting plate, a long spring movable square tube, a short spring upper connecting plate, a short spring movable square tube, a lower connecting rod, a transmission gear, a transmission rack, a long spring movable square tube limiting block, a transmission double spool shaft, a transmission double spool, a long spring, a long spring shaft, a short spring movable square tube limiting block, a short spring, and a short spring shaft.

[0016] The upper end of the upper connecting rod is hinged to the left or right rear plate, forming a rotating pair; the upper end of the upper connecting plate of the long spring extends into the upper connecting rod from the lower end, and is slidably connected to the upper connecting rod. The length of the rear branch chain device can be adjusted by adjusting the fixed position to accommodate different wearers; the transmission double-wire wheel shaft is rotatably mounted in the upper connecting plate of the long spring through a support sleeve; a through groove is opened on the long spring moving square tube; the long spring moving square tube is nested on the outside of the long spring upper connecting plate, and both ends of the transmission double-wire wheel shaft pass through the through groove of the long spring moving square tube and extend out of the outside of the long spring moving square tube; the transmission double-wire wheel is fixed on the transmission double-wire wheel shaft; a transmission gear is fixedly mounted on the transmission double-wire wheel shaft by a flat key; a transmission rack is fixed on the inner wall of the long spring moving square tube; the transmission gear and the transmission rack mesh and are connected for transmission.

[0017] The lower end of the upper connecting plate of the long spring is fixedly connected to one end of the long spring shaft; the other end of the long spring shaft extends from the upper end of the upper connecting plate of the short spring and slides into the upper connecting plate of the short spring; the long spring is nested on the outside of the long spring shaft, with one end in contact with or fixed to the lower end face of the upper connecting plate of the long spring, and the other end in contact with or fixed to the upper end face of the upper connecting plate of the short spring; the upper connecting plate of the short spring is fixedly connected to the moving square tube of the long spring; a limiting block for the moving square tube of the long spring is provided on the upper connecting plate of the long spring, which cooperates with the through groove of the moving square tube of the long spring to limit the stroke of the moving square tube of the long spring;

[0018] The lower end of the upper connecting plate of the short spring is fixedly connected to one end of the short spring shaft; the other end of the short spring shaft extends into the lower connecting rod and is slidably connected to the lower connecting rod; the short spring is nested outside the short spring shaft, with one end contacting or fixed to the lower end face of the upper connecting plate of the short spring and the other end contacting or fixed to the upper end face of the lower connecting rod; the short spring movable square tube is nested outside the upper connecting plate of the short spring and is fixedly connected to the lower connecting rod; the upper connecting plate of the short spring is provided with a limiting block for the short spring movable square tube, which cooperates with the through groove of the short spring movable square tube to limit the stroke of the short spring movable square tube;

[0019] The front support chain device includes an upper thigh link, a thigh binding, a lower thigh link, an upper calf link, a calf binding, a lower calf link, a hip locking wheel axle, a hip locking wheel, a hip drive wheel, a knee drive wheel, a knee locking wheel axle, a knee locking wheel, an ankle drive wheel, an ankle three-line wheel axle, and an ankle three-line wheel.

[0020] The upper end of the upper thigh link is hinged to the right or left front plate, forming a revolute joint; the lower end of the upper thigh link extends from the upper end of the lower thigh link into the lower thigh link, and slides with the lower thigh link. The length of the thigh of the front support device can be adjusted by changing its fixed position to accommodate different wearers; a thigh binding is installed on the lower thigh link to connect the human thigh; the lower end of the lower thigh link is hinged to the upper end of the upper calf link, forming a revolute joint; the lower end of the upper calf link extends from the upper end of the lower calf link into the lower calf link, and slides with the lower calf link. The length of the lower leg of the front support device can be adjusted by changing its fixed position to accommodate different wearers; a calf binding is installed on the lower calf link to connect the human lower leg.

[0021] The hip locking wheel axle is rotatably mounted in the upper thigh link via a support sleeve; the hip locking wheel is fixed to the hip locking wheel axle; the hip drive wheel is rotatably mounted on the hip locking wheel axle; the knee locking wheel axle is rotatably mounted in the upper lower leg link via a support sleeve; the knee locking wheel is fixed to the knee locking wheel axle; the knee drive wheel is rotatably mounted on the knee locking wheel axle; the ankle three-line wheel axle is rotatably mounted in the lower lower leg link via a support sleeve; the ankle three-line wheel is fixed to the ankle three-line wheel axle; the ankle drive wheel is rotatably mounted on the ankle three-line wheel axle.

[0022] The front and rear branch connection device includes a front connecting rod and a rear connecting rod; one end of the front connecting rod extends into the rear connecting rod and is slidably connected to it, and the length of the front and rear branch connection device can be adjusted by adjusting the fixed position to accommodate different wearers; the lower end of the lower connecting rod is hinged to the other end of the rear connecting rod to form a rotating joint; the lower end of the lower connecting rod of the calf is hinged to the front connecting rod and the ankle connecting square plate of the foot device to form a rotating joint.

[0023] The foot device includes a foot sole plate, a transmission gear shaft, a locking gear shaft, a square plate connecting the ankle, a transmission spring shaft, a locking spring shaft, a locking spring, a locking spring moving plate, a transmission spring, a transmission spring moving plate, a foot transmission spool, a foot locking rack, a foot transmission rack, and a foot locking double spool.

[0024] The sole plate is fixed to one side of the square plate connecting the ankle; both ends of the transmission spring shaft and both ends of the locking spring shaft are fixed to the connecting plate on one side of the square plate connecting the ankle; the transmission spring moving plate is slidably mounted on the transmission spring shaft; the transmission spring is nested on the outside of the transmission spring shaft, with one end in contact or fixed to the connecting plate on the side of the square plate connecting the ankle, and the other end in contact or fixed to the transmission spring moving plate; the foot transmission rack is fixed to the transmission spring moving plate; the locking spring moving plate is slidably mounted on the locking spring shaft; the locking spring is nested on the outside of the locking spring shaft, with one end in contact or fixed to the connecting plate on the side of the square plate connecting the ankle, and the other end in contact or fixed to the locking spring moving plate; the foot locking rack is fixed to the locking spring moving plate;

[0025] The locking gear shaft is rotatably mounted in the square plate connecting the ankle and foot; the double-line wheel of the foot is fixed to the locking gear shaft by a flat key; the locking gear shaft has an integrated shaft and gear structure, and the gear on the locking gear shaft meshes with the foot drive rack for transmission; the transmission gear shaft is rotatably mounted in the square plate connecting the ankle and foot; the foot drive wheel is fixed to the transmission gear shaft by a flat key; the transmission gear shaft has an integrated shaft and gear structure, and the gear on the transmission gear shaft meshes with the foot drive rack for transmission;

[0026] The right foot locking double-line wheel is connected to the right ankle triple-line wheel for rope transmission; one end of the right locking rope is fixed inside the right ankle triple-line wheel, and the other end is wound around the right knee locking wheel and hip locking wheel in sequence, passes through the right locking cable tube, and is then fixed on the upper locking gear shaft of the left locking mechanism.

[0027] The left foot locking double-line wheel is connected to the left ankle triple-line wheel for rope transmission; one end of the left locking rope is fixed inside the left ankle triple-line wheel, and the other end is wound around the left knee locking wheel and hip locking wheel in sequence, passes through the left locking cable tube, and is then fixed on the upper locking gear shaft of the right locking mechanism.

[0028] One end of the transmission rope on the right is fixed inside the foot transmission reel on the right, and the other end is wound around the ankle transmission reel, knee transmission reel and hip transmission reel on the right in sequence, passes through the transmission reel on the right, and is fixed inside the three-line transmission reel on the rear branch of the locking mechanism on the left; the three-line transmission reel on the rear branch of the right and the two-line transmission reel on the right are connected by rope transmission.

[0029] One end of the transmission rope on the left is fixed inside the foot transmission reel on the left, and the other end is wound around the ankle transmission reel, knee transmission reel and hip transmission reel on the left in sequence, passes through the transmission reel on the left, and is fixed inside the three-line transmission reel on the rear branch of the locking mechanism on the right; the three-line transmission reel on the rear branch of the left and the two-line transmission reel on the left are connected by rope transmission.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] (1) Based on the laws of human walking gait and the principle of human weight-bearing, this invention designs a single-sided double-branch structure, allowing the wearer's weight to be transferred to the ground through the exoskeleton's double-branch structure. The rear branch device replaces the knee joint with a direct-acting, non-anthropomorphic design, avoiding the structural complexity caused by the joints in the front and rear branches, allowing the wearer's weight to be transferred to the ground more directly through the exoskeleton's rear branch device. Compared with the traditional single open-chain structure, this improves the load-bearing capacity. Compared with the existing double closed-chain structure design, the direct-acting heterogeneous structure design of the rear branch device chain improves the efficiency of weight transfer through the exoskeleton to the ground, effectively reducing the torque of the lower limb joints and increasing the wearer's weight-bearing capacity.

[0032] (2) This invention utilizes the energy storage spring structure of the rear support chain device to achieve energy storage and release during the gait cycle's support and swing phases, respectively. It fully leverages the energy lost when the opposite lower limb lands, reducing the extra energy consumed during the wearer's lower limb swing. During the support phase, the high-stiffness short spring of the rear support chain device provides load support while adapting to the changing patterns of the lower limb joints. During the swing phase, the kinetic energy that would otherwise be lost when the opposite leg lands pulls the length of the rear support chain device on that leg to a length that does not need to change during the swing. This utilizes the energy from the opposite leg's landing to provide energy for the swing of that leg without hindering human movement.

[0033] (3) This invention makes full use of the gait pattern of alternating weight-bearing on the two legs when the wearer walks, and uses the energy that should be lost when the human foot lands to provide energy for the change in the length of the branch device after the swing period of the human lower limb, effectively reducing the extra energy consumption of the human body; it uses the movement pattern of the human lower limb foot as a signal to control the start and end of the change in the length of the branch device of the exoskeleton after the swing period of the human lower limb, so that the human-machine coupling is good; the overall exoskeleton is highly applicable, easy to wear, and can effectively reduce the joint torque of the human body and improve the endurance of the human body when walking under load, which is more in line with the human walking pattern and has better human-machine coupling.

[0034] (4) In this invention, the front and rear branch connection device forms a rotating pair with the ends of the front and rear branch devices. The weight moves back and forth with the waist device following the vertical direction of the human body, and at the same time, the weight of the weight is transferred to the ground through the front and rear branch devices of both legs, reducing the burden on the human body. At the same time, during the support phase of the human body on one leg, the weight of the human body on its back fixes the front and rear branch connection device to the foot device, so that the weight of the weight is directly transferred to the ground through the rear branch device. During the swing phase of the human body on one leg, the load is transferred to the opposite leg, and the fixation between the front and rear branch connection device and the foot device is released. This design can effectively reduce the impact of changes in the length of the rear branch device and changes in the movement state on the front branch device and the lower limbs of the human body. Attached Figure Description

[0035] Figure 1 This is a perspective view of the overall structure of the present invention;

[0036] Figure 2 This is a perspective view of the overall structure of the waist device of the present invention;

[0037] Figure 3 This is a partial exploded view of the waist device of the present invention;

[0038] Figure 4 This is a perspective view of the overall structure of the rear branch device of the present invention;

[0039] Figure 5 This is a partial exploded view of the rear branch device of the present invention;

[0040] Figure 6 This is a perspective view of the overall structure of the front branch device of the present invention;

[0041] Figure 7 This is a partial exploded view of the front branch device of the present invention;

[0042] Figure 8 This is a perspective view of the overall structure of the foot device of the present invention;

[0043] Figure 9 This is an exploded view of a partial structure of the foot device of the present invention.

[0044] In the diagram, there are waist device 1, rear branch chain device 2, front branch chain device 3, front and rear branch chain connecting device 4, and foot device 5.

[0045] Left longitudinal support plate 11, left rear plate 12, left horizontal support plate 13, left front plate 14, left binding support plate 15, waist binding 16, waist back plate 17, connecting square tube 18, right binding support plate 19, right rear cable spool support plate 110, right horizontal support plate 111, right longitudinal support plate 112, right front plate 113, right front cable spool support plate 114, right rear plate 115, right drive cable spool 116, right locking cable spool 117, rear chain upper drive three-line pulley 118, return spring Spring 119, return spring shaft 120, return spring moving plate 121, rear branch upper limit support sleeve 122, rear branch upper limit sleeve 123, return spring upper limit plate 124, return spring lower limit plate 125, upper locking gear 126, lower locking gear 127, gear limit plate 128, limit plate limit sleeve 129, lower locking gear shaft 130, upper locking gear shaft 131, left front cable spool support plate 132, left rear cable spool support plate 133, left transmission cable spool 134, left locking cable spool 135;

[0046] Upper connecting rod 21, long spring upper connecting plate 22, long spring moving square tube 23, short spring upper connecting plate 24, short spring moving square tube 25, lower connecting rod 26, transmission double spool shaft limiting sleeve 27, transmission gear 28, transmission rack 29, long spring moving square tube limiting block 210, transmission double spool shaft 211, transmission double spool 212, long spring 213, long spring shaft 214, short spring moving square tube limiting block 215, short spring 216, short spring shaft 217;

[0047] Thigh upper link 31, thigh binding piece 32, thigh lower link 33, calf upper link 34, calf binding piece 35, calf lower link 36, hip locking wheel axle 37, hip locking wheel 38, hip limiting sleeve 39, hip transmission wheel 310, hip limiting nut 311, knee limiting nut 312, knee transmission wheel 313, knee locking wheel axle 314, knee limiting sleeve 315, knee locking wheel 316, ankle limiting nut 317, ankle limiting support sleeve 318, ankle transmission wheel 319, ankle limiting sleeve 320, ankle three-line wheel axle 321, ankle three-line wheel 322;

[0048] Front link 41 of front and rear branch chains; rear link 42 of front and rear branch chains;

[0049] 51. Foot sole plate, 52. Transmission gear shaft, 53. Locking gear shaft, 54. Ankle connecting square plate, 55. Transmission spring shaft, 56. Locking spring shaft, 57. Locking spring moving plate, 58. Transmission spring, 59. Transmission spring moving plate, 510. Foot transmission spool, 511. Transmission limit support sleeve, 512. Foot locking rack, 513. Foot transmission rack, 514. Transmission sleeve, 515. Foot locking double spool, 516. Locking limit support sleeve, 517. Locking sleeve, 518. Inner foot fixing plate, 519. Detailed Implementation

[0050] Specific embodiments of the present invention are given below. These specific embodiments are only used to further illustrate the present invention in detail and do not limit the scope of protection of the claims of the present invention.

[0051] The present invention provides a heterogeneous unpowered weight-bearing lower limb exoskeleton (hereinafter referred to as lower limb exoskeleton), characterized in that the lower limb exoskeleton includes a waist device 1, a rear branch chain device 2, a front branch chain device 3, a front and rear branch chain connecting device 4, a foot device 5, a locking rope, and a transmission rope.

[0052] Two rear branch chain devices 2 are symmetrically installed on the left and right sides of the rear part of the waist device 1; two front branch chain devices 3 are symmetrically installed on the left and right sides of the front part of the waist device 1; a front and rear branch chain connecting device 4 is installed between the rear branch chain device 2 and the front branch chain device 3 on the same side; a foot device 5 is installed at the lower part of each front branch chain device 3.

[0053] The waist device 1 includes a left longitudinal support plate 11, a left rear plate 12, a left horizontal support plate 13, a left front plate 14, a left binding support plate 15, a waist binding piece 16, a waist back plate 17, a connecting square tube 18, a right binding support plate 19, a right rear cable spool support plate 110, a right horizontal support plate 111, a right longitudinal support plate 112, a right front plate 113, a right front cable spool support plate 114, a right rear plate 115, a right transmission cable spool 116, a right locking cable spool 117, a left front cable spool support plate 132, a left rear cable spool support plate 133, a left transmission cable spool 134, and a left locking cable spool 135.

[0054] One end of the left binding support plate 15 is nested inside the right binding support plate 19 through one end of the right binding support plate 19, and is slidably connected to the right binding support plate 19. The relative positions of the two are fixed by threaded connectors to accommodate different wearers. The other end of the left binding support plate 15 is fixed to the left longitudinal support plate 11. The other end of the right binding support plate 19 is fixed to the right longitudinal support plate 112. One end of the left horizontal support plate 13 and one end of the right horizontal support plate 111 are nested inside the connecting square tube 18 through the two ends of the connecting square tube 18. The left horizontal support plate 13 and the connecting square tube 18, and the right horizontal support plate 111 and the connecting square tube 18 are all slidably connected, and the relative positions of the three are fixed by threaded connectors to accommodate different wearers.

[0055] The left front plate 14, the left front spool support plate 132, and the left rear plate 12 are respectively fixed to the front end, middle, and rear end of the left longitudinal support plate 11; the right front plate 113, the right front spool support plate 114, and the right rear plate 115 are respectively fixed to the front end, middle, and rear end of the right longitudinal support plate 112; the waist binding 16 is fixed to the waist back plate 17, and the waist back plate 17 is fixed to the right binding support plate 19 and the left binding support plate 15; the left rear spool support plate 133 is fixed to the left horizontal support plate 13, and the right rear spool support plate 110 is fixed to the right horizontal support plate 111;

[0056] The two ends of the right-side drive spool 116 are respectively mounted on the right-side front spool support plate 114 and the left-side rear plate 12; the two ends of the right-side locking spool 117 are respectively mounted on the right-side front spool support plate 114 and the left-side rear spool support plate 133; the two ends of the left-side drive spool 134 are respectively mounted on the left-side front spool support plate 132 and the right-side rear plate 115; the two ends of the left-side locking spool 135 are respectively mounted on the left-side front spool support plate 132 and the right-side rear spool support plate 110.

[0057] The ends of the left front plate 14 and the right front plate 113 are respectively hinged to the upper ends of the left thigh upper link 31 and the right thigh upper link 31; the ends of the left rear plate 12 and the right rear plate 115 are both equipped with locking mechanisms to start and stop the relative sliding between the long spring upper connecting plate 22 and the long spring moving square tube 23.

[0058] The locking mechanism includes a rear branch upper drive three-wire wheel 118, a return spring 119, a return spring shaft 120, a return spring moving plate 121, a rear branch upper limit support sleeve 122, a return spring upper limit plate 124, a return spring lower limit plate 125, an upper locking gear 126, a lower locking gear 127, a gear limit plate 128, a lower locking gear shaft 130, and an upper locking gear shaft 131;

[0059] The locking mechanism on the left rear plate 12 is installed in the same way as the locking mechanism on the right rear plate 115: the upper locking gear shaft 130 is rotatably mounted in the left rear plate 12 or the right rear plate 115 via the upper limit support sleeve 122 of the rear branch chain; the lower locking gear 127 is fixed to the upper locking gear shaft 130; the upper drive three-wire pulley 118 of the rear branch chain is fixed to the lower locking gear shaft 130 via a flat key; the upper locking gear shaft 131 is slidably mounted in the through groove of the left rear plate 12 or the right rear plate 115, and can move up and down along the through groove of the left rear plate 12 or the right rear plate 115; the upper locking gear 126 is fixed to the upper locking gear shaft 131; the upper locking gear 126 and the lower locking gear... The gear 127 is engaged in a transmission connection; one end of the gear limiting plate 128 is fixed in the upper locking gear shaft 131, and the other end is fixedly connected to the reset spring moving plate 121; the reset spring upper limiting plate 124 and the reset spring lower limiting plate 125 are fixed on the left rear plate 12 or the right rear plate 115; both ends of the reset spring shaft 120 are fixed on the reset spring upper limiting plate 124 and the reset spring lower limiting plate 125 respectively; the reset spring moving plate 121 is slidably mounted on the reset spring shaft 120; the reset spring 119 is nested on the outside of the reset spring shaft 120, with one end in contact or fixed to the reset spring upper limiting plate 124 and the other end in contact or fixed to the reset spring moving plate 121;

[0060] Preferably, a rear branch upper limit sleeve 123 is nested on the lower locking gear shaft 130; the axial positioning of the lower locking gear 127 and the rear branch upper drive three-wire wheel 118 is achieved through the cooperation of the rear branch upper limit support sleeve 122 and the rear branch upper limit sleeve 123 with the nut.

[0061] Preferably, both ends of the gear limiting plate 128 pass through the through slots of the left rear plate 12 or the right rear plate 115, extend out of the left rear plate 12 or the right rear plate 115, and are fixedly connected to the limiting plate limiting sleeve 129 and the reset spring moving plate 121, respectively.

[0062] The rear branch chain device 2 includes an upper connecting rod 21, a long spring upper connecting plate 22, a long spring movable square tube 23, a short spring upper connecting plate 24, a short spring movable square tube 25, a lower connecting rod 26, a transmission gear 28, a transmission rack 29, a long spring movable square tube limiting block 210, a transmission double spool shaft 211, a transmission double spool 212, a long spring 213, a long spring shaft 214, a short spring movable square tube limiting block 215, a short spring 216, and a short spring shaft 217.

[0063] The upper end of the upper connecting rod 21 is hinged to the left rear plate 12 or the right rear plate 115, forming a rotating pair; the upper end of the long spring upper connecting plate 22 extends from the lower end of the upper connecting rod 21 into the upper connecting rod 21, and is slidably connected to the upper connecting rod 21. The length of the rear branch chain device 2 can be adjusted by adjusting the fixed position to accommodate different wearers; the transmission double-thread wheel shaft 211 is rotatably mounted in the long spring upper connecting plate 22 through the support sleeve; the long spring moving square tube 23 has a through groove; the long spring The movable square tube 23 is nested on the outside of the connecting plate 22 of the long spring, and both ends of the transmission double-wire wheel shaft 211 pass through the through groove of the movable square tube 23 of the long spring and extend out of the outside of the movable square tube 23 of the long spring; the transmission double-wire wheel 212 is fixed on the transmission double-wire wheel shaft 211; the transmission gear 28 is fixedly installed on the transmission double-wire wheel shaft 211 by a flat key; the transmission rack 29 is fixed on the inner wall of the movable square tube 23 of the long spring; the transmission gear 28 and the transmission rack 29 mesh and are connected for transmission.

[0064] The lower end of the upper connecting plate 22 of the long spring is fixedly connected to one end of the long spring shaft 214; the other end of the long spring shaft 214 extends from the upper end of the upper connecting plate 24 of the short spring and slides in the upper connecting plate 24 of the short spring; the long spring 213 is nested on the outside of the long spring shaft 214, one end of which contacts or is fixed to the lower end face of the upper connecting plate 22 of the long spring, and the other end of which contacts or is fixed to the upper end face of the upper connecting plate 24 of the short spring; the upper connecting plate 24 of the short spring is fixedly connected to the long spring moving square tube 23; the upper connecting plate 22 of the long spring is provided with a long spring moving square tube limiting block 210, which cooperates with the through groove of the long spring moving square tube 23 to limit the stroke of the long spring moving square tube 23;

[0065] The lower end of the upper connecting plate 24 of the short spring is fixedly connected to one end of the short spring shaft 217; the other end of the short spring shaft 217 extends into the lower connecting rod 26 and is slidably connected to the lower connecting rod 26; the short spring 216 is nested on the outside of the short spring shaft 217, one end of which contacts or is fixed to the lower end face of the upper connecting plate 24 of the short spring, and the other end of which contacts or is fixed to the upper end face of the lower connecting rod 26; the short spring movable square tube 25 is nested on the outside of the upper connecting plate 24 of the short spring and is fixedly connected to the lower connecting rod 26; the upper connecting plate 24 of the short spring is provided with a short spring movable square tube limiting block 215, which cooperates with the through groove of the short spring movable square tube 25 to limit the stroke of the short spring movable square tube 25;

[0066] Preferably, both sides of the transmission double spool shaft 211 are nested with transmission double spool shaft limiting sleeves 27, which are used to axially position the transmission gear 28 and the transmission double spool 212.

[0067] The front support chain device 3 includes an upper thigh link 31, a thigh binding piece 32, a lower thigh link 33, an upper calf link 34, a calf binding piece 35, a lower calf link 36, a hip locking wheel axle 37, a hip locking wheel 38, a hip drive wheel 310, a knee drive wheel 313, a knee locking wheel axle 314, a knee locking wheel 316, an ankle drive wheel 319, an ankle three-line wheel axle 321, and an ankle three-line wheel 322.

[0068] The upper end of the upper thigh link 31 is hinged to the right front plate 113 or the left front plate 14 to form a rotating joint; the lower end of the upper thigh link 31 extends from the upper end of the lower thigh link 33 into the lower thigh link 33 and slides with the lower thigh link 33, and the length of the thigh of the front branch device 3 can be adjusted by adjusting the fixed position to accommodate different wearers; the thigh binding 32 is installed on the lower thigh link 33 to connect the human thigh; the lower end of the lower thigh link 33 is hinged to the upper end of the lower leg link 34 to form a rotating joint; the lower end of the upper lower leg link 34 extends from the upper end of the lower lower leg link 36 into the lower lower leg link 36 and slides with the lower lower leg link 36, and the length of the lower leg of the front branch device 3 can be adjusted by adjusting the fixed position to accommodate different wearers; the lower leg binding 35 is installed on the lower lower leg link 36 to connect the human lower leg;

[0069] The hip locking wheel axle 37 is rotatably mounted in the upper thigh link 31 via a support sleeve; the hip locking wheel 38 is fixed to the hip locking wheel axle 37; the hip drive wheel 310 is rotatably mounted on the hip locking wheel axle 37; the knee locking wheel axle 314 is rotatably mounted in the upper lower leg link 34 via a support sleeve; the knee locking wheel 316 is fixed to the knee locking wheel axle 314; the knee drive wheel 313 is rotatably mounted on the knee locking wheel axle 314; the ankle three-line wheel axle 321 is rotatably mounted in the lower lower leg link 36 via a support sleeve; the ankle three-line wheel 322 is fixed to the ankle three-line wheel axle 321; the ankle drive wheel 319 is rotatably mounted on the ankle three-line wheel axle 321.

[0070] Preferably, the hip locking wheel shaft 37 is provided with a hip limiting sleeve 39 and a hip limiting nut 311 for axially limiting the hip locking wheel 38 and the hip transmission wheel 310.

[0071] Preferably, the knee locking wheel shaft 314 is provided with a knee limiting sleeve 315 and a knee limiting nut 312 for axially limiting the knee locking wheel 316 and the knee transmission wheel 313.

[0072] Preferably, the ankle three-line wheel shaft 321 is provided with an ankle limiting sleeve 320, an ankle limiting support sleeve 318 and an ankle limiting nut 317 for axially limiting the ankle three-line wheel 322 and the ankle transmission line wheel 319.

[0073] The front and rear branch connection device 4 includes a front connecting rod 41 and a rear connecting rod 42. One end of the front connecting rod 41 extends into the rear connecting rod 42 and is slidably connected to it. The length of the front and rear branch connection device 4 can be adjusted by adjusting the fixed position to accommodate different wearers. The lower end of the lower connecting rod 26 is hinged to the other end of the rear connecting rod 42 to form a rotating pair. The lower end of the lower calf connecting rod 36 is hinged to the front connecting rod 41 and the ankle connecting square plate 54 of the foot device 5 to form a rotating pair.

[0074] The foot device 5 includes a foot sole plate 51, a transmission gear shaft 52, a locking gear shaft 53, a square plate connecting the ankle and foot 54, a transmission spring shaft 55, a locking spring shaft 56, a locking spring 57, a locking spring moving plate 58, a transmission spring 59, a transmission spring moving plate 510, a foot transmission spool 511, a foot locking rack 513, a foot transmission rack 514, and a foot locking double spool 516.

[0075] The foot plate 51 is fixed to one side of the ankle connecting square plate 54; both ends of the transmission spring shaft 55 and both ends of the locking spring shaft 56 are fixed to the connecting plate on one side of the ankle connecting square plate 54; the transmission spring moving plate 510 is slidably mounted on the transmission spring shaft 55; the transmission spring 59 is nested on the outside of the transmission spring shaft 55, with one end in contact or fixed to the connecting plate on the side of the ankle connecting square plate 54, and the other end in contact or fixed to the transmission spring moving plate 510; the foot transmission rack 514 is fixed to the transmission spring moving plate 510; the locking spring moving plate 58 is slidably mounted on the locking spring shaft 56; the locking spring 57 is nested on the outside of the locking spring shaft 56, with one end in contact or fixed to the connecting plate on the side of the ankle connecting square plate 54, and the other end in contact or fixed to the locking spring moving plate 58; the foot locking rack 513 is fixed to the locking spring moving plate 58.

[0076] The locking gear shaft 53 is rotatably mounted in the ankle connecting square plate 54; the double foot wheel 516 is fixed to the locking gear shaft 53 by a flat key; the locking gear shaft 53 has an integral shaft and gear structure, and the gear on the locking gear shaft 53 meshes with the foot transmission rack 513 for transmission; the transmission gear shaft 52 is rotatably mounted in the ankle connecting square plate 54; the foot transmission wheel 511 is fixed to the transmission gear shaft 52 by a flat key; the transmission gear shaft 52 has an integral shaft and gear structure, and the gear on the transmission gear shaft 52 meshes with the foot transmission rack 514 for transmission.

[0077] Preferably, the medial foot fixation plate 519 is fixed to the foot sole plate 51 and the ankle connecting square plate 54.

[0078] Preferably, the locking gear shaft 53 is rotatably mounted in the ankle connecting square plate 54 via the locking limiting support sleeve 517 and the locking sleeve 518, with both ends extending out of the outer side of the ankle connecting square plate 54 and the axial sliding of the locking gear shaft 53 being restricted by the inner foot fixing plate 519; the foot double thread wheel 516 is axially limited by the locking limiting support sleeve 517 and the nut.

[0079] Preferably, the transmission gear shaft 52 is rotatably mounted in the ankle connecting square plate 54 via the transmission limiting support sleeve 512 and the transmission sleeve 515, with both ends extending out of the outer side of the ankle connecting square plate 54 and the axial sliding of the transmission gear shaft 52 being restricted by the inner foot fixing plate 519; the foot transmission pulley 511 is axially limited by the transmission limiting support sleeve 512 and the nut.

[0080] The right foot locking double-line wheel 516 is connected to the right ankle triple-line wheel 322 by rope transmission; one end of the right locking rope is fixed in the innermost groove of the right ankle triple-line wheel 322, and the other end is wound around the right knee locking wheel 316 and hip locking wheel 38 in sequence, passes through the right locking cable tube 117, and is then fixed on the upper locking gear shaft 131 of the left locking mechanism;

[0081] The left foot locking double-line pulley 516 is connected to the left ankle triple-line pulley 322 by rope drive; one end of the left locking rope is fixed in the innermost groove of the left ankle triple-line pulley 322, and the other end is wound around the left knee locking pulley 316 and hip locking pulley 38 in sequence, passes through the left locking line tube 135, and is fixed on the upper locking gear shaft 131 of the right locking mechanism;

[0082] One end of the transmission rope on the right is fixed inside the foot transmission reel 511 on the right, and the other end is successively wound around the ankle transmission reel 319, knee transmission reel 313 and hip transmission reel 310 on the right, passes through the right transmission reel 116 and is fixed in the innermost groove of the transmission three-line reel 118 on the rear branch of the locking mechanism on the left; the transmission three-line reel 118 on the rear branch of the right and the transmission double-line reel 212 on the right are connected by rope transmission.

[0083] One end of the transmission rope on the left is fixed inside the foot transmission reel 511 on the left, and the other end is successively wound around the ankle transmission reel 319, knee transmission reel 313 and hip transmission reel 310 on the left, passes through the left transmission reel 134 and is fixed in the innermost groove of the transmission three-line reel 118 on the rear branch chain of the locking mechanism on the right; the transmission three-line reel 118 on the rear branch chain on the left and the transmission double-line reel 212 on the left are connected by rope transmission.

[0084] The ankle triple pulley 322 on the right side and the foot locking double pulley 516 use rope transmission to transmit the power of the right foot locking rack 513 meshing with the right locking gear shaft 53 to the right locking rope; the left rear branch chain upper drive triple pulley 118 and the left drive double pulley 212 use rope transmission to transmit the kinetic energy of the right foot drive rack 514 to the right drive rope to the left rear branch chain drive gear 28, and then to the left rear branch chain drive rack 29, which drives the left long spring moving square tube 23 to slide.

[0085] The working principle and workflow of this invention are as follows:

[0086] The waist device 1 is tied to the wearer's waist by the waist binding piece 16, and the thigh binding pieces 32 of the front chain devices 3 on both sides are tied to the wearer's thighs and the calf binding pieces 35 are tied to the wearer's calves; the load is placed on the left horizontal support plate 13 and the right horizontal support plate 111 of the waist device 1 and fixed relative to the wearer's upper torso.

[0087] According to the laws of human walking gait, there are two cycles in the human walking gait cycle: the support phase and the swing phase. During walking, the lower limbs on both sides alternately bear weight and swing forward. Taking the right leg as an example, the moving device of the short spring 216 of the rear branch device 2 acts during the support phase, and the moving device of the long spring 213 acts during the swing phase. The stopping and starting of the movement of the long spring 213 depends on the transmission and locking device of the foot device 5 of the opposite leg.

[0088] 1) Support phase:

[0089] This stage is from heel strike to toe lift-off. The right leg touches the ground and enters the support phase, bearing weight. The weight is transferred to the ground through the right front support chain 3 and rear support chain 2. At this time, the left leg is in the swing phase, with the foot off the ground. The left foot locking rack 513 maintains its original length. No human energy is transmitted through the left foot locking rack 513 and locking gear shaft 53. The rope transmission of the foot locking double line wheel 516 and ankle triple line wheel 322, as well as the locking rope, is transmitted to the right upper locking gear 126. Therefore, the right upper locking gear 126 meshes with the right lower locking gear 127, thereby locking the rotation of the right lower locking gear 127, the rope transmission of the right rear support chain upper transmission triple line wheel 118 and transmission double line wheel 212, and the transmission of the right transmission gear 28 and right transmission rack 29. Finally, the movement of the right long spring moving square tube 23 relative to the long spring upper connecting plate 22 fails.

[0090] When the right leg is under load, the direct-motion design of the rear support chain device 2 instead of the rotational design at the knee joint makes the transmission of the load to the ground more direct through the rear support chain. The short spring 216 of the rear support chain device 2 can not only store and release the gravitational potential energy of the load as the human body walks, but also provide support force for the load through the compression of the short spring 216 of the rear support chain device 2, which can effectively reduce the joint torque of each joint of the human body on that side of the leg.

[0091] (2) Swing phase:

[0092] This stage is from toe lift-off to heel strike. As the toes lift off the ground and the right leg is about to leave the ground, the left leg is about to touch the ground. The right leg begins the transition from weight-bearing leg to swinging leg, while the left leg begins the transition from swinging leg to supporting leg. At this moment, the left leg floor 51 is about to touch the ground. The left foot locking rack 513 moves upward under the ground pressure. The engagement of the left foot locking rack 513 with the locking gear shaft 53 transmits energy to the left foot locking double spool 516 and ankle triple spool 322, and then through the locking rope to the right upper locking gear 126, causing it to move upward. This disengages the right upper locking gear 126 and lower locking gear 127, finally unlocking the rotation of the right rear branch upper drive triple spool 118, drive double spool 212, and drive gear 28, thus opening the right long spring moving square tube 23 sliding pair. After the left foot drive rack 514 is subjected to ground pressure, it engages with the foot locking rack 513. The energy of the foot locking rack 513 is transmitted to the right upper locking gear 126, causing it to move upward along the right rear plate 115 through groove, thus opening the right long spring moving square tube 23 sliding pair. The upper locking gear 126 and lower locking gear 127 on the right side disengage, and the foot drive rack 514 on the left side begins to move upward. Its energy is transmitted to the drive rope through the meshing of the foot drive rack 514 and the drive gear shaft 52, and then to the drive three-wire pulley 118 on the right rear branch chain, which drives it to rotate. The rope transmission of the drive three-wire pulley 118 and the drive double-wire pulley 212 on the right rear branch chain transmits energy to the right drive gear 28, so that the rotation of the drive gear 28 drives the drive rack 29 to move upward, realizing the upward movement of the long spring moving square tube 23. Finally, the overall length of the right rear branch chain device 2 is shortened so that the movement of the rear branch chain device 2 does not interfere with the swing of the right lower limb. The right leg front branch chain device 3 drives the right rear branch chain device 2 to swing forward. When the right leg enters the full load-bearing period, the next state cycle begins. This invention does not use external energy. It utilizes the gravitational potential energy of the left leg when it lands to reduce the burden caused by the weight of the rear support device 2 of the right leg during the swing period of the right leg. It makes full use of the energy that should be lost when the left leg touches the ground, improves the efficiency of the human body, and reduces the extra consumption caused to the wearer by the weight of the exoskeleton itself.

[0093] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A heterogeneous, unpowered, weight-bearing lower limb exoskeleton, characterized in that, The lower limb exoskeleton includes a waist device (1), a rear branch device (2), a front branch device (3), a front and rear branch connection device (4), a foot device (5), a locking rope, and a transmission rope. Two rear branch devices (2) are symmetrically installed on the left and right sides of the rear part of the waist device (1); two front branch devices (3) are symmetrically installed on the left and right sides of the front part of the waist device (1); a front and rear branch connecting device (4) is installed between the rear branch devices (2) and the front branch devices (3) on the same side; a foot device (5) is installed at the lower part of each front branch device (3); The waist device (1) includes a left longitudinal support plate (11), a left rear plate (12), a left horizontal support plate (13), a left front plate (14), a left binding support plate (15), a waist binding piece (16), a waist back plate (17), a connecting square tube (18), a right binding support plate (19), a right rear cable spool support plate (110), a right horizontal support plate (111), a right longitudinal support plate (112), a right front plate (113), a right front cable spool support plate (114), a right rear plate (115), a right transmission cable spool (116), a right locking cable spool (117), a left front cable spool support plate (132), a left rear cable spool support plate (133), a left transmission cable spool (134), and a left locking cable spool (135). One end of the left binding support plate (15) is nested inside the right binding support plate (19) through one end of the right binding support plate (19), and is slidably connected to the right binding support plate (19). The relative positions of the two are fixed by threaded connectors to accommodate different wearers. The other end of the left binding support plate (15) is fixed on the left longitudinal support plate (11). The other end of the right binding support plate (19) is fixed on the right longitudinal support plate (112). One end of the left horizontal support plate (13) and one end of the right horizontal support plate (111) are nested inside the connecting square tube (18) through the two ends of the connecting square tube (18). The left horizontal support plate (13) and the connecting square tube (18), and the right horizontal support plate (111) and the connecting square tube (18) are slidably connected, and the relative positions of the three are fixed by threaded connectors to accommodate different wearers. The left front plate (14), the left front tube support plate (132), and the left rear plate (12) are respectively fixed to the front end, middle, and rear end of the left longitudinal support plate (11); the right front plate (113), the right front tube support plate (114), and the right rear plate (115) are respectively fixed to the front end, middle, and rear end of the right longitudinal support plate (112); the waist binding piece (16) is fixed on the waist back plate (17), and the waist back plate (17) is fixed in the right binding support plate (19) and the left binding support plate (15); the left rear tube support plate (133) is fixed on the left horizontal support plate (13), and the right rear tube support plate (110) is fixed on the right horizontal support plate (111); The two ends of the right drive spool (116) are respectively mounted on the right front spool support plate (114) and the left rear plate (12); the two ends of the right locking spool (117) are respectively mounted on the right front spool support plate (114) and the left rear spool support plate (133); the two ends of the left drive spool (134) are respectively mounted on the left front spool support plate (132) and the right rear plate (115); the two ends of the left locking spool (135) are respectively mounted on the left front spool support plate (132) and the right rear spool support plate (110); The ends of the left rear plate (12) and the right rear plate (115) are equipped with locking mechanisms to start and stop the relative sliding between the connecting plate (22) on the long spring and the moving square tube (23) of the long spring; The locking mechanism includes a rear branch upper drive three-wire wheel (118), a return spring (119), a return spring shaft (120), a return spring moving plate (121), a rear branch upper limit support sleeve (122), a return spring upper limit plate (124), a return spring lower limit plate (125), an upper locking gear (126), a lower locking gear (127), a gear limit plate (128), a lower locking gear shaft (130), and an upper locking gear shaft (131); The upper locking gear shaft (131) is rotatably mounted in the left rear plate (12) or right rear plate (115) via the upper limit support sleeve (122) of the rear branch; the lower locking gear (127) is fixed on the upper locking gear shaft (131); the upper drive three-wire wheel (118) of the rear branch is fixed on the lower locking gear shaft (130); the upper locking gear shaft (131) is slidably mounted in the through groove of the left rear plate (12) or right rear plate (115), and can move up and down along the through groove of the left rear plate (12) or right rear plate (115); the upper locking gear (126) is fixed on the upper locking gear shaft (131); the upper locking gear (126) and the lower locking gear (127) are meshed and connected; the gear limit plate (1 One end of the reset spring shaft (120) is fixed in the upper locking gear shaft (131), and the other end is fixedly connected to the reset spring moving plate (121); the upper limit plate (124) and the lower limit plate (125) of the reset spring are fixed on the left rear plate (12) or the right rear plate (115); both ends of the reset spring shaft (120) are fixed on the upper limit plate (124) and the lower limit plate (125) of the reset spring respectively; the reset spring moving plate (121) is slidably installed on the reset spring shaft (120); the reset spring (119) is nested on the outside of the reset spring shaft (120), one end of which is in contact with or fixed to the upper limit plate (124) of the reset spring, and the other end of which is in contact with or fixed to the reset spring moving plate (121); The rear branch chain device (2) includes an upper connecting rod (21), a long spring upper connecting plate (22), a long spring movable square tube (23), a short spring upper connecting plate (24), a short spring movable square tube (25), a lower connecting rod (26), a transmission gear (28), a transmission rack (29), a long spring movable square tube limiting block (210), a transmission double spool shaft (211), a transmission double spool (212), a long spring (213), a long spring shaft (214), a short spring movable square tube limiting block (215), a short spring (216), and a short spring shaft (217). The upper end of the upper connecting rod (21) is hinged to the left rear plate (12) or the right rear plate (115) to form a rotating pair; the upper end of the long spring upper connecting plate (22) extends from the lower end of the upper connecting rod (21) into the upper connecting rod (21) and slides with the upper connecting rod (21), and the length of the rear branch device (2) is adjusted by adjusting the fixed position to accommodate different wearers; the transmission double-wire wheel shaft (211) is rotatably installed in the long spring upper connecting plate (22) through the support sleeve; the long spring moving square tube (23) has a through groove; the long spring The movable square tube (23) is nested on the outside of the connecting plate (22) of the long spring, and both ends of the transmission double-wire wheel shaft (211) pass through the through groove of the movable square tube (23) of the long spring and extend out of the outside of the movable square tube (23); the transmission double-wire wheel (212) is fixed on the transmission double-wire wheel shaft (211); the transmission gear (28) is fixedly installed on the transmission double-wire wheel shaft (211); the transmission rack (29) is fixed on the inner wall of the movable square tube (23) of the long spring; the transmission gear (28) and the transmission rack (29) mesh and are connected for transmission. The lower end of the upper connecting plate (22) of the long spring is fixedly connected to one end of the long spring shaft (214); the other end of the long spring shaft (214) extends from the upper end of the upper connecting plate (24) of the short spring into the upper connecting plate (24) of the short spring and is slidably connected to the upper connecting plate (24); the long spring (213) is nested on the outside of the long spring shaft (214), one end of which contacts or is fixed to the lower end face of the upper connecting plate (22) of the long spring and the other end of which contacts or is fixed to the upper end face of the upper connecting plate (24) of the short spring; the upper connecting plate (24) of the short spring is fixedly connected to the moving square tube (23) of the long spring; the upper connecting plate (22) of the long spring is provided with a limiting block (210) for the moving square tube of the long spring, which cooperates with the through groove of the moving square tube (23) of the long spring to limit the stroke of the moving square tube (23); The lower end of the upper connecting plate (24) of the short spring is fixedly connected to one end of the short spring shaft (217); the other end of the short spring shaft (217) extends into the lower connecting rod (26) and is slidably connected to the lower connecting rod (26); the short spring (216) is nested on the outside of the short spring shaft (217), one end of which contacts or is fixed to the lower end face of the upper connecting plate (24) of the short spring, and the other end of which contacts or is fixed to the upper end face of the lower connecting rod (26); the short spring moving square tube (25) is nested on the outside of the upper connecting plate (24) of the short spring and is fixedly connected to the lower connecting rod (26); the upper connecting plate (24) of the short spring is provided with a short spring moving square tube limiting block (215), which cooperates with the through groove of the short spring moving square tube (25) to limit the stroke of the short spring moving square tube (25); The front support chain device (3) includes an upper thigh link (31), a thigh binding (32), a lower thigh link (33), an upper calf link (34), a calf binding (35), a lower calf link (36), a hip locking wheel axle (37), a hip locking wheel (38), a hip drive wheel (310), a knee drive wheel (313), a knee locking wheel axle (314), a knee locking wheel (316), an ankle drive wheel (319), an ankle three-line wheel axle (321), and an ankle three-line wheel (322). The upper end of the upper thigh link (31) is hinged to the right front plate (113) or the left front plate (14) to form a rotating joint; the lower end of the upper thigh link (31) extends from the upper end of the lower thigh link (33) into the lower thigh link (33) and slides with the lower thigh link (33), and the length of the thigh of the front branch device (3) can be adjusted by adjusting the fixed position to accommodate different wearers; the thigh binding piece (32) is installed on the lower thigh link (33) for connecting the human body. Thigh; the lower end of the lower thigh link (33) is hinged to the upper end of the upper calf link (34) to form a rotating joint; the lower end of the upper calf link (34) extends into the lower calf link (36) from the upper end of the lower calf link (36) and slides with the lower calf link (36), and the length of the lower leg of the front branch device (3) can be adjusted by adjusting the fixed position to adapt to different wearers; the lower leg binding piece (35) is installed on the lower calf link (36) to connect the human lower leg; The hip locking wheel axle (37) is rotatably mounted in the upper thigh link (31) via a support sleeve; the hip locking wheel (38) is fixed on the hip locking wheel axle (37); the hip drive wheel (310) is rotatably mounted on the hip locking wheel axle (37); the knee locking wheel axle (314) is rotatably mounted in the upper lower leg link (34) via a support sleeve; the knee locking wheel (316) is fixed on the knee locking wheel axle (314); the knee drive wheel (313) is rotatably mounted on the knee locking wheel axle (314); the ankle three-line wheel axle (321) is rotatably mounted in the lower lower leg link (36) via a support sleeve; the ankle three-line wheel (322) is fixed on the ankle three-line wheel axle (321); the ankle drive wheel (319) is rotatably mounted on the ankle three-line wheel axle (321); The front and rear branch connection device (4) includes a front link (41) and a rear link (42); one end of the front link (41) extends into the rear link (42) and slides with the rear link (42), and the length of the front and rear branch connection device (4) can be adjusted by adjusting the fixed position to adapt to different wearers; the lower end of the lower connecting rod (26) is hinged to the other end of the rear link (42) to form a rotating pair; the lower end of the lower leg connecting rod (36) is hinged to the front link (41) and the ankle connecting square plate (54) of the foot device (5) to form a rotating pair; The foot device (5) includes a foot sole plate (51), a transmission gear shaft (52), a locking gear shaft (53), an ankle connecting square plate (54), a transmission spring shaft (55), a locking spring shaft (56), a locking spring (57), a locking spring moving plate (58), a transmission spring (59), a transmission spring moving plate (510), a foot transmission spool (511), a foot locking rack (513), a foot transmission rack (514), and a foot locking double spool (516). The foot plate (51) is fixed to one side of the ankle connecting square plate (54); both ends of the transmission spring shaft (55) and both ends of the locking spring shaft (56) are fixed to the connecting plate on one side of the ankle connecting square plate (54); the transmission spring moving plate (510) is slidably mounted on the transmission spring shaft (55); the transmission spring (59) is nested on the outside of the transmission spring shaft (55), with one end in contact with or fixed to the connecting plate on the side of the ankle connecting square plate (54), and the other end in contact with the transmission spring moving plate. Plate (510) is in contact with or fixed; foot transmission rack (514) is fixed on transmission spring moving plate (510); locking spring moving plate (58) is slidably mounted on locking spring shaft (56); locking spring (57) is nested on the outside of locking spring shaft (56), one end is in contact with or fixed to the connecting plate on the side of ankle connecting square plate (54), and the other end is in contact with or fixed to locking spring moving plate (58); foot locking rack (513) is fixed on locking spring moving plate (58); The locking gear shaft (53) is rotatably mounted in the ankle connecting square plate (54); the double foot wheel (516) is fixed on the locking gear shaft (53); the locking gear shaft (53) is a shaft and gear integrated structure, and the gear on the locking gear shaft (53) meshes with the foot locking rack (513) for transmission; the transmission gear shaft (52) is rotatably mounted in the ankle connecting square plate (54); the foot transmission wheel (511) is fixed on the transmission gear shaft (52); the transmission gear shaft (52) is a shaft and gear integrated structure, and the gear on the transmission gear shaft (52) meshes with the foot transmission rack (514) for transmission; The right foot locking double-line wheel (516) is connected to the right ankle triple-line wheel (322) by rope drive; one end of the right locking rope is fixed inside the right ankle triple-line wheel (322), and the other end is wound around the right knee locking wheel (316) and hip locking wheel (38) in sequence, passes through the right locking cable tube (117), and is fixed on the upper locking gear shaft (131) of the left locking mechanism; The left foot locking double-line wheel (516) is connected to the left ankle triple-line wheel (322) by rope drive; one end of the left locking rope is fixed inside the left ankle triple-line wheel (322), and the other end is wound around the left knee locking wheel (316) and hip locking wheel (38) in sequence, passes through the left locking cable tube (135), and is fixed on the upper locking gear shaft (131) of the right locking mechanism; One end of the transmission rope on the right is fixed inside the foot transmission spool 511 on the right, and the other end is wound around the ankle transmission spool (319), knee transmission spool (313) and hip transmission spool (310) on the right in sequence, passes through the transmission spool (116) on the right, and is fixed inside the transmission three-line spool (118) on the rear branch chain of the locking mechanism on the left; the transmission three-line spool (118) on the rear branch chain on the right and the transmission double spool (212) on the right are connected by rope transmission. One end of the transmission rope on the left is fixed inside the foot transmission spool (511) on the left, and the other end is wound around the ankle transmission spool (319), knee transmission spool (313) and hip transmission spool (310) on the left in sequence, passes through the transmission spool (134) on the left, and is fixed inside the three-line transmission spool (118) on the rear branch of the locking mechanism on the right; the three-line transmission spool (118) on the rear branch of the left and the two-line transmission spool (212) on the left are connected by rope transmission.

2. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The lower locking gear shaft (130) is nested with the upper limit sleeve (123) of the rear branch chain; through the cooperation of the upper limit support sleeve (122) of the rear branch chain and the upper limit sleeve (123) of the rear branch chain with the nut, the axial positioning of the lower locking gear (127) and the upper drive three-wire wheel (118) of the rear branch chain is realized.

3. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The two ends of the gear limiting plate (128) pass through the through slots of the left rear plate (12) or the right rear plate (115), extend out of the left rear plate (12) or the right rear plate (115), and are fixedly connected to the limiting plate limiting sleeve (129) and the reset spring moving plate (121) respectively.

4. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, Both sides of the transmission double-thread wheel axle (211) are nested with transmission double-thread wheel axle limiting sleeves (27) for axial positioning of the transmission gear (28) and the transmission double-thread wheel (212).

5. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The hip locking wheel shaft (37) is provided with a hip limiting sleeve (39) and a hip limiting nut (311) for axially limiting the hip locking wheel (38) and the hip drive wheel (310).

6. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The knee locking wheel shaft (314) is provided with a knee limiting sleeve (315) and a knee limiting nut (312) for axially limiting the knee locking wheel (316) and the knee transmission wheel (313).

7. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, Ankle three-line wheel shaft (321) is provided with ankle limiting sleeve (320), ankle limiting support sleeve (318) and ankle limiting nut (317) for axial limiting of ankle three-line wheel (322) and ankle transmission line wheel (319).

8. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The medial foot fixation plate (519) is fixed to the foot sole plate (51) and the ankle connection square plate (54).

9. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The locking gear shaft (53) is rotatably mounted in the ankle connecting square plate (54) via the locking limit support sleeve (517) and the locking sleeve (518). Both ends extend out of the outer side of the ankle connecting square plate (54) and the axial sliding of the locking gear shaft (53) is restricted by the inner foot fixing plate (519). The foot double thread wheel (516) is axially limited by the locking limit support sleeve (517) and the nut.

10. The heterogeneous, unpowered, weight-bearing lower limb exoskeleton according to claim 1, characterized in that, The transmission gear shaft (52) is rotatably mounted in the ankle connecting square plate (54) via the transmission limiting support sleeve (512) and the transmission sleeve (515). Both ends extend out of the outer side of the ankle connecting square plate (54) and the axial sliding of the transmission gear shaft (52) is restricted by the foot inner fixing plate (519). The foot transmission pulley (511) is axially limited by the transmission limiting support sleeve (512) and the nut.

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