A wearable lower limb active heterogeneous exoskeleton device and control method thereof

Abstract

The present invention discloses a wearable lower limb active heterogeneous exoskeleton device and a control method thereof, which can assist the human body in carrying weight without affecting the free movement of the human body, and includes a back frame, a rotating joint, a linear motion joint and a foot arranged in sequence from top to bottom. The present invention has multiple degrees of freedom, can be highly adapted to human body movements and does not affect the human body's movement space; the heterogeneous structure makes it unnecessary for the device to be too much bound to the human body, reducing the constraints on the human body; the entire device structure is simple and light, and maintenance and replacement operations are convenient. The present invention has high integration, is easy to put on and take off, and is simple to control. It can be used for the wearer to carry weight in multiple terrains, effectively reducing the fatigue of the human body carrying weight.

Description

Technical Field

[0001] The present invention belongs to the field of bionic technology, and in particular relates to a wearable lower limb active heterogeneous exoskeleton device and a control method thereof. Background Art

[0002] With the advancement of science and technology and social development, wearable lower limb exoskeleton devices have attracted much attention. In medical rehabilitation, it provides a new rehabilitation pathway for patients with impaired lower limb motor function and helps nerve and muscle recovery; in the military field, it can enhance the strength and endurance of soldiers' lower limbs and adapt to special tasks; in industrial production, it assists workers in reducing the burden on their lower limbs. With an aging population, it can also provide walking assistance for the elderly. However, existing devices have problems such as inflexible structure, limited energy endurance, and unintelligent control. The development of more advanced devices and their control methods has important practical significance and application value.

[0003] Chinese patent document 221534687U records a resetting exoskeleton robot, which can adjust the telescopic length of the outer frame and the inner frame by means of the forward and reverse screws. When in use, the worm gear is driven by the connecting mechanism to rotate the forward and reverse screws. When the forward and reverse screws rotate, they pull the first fixed block and the second fixed block to drive the outer frame and the inner frame to be telescopically adjusted. However, the structure of the worm gear and the screw is too complicated, resulting in a relatively large size and mass of the resetting exoskeleton robot. In addition, Chinese patent document 201920941U records a human exoskeleton walking aid device with four exoskeleton lower limbs, which consists of a first left exoskeleton lower limb unit, a second left exoskeleton lower limb unit, a first right exoskeleton lower limb unit, and a second right exoskeleton lower limb unit. One end of the first left exoskeleton lower limb unit and the first right exoskeleton lower limb unit are both movably connected to the hip joint component, the other end of the first left exoskeleton lower limb unit is movably connected to the first sole component, the other end of the first right exoskeleton lower limb unit is movably connected to the second sole component, and one end of the second left exoskeleton lower limb unit and the second right exoskeleton lower limb unit are both movably connected to the back frame, but multiple joint drives will bring about the problem of increased mass and volume of the robot. In addition, the mechanical parts of the above two Chinese patents are complex, and difficult to process, manufacture and assemble.

[0004] For example, Chinese patent document 106156524B records an online gait planning system and method for an intelligent lower limb power assist device. The intelligent lower limb power assist device extracts features based on information collected by an electromyography acquisition unit and an inertial acquisition unit, and matches them with a gait model library to obtain predicted joint angles to control the gait of the intelligent lower limb power assist device online; however, the number of sensors used is large, and they are all arranged on the wearer's body, which is inconvenient to wear and has poor comfort. In addition, the collection and processing of human body information is complex and time-consuming. At the same time, the calculation process of the control algorithm is lengthy and complicated, which will lead to slow human-computer interaction perception and a long time from signal processing to command issuance by the control system, ultimately resulting in poor coordination and consistency between the gait of the exoskeleton system and the wearer, and poor wearing effect. Summary of the invention

[0005] The present invention aims to provide a wearable lower limb active heterogeneous exoskeleton device and a control method thereof, so as to solve the problems of complex binding and action constraints of homogeneous exoskeletons.

[0006] In order to achieve the purpose of the present invention, the present invention provides a wearable lower limb active heterogeneous exoskeleton device, including a back frame part, a rotational joint, a linear motion joint, and a foot; the back frame part is a base, one end of which is bound to the human body, and the other end is fixed with the rotational joint having two degrees of freedom, one active and one driven; the rotational joint is connected to the linear motion joint through a driven rotational pair; the linear motion joint is connected to the foot through a ball joint, and the foot is bound to the human foot.

[0007] The back frame part includes a back frame, a shoulder pressure sensor, a back pressure position sensor, a carrier, a main control module, a power module, and a storage plate; the two shoulder pressure sensors are respectively attached to the shoulder straps on both sides of the back frame through Velcro; the back pressure position sensor is also attached to the back plate of the back frame through Velcro; the carrier is connected to the back plate of the back frame through threads; the main control module is fixed to the bottom of the carrier through its bottom threads; the power module is fixed to the bottom of the carrier through side threads; the storage plate is installed above the main control module and the power module.

[0008] The rotating joint includes a support rod, a back support seat, a joint motor, a motor support seat, a rubber-coated screw, a male seat of the retractable and extended joint base, a nut, a gasket, a female seat of the retractable and extended joint base, a flange bearing and a bolt; the back support seat is connected to the back frame part through a thread; the support rod is placed in the groove of the back support seat and tightened by the bolt; the joint motor is fixed on the motor support seat, and the motor support seat is placed on the support rod and tightened by the bolt; the rubber-coated screw is fixed to the motor support seat through a designated hole; the male seat of the retractable and extended joint base is fixedly installed on the rotor of the joint motor; the gasket is inserted between the male seat of the retractable and extended joint base and the female seat of the retractable and extended joint base, the flange bearing is pressed into the inside of the male seat of the retractable and extended joint base and the outside of the female seat of the retractable and extended joint base, and locked with the bolt and the nut.

[0009] The linear motion joint includes an equivalent motor connection seat, a linear joint and a rotating joint connection base, a rack, a linear joint skeleton, a guide rail, a guide rail limit block, a flange bearing seat, a flange bearing, an open retaining ring, a rubber-coated bearing, a rubber-coated bearing seat, a plug screw, a sleeve, a slider connection base, a linear joint side plate, a slider, a linear joint lower support, a linear joint drive motor, a grooved pin shaft, a gear, a linear joint and a support rod connection seat, a support rod, and a support rod and a ball joint connection seat; one end of the equivalent motor connection seat is connected to the linear joint and the rotating joint connection base, and the other end is threadedly connected to the female seat of the retraction and extension joint base; the rack is inserted and installed in the linear joint skeleton and fixed with bolts, and the guide rail is fixed to the back plane of the linear joint skeleton with screws; the slider connection base is connected to the slider by screws, and the slider is inserted into the guide rail, and the guide rail limit block is inserted into the guide rail, and the guide rail limit block is fixed in the position of the guide rail with a top screw; the linear joint and the rotating joint The joint connecting base, the slider connecting base, and the lower support of the linear joint are fixed to the linear joint side plate by screws; the linear joint drive motor and the flange bearing seat are fixed at corresponding positions by screws, and the flange bearing is pressed into the flange bearing seat; the gear hole is inserted into the drive shaft of the linear joint drive motor and fixed with a set screw, and a plug screw is inserted into the opposite side of the linear joint drive motor drive shaft, and the sleeve is inserted into the shaft of the plug screw, and the end thread of the plug screw is connected with the inner threaded hole of the linear joint drive motor drive shaft; the gear hole is inserted into the grooved pin shaft and fixed with a set screw, and the open retaining ring is clamped into the end of the grooved pin shaft for limiting; the rubber-coated bearing is fixed to the rubber-coated bearing seat by screws, and the rubber-coated bearing seat is fixed to the linear joint side plate by screws; the end of the linear joint skeleton is inserted into the linear joint and support rod connecting seat, the support rod, and the support rod and ball joint connecting seat in turn, and fixed with bolts.

[0010] The foot includes a foot pressure position sensor, a foot shell, a foot shell, a foot shell and a ball joint connecting seat, and a ball joint; the foot pressure position sensor is attached to the bottom of the foot shell by Velcro; the foot shell and the foot shell and ball joint connecting seat are fixed by bolts; the lower end of the ball joint is fixed to the threaded hole of the foot shell and the ball joint connecting seat by threads, and the upper end is fixed to the threaded hole of the support rod and the ball joint connecting seat by threads.

[0011] The main control module completes signal transmission with the rotating joint and the linear motion joint driving part through the bottom opening of the carrier; the power supply module completes power supply to the main control module, the rotating joint, and the linear motion joint driving part and switching of the main power supply through the side opening of the carrier.

[0012] The present invention also provides a control method for a wearable lower limb active heterogeneous exoskeleton device, comprising the following steps:

[0013] Step 1: The wearer wears the lower limb active heterogeneous exoskeleton device;

[0014] Step 2: The wearer turns on the power switch, so that the power module supplies power to the control system and position and pressure sensors of the exoskeleton device, and indirectly supplies power to the drive motor through the drive motor speed regulator;

[0015] Step 3: The wearer turns on the signal switch and stands still for a while, so that the control system can successfully receive the signals from the position and pressure sensor and the drive motor speed regulator. The control system sends a signal to the drive motor speed regulator to complete the initialization.

[0016] Step 4: The wearer performs the target action, and the control system collects and processes the signals of the position and pressure sensors and the drive motor speed regulator in real time;

[0017] Step 5: The control system sends the processed control signal to the drive motor speed regulator, and the drive motor speed regulator adjusts the power supply output to the drive motor;

[0018] Step 6: The wearer completes the action, cuts off the power supply and signal switch, and ends the control.

[0019] Compared with the prior art, the significant progress of the present invention is as follows: (1) The present invention has less human body binding and is in line with ergonomics, which greatly avoids the discomfort caused by excessive binding of limbs when wearing an exoskeleton device, and increases the comfort level of human-machine collaboration; (2) The structure of the parts of the present invention is simple, and most of the parts can be made of high-strength, lightweight aluminum alloy, which is easy to process and assemble, reducing the overall device cost, and at the same time can effectively reduce the weight of the device and reduce the burden on the wearer during exercise; (3) The present invention has a large movement space. Compared with the common exoskeleton structure, it will not interfere with the normal movement of the wearer. Some extreme movements such as squats and large leg lifts can also be performed normally in coordination with the human body; (4) The present invention has high flexibility in custom adjustment. Only by adjusting the position of the top screw and the threaded hole can the travel limit be set according to different wearers; (5) The present invention has sufficient degrees of freedom to ensure that when worn, it can achieve synchronous movement in a relatively close fit with the human body; (6) The control concept of the present invention is simple and easy to implement, and the required sensor hardware requirements for control are low and the number is small, which can effectively reduce the complexity of control.

[0020] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a schematic diagram of the overall structure of the lower limb active heterogeneous exoskeleton device of the present invention;

[0023] Figure 2 is an exploded view of the back frame portion of the present invention;

[0024] Figure 3 is an exploded view of the rotary joint of the present invention;

[0025] Fig. 4 (a) and Fig. 4 (b) are partial views of the exploded view of the right leg linear motion joint of the present invention, and Fig. 4 (c) is an overall view of the right leg linear motion joint of the present invention;

[0026] Figure 5 It is an exploded view of the right leg and foot of the present invention;

[0027] Figure 6 It is a flow chart of the control method of the present invention.

[0028] The reference numerals in the figure are: 1-back frame part, 2-rotation joint, 3-linear motion joint, 4-foot, 101-back frame, 102-shoulder pressure sensor, 103-back pressure position sensor, 104-carrying rack, 105-main control module, 106-power module, 107-storage plate, 201-support rod, 202-back support seat, 203-joint motor, 204-motor support seat, 205-rubber-coated screw, 206-retractable joint base male seat, 207-nut, 208-gasket, 209-retractable joint base female seat, 210-flange bearing, 211-bolt, 301-equivalent motor connecting seat, 302-linear joint and rotation joint connecting base, 303-rack, 30 4- linear joint skeleton, 305- guide rail, 306- guide rail limit block, 307- flange bearing seat, 308- flange bearing, 309- open retaining ring, 310- rubber coated bearing, 311- rubber coated bearing seat, 312- plug screw, 313- sleeve, 314- slider connecting base, 315- linear joint side plate, 316- slider, 317- linear joint lower support, 318- linear joint drive motor, 319- slotted pin shaft, 320- gear, 321- linear joint and support rod connecting seat, 322- support rod, 323- support rod and ball joint connecting seat, 401- foot pressure position sensor, 402- foot shell, 403- right leg foot shell and ball joint connecting seat, 404- ball joint. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] The present invention provides a wearable lower limb active heterogeneous exoskeleton device, combined with Figure 1 , including a back frame part 1, a rotating joint 2, a linear motion joint 3, and a foot 4; the back frame part 1 is a base, one end of which is bound to the human body, and the other end is fixed with the rotating joint 2 with two degrees of freedom, one active and one driven; the rotating joint 2 is connected to the linear motion joint 3 through a driven rotating pair; the linear motion joint 3 and the foot 4 are connected through a ball joint, and the foot 4 is bound to the human foot; the linear motion joint 3 and the foot 4 are equally divided into left and right, wherein the left and right of the linear motion joint 3 are realized by mirror assembly of parts, and the left and right of the foot 4 are realized by mirror parts.

[0031] Combination Figure 2The back frame part 1 includes a back frame 101, a shoulder pressure sensor 102, a back pressure position sensor 103, a carrier 104, a main control module 105, a power module 106, and a storage plate 107; the two shoulder pressure sensors 102 are respectively attached to the shoulder straps on both sides of the back frame 101 through Velcro, fitting with the trapezius muscle of the human body; the back pressure position sensor 103 is also attached to the back plate of the back frame 101 through Velcro, fitting with the latissimus dorsi muscle of the human body; the carrier 104 is connected to the back plate of the back frame 101 through threads; the main control module 105 is fixed to the bottom of the carrier 104 through its bottom threads; the power module 106 is fixed to the bottom of the carrier 104 through side threads; the storage plate 107 is covered and installed above the main control module 105 and the power module 106 to isolate the main control module 105, the power module 106 and the load.

[0032] Combination Figure 3 The rotating joint 2 includes a support rod 201, a back support seat 202, a joint motor 203, a motor support seat 204, a rubber-coated screw 205, a male seat 206 of the retractable joint base, a nut 207, a gasket 208, a female seat 209 of the retractable joint base, a flange bearing 210 and a bolt 211; the back support seat 202 is connected to the back frame part 1 through a thread; the support rod 201 is placed in the groove of the back support seat 202 and is tightened by the bolt 211; the joint motor 203 is fixed on the motor support seat 204, and the motor support seat 204 is placed on the support rod 201 and is tightened by the bolt 211 Tighten; the rubber-coated screw 205 is fixed to the motor support base 204 through a designated hole, and the designated hole is one of the twelve evenly distributed threaded holes on the motor support base 204, and its position is adjusted according to the actual movement position requirements of the wearer; the male seat 206 of the retraction and extension joint base is fixedly installed on the rotor of the joint motor 203; the gasket 208 is inserted between the male seat 206 of the retraction and extension joint base and the female seat 209 of the retraction and extension joint base, and the flange bearing 210 is pressed into the inside of the male seat 206 of the retraction and extension joint base and the outside of the female seat 209 of the retraction and extension joint base, and locked with the bolt 211 and the nut 207.

[0033] In conjunction with Figures 4 (a), (b), and (c), the linear motion joint 3, taking the right leg linear motion joint as an example, includes an equivalent motor connecting seat 301, a linear joint and a rotating joint connecting base 302, a rack 303, a linear joint skeleton 304, a guide rail 305, a guide rail limit block 306, a flange bearing seat 307, a flange bearing 308, an open retaining ring 309, a rubber-coated bearing 310, a rubber-coated bearing seat 311, a plug screw 312, a sleeve 313, a slider connecting base 314, a linear joint side plate 315, a slider 316, a linear joint lower support 317, a linear joint drive motor 318, a grooved pin shaft 319, a gear 320, a linear joint and a support rod connecting seat 321, a support rod 322, and a support rod. The support rod and the ball joint connecting seat 323; one end of the equivalent motor connecting seat 301 is connected to the linear joint and the rotating joint connecting base 302, and the other end is threadedly connected to the retraction and extension joint base female seat 209 to realize the connection between the linear joint and the rotating joint; the rack 303 is inserted and installed in the linear joint skeleton 304 and fixed with bolts, and the guide rail 305 is fixed to the back plane of the linear joint skeleton 304 with screws; the slider connecting base 314 is connected to the slider 316 by screws, and the slider 316 is inserted into the guide rail 305, and the guide rail limit block 306 is inserted into the guide rail 305, and the guide rail limit block 306 is fixed at the position of the guide rail 305 with a top screw; the The linear joint and the rotary joint connection base 302, the slider connection base 314, and the linear joint lower support 317 are fixed to the linear joint side plate 315 by screws; the linear joint drive motor 318 and the flange bearing seat 307 have the same threaded hole distribution, and can be freely loaded and fixed to one of the upper and lower special threaded holes of the linear joint side plate 315 using screws according to the actual needs of the user and the mirror assembly requirements of the left and right legs, and the flange bearing 308 is pressed into the flange bearing seat 307; the gear 320 hole is inserted into the drive shaft of the linear joint drive motor 318, and fixed with a set screw, and the side insertion plug is screwed in the linear joint drive motor 318 drive shaft. The thread 312 is inserted into the shaft of the plug screw 312, and the sleeve 313 is inserted into the shaft of the plug screw 312. The thread at the end of the plug screw 312 is connected to the inner threaded hole of the driving shaft of the linear joint drive motor 318; the slotted pin shaft 319 is inserted into the hole of the gear 320 and fixed with a set screw, and the open retaining ring 309 is inserted into the end of the slotted pin shaft 319 for limiting; the rubber-coated bearing 310 is fixed to the rubber-coated bearing seat 311 by screws, and the rubber-coated bearing seat 311 is fixed to the linear joint side plate 315 by screws; the end of the linear joint skeleton 304 is inserted into the linear joint and support rod connecting seat 321, the support rod 322, and the support rod and ball joint connecting seat 323 in turn, and fixed with bolts.

[0034] Combination Figure 5 The foot 4, here taking the right leg foot as an example, includes a foot pressure position sensor 401, a foot shell 402, a right leg foot shell and a ball joint connection seat 403, and a ball joint 404; the foot pressure position sensor 401 is attached to the bottom of the foot shell 402 by Velcro; the foot shell 402 and the right leg foot shell and the ball joint connection seat 403 are fixed by bolts; the lower end of the ball joint 404 is fixed to the threaded hole of the right leg foot shell and the ball joint connection seat 403 by self-threading, and the upper end is fixed to the threaded hole of the support rod and the ball joint connection seat 323 by self-threading. It should be noted that the difference between the left leg foot and the right leg foot is only in the right leg foot shell and the ball joint connection seat 403, because the left leg foot shell and the ball joint connection seat are mirror parts.

[0035] The main control module 105 completes signal transmission with the driving parts of the rotating joint 2 and the linear motion joint 3 through the bottom opening of the carrier 104; the power supply module 106 completes the power supply to the main control module 105, the rotating joint 2, and the driving parts of the linear motion joint 3 and the switching of the main power supply through the side opening of the carrier 104.

[0036] The present invention also provides a control method for a wearable lower limb active heterogeneous exoskeleton device, Figure 6 , including the following steps:

[0037] Step 1: The wearer wears the lower limb active heterogeneous exoskeleton device and proceeds to step 2;

[0038] Step 2: The wearer turns on the power switch, so that the power module supplies power to the control system, position and pressure sensors of the exoskeleton device, and indirectly supplies power to the drive motor through the drive motor speed regulator, and then proceeds to step 3;

[0039] Step 3: The wearer turns on the signal switch and stands still for a period of time, so that the control system can successfully receive the signals from the position and pressure sensor and the drive motor speed regulator. The control system sends a signal to the drive motor speed regulator to complete the initialization and proceed to step 4.

[0040] Step 4: The wearer performs the target action, and the control system collects and processes the signals of the position and pressure sensors and the drive motor speed regulator in real time, and then proceeds to step 5;

[0041] Step 5: The control system sends the processed control signal to the drive motor speed regulator, and the drive motor speed regulator adjusts the power supply output to the drive motor, and then proceeds to step 6;

[0042] Step 6: The wearer completes the action, cuts off the power supply and signal switch, and ends the control.

[0043] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wearable lower limb active heterogeneous exoskeleton device, characterized in that: The invention comprises a back frame part (1), a rotating joint (2), a linear motion joint (3), and a foot part (4); the back frame part (1) is a base, one end of which is bound to a human body, and the other end is fixed to the rotating joint (2) having two degrees of freedom, one active and one passive; the rotating joint (2) is connected to the linear motion joint (3) through a passive rotating pair; the linear motion joint (3) is connected to the foot part (4) through a ball joint, and the foot part (4) is bound to a human foot; The rotating joint (2) comprises a support rod (201), a back support seat (202), a joint motor (203), a motor support seat (204), a rubber-coated screw (205), a male seat of a retractable joint base (206), a nut (207), a gasket (208), a female seat of a retractable joint base (209), a flange bearing (210) and a bolt (211); the back support seat (202) is connected to the back frame part (1) via a thread; the support rod (201) is placed in a groove of the back support seat (202) and is tightened by the bolt (211); the joint motor (203) is fixed to the motor support seat (204), and the motor The motor support seat (204) is placed on the support rod (201) and tightened by the bolt (211); the rubber-coated screw (205) is fixed to the motor support seat (204) through the designated hole; the male seat (206) of the retractable joint base is fixedly installed on the rotor of the joint motor (203); the gasket (208) is inserted between the male seat (206) of the retractable joint base and the female seat (209) of the retractable joint base, and the flange bearing (210) is pressed into the inside of the male seat (206) of the retractable joint base and the outside of the female seat (209) of the retractable joint base, and is locked using the bolt (211) and the nut (207).

2. A wearable lower limb active heterogeneous exoskeleton device according to claim 1, characterized in that: The back frame part (1) comprises a back frame (101), a shoulder pressure sensor (102), a back pressure position sensor (103), a carrier (104), a main control module (105), a power module (106), and a storage plate (107); the two shoulder pressure sensors (102) are respectively attached to the shoulder straps on both sides of the back frame (101) by Velcro; the back pressure position sensor (103) is also attached to the back plate of the back frame (101) by Velcro; the carrier (104) is connected to the back plate of the back frame (101) by threads; the main control module (105) is fixed to the bottom of the carrier (104) by its bottom threads; the power module (106) is fixed to the bottom of the carrier (104) by side threads; and the storage plate (107) is installed to cover the main control module (105) and the power module (106).

3. A wearable lower limb active heterogeneous exoskeleton device according to claim 1, characterized in that: The linear motion joint (3) comprises an equivalent motor connecting seat (301), a linear joint and a rotating joint connecting base (302), a rack (303), a linear joint skeleton (304), a guide rail (305), a guide rail limit block (306), a flange bearing seat (307), a flange bearing (308), an open retaining ring (309), a rubber-coated bearing (310), a rubber-coated bearing seat (311), a plug screw (312), a sleeve (313), a slider connecting base (314), a linear joint side plate (315), a slider (316), a linear joint lower support (317), a linear joint drive motor (318), a slotted pin shaft (319), a gear (320), a linear joint and A support rod connecting seat (321), a support rod (322), and a support rod and ball joint connecting seat (323); wherein the number of the gears (320) is 2, one of which is connected to the linear joint drive motor (318) as a main output gear, and the other is placed on an axis parallel to the axis of the linear joint drive motor (318) as a driven gear; one end of the equivalent motor connecting seat (301) is connected to the linear joint and rotating joint connecting base (302), and the other end is threadedly connected to the extension and retraction joint base female seat (209); the rack (303) is inserted and installed in the linear joint skeleton (304) and fixed with bolts, and the guide rail (305) is fixed to the linear joint skeleton (304) with screws. The back plane of the joint skeleton (304); the slider connection base (314) and the slider (316) are connected by screws, and the slider (316) is inserted into the guide rail (305), and the guide rail limit block (306) is inserted into the guide rail (305), and the guide rail limit block (306) is fixed to the position of the guide rail (305) by using a top screw; the linear joint and the rotary joint connection base (302), the slider connection base (314), and the linear joint lower support (317) are fixed to the linear joint side plate (315) by screws; the linear joint drive motor (318) and the flange bearing seat (307) are fixed at the corresponding positions by using screws. , the flange bearing (308) is pressed into the flange bearing seat (307); a gear (320) is inserted into the drive shaft of the linear joint drive motor (318) and fixed with a set screw, a plug screw (312) is inserted into the threaded end of the drive shaft of the linear joint drive motor (318), the sleeve (313) is inserted into the shaft of the plug screw (312), and the threaded end of the plug screw (312) is connected to the internal threaded hole of the drive shaft of the linear joint drive motor (318); another gear (320) is inserted into the grooved pin shaft (319), fixed with a set screw, and the open retaining ring (309) is clamped into the end of the grooved pin shaft (319) for limiting.The rubber-coated bearing (310) is fixed to the rubber-coated bearing seat (311) by screws, and the rubber-coated bearing seat (311) is fixed to the linear joint side plate (315) by screws; the end of the linear joint skeleton (304) is sequentially inserted into the linear joint and support rod connecting seat (321), the support rod (322), and the support rod and ball joint connecting seat (323), and fixed by bolts. ; 4. A wearable lower limb active heterogeneous exoskeleton device according to claim 3, characterized in that: The foot (4) comprises a foot pressure position sensor (401), a foot shell (402), a foot shell and ball joint connecting seat (403), and a ball joint (404); the foot pressure position sensor (401) is attached to the bottom of the foot shell (402) by means of Velcro; the foot shell (402) and the foot shell and ball joint connecting seat (403) are fixed by means of bolts; the lower end of the ball joint (404) is fixed to the threaded hole of the foot shell and ball joint connecting seat (403) by means of threads, and the upper end is fixed to the threaded hole of the support rod and ball joint connecting seat (323) by means of threads.

5. A wearable lower limb active heterogeneous exoskeleton device according to claim 2, characterized in that: The main control module (105) completes signal transmission with the rotating joint (2) and the driving part of the linear motion joint (3) through the bottom opening of the carrier (104); the power supply module (106) completes power supply to the main control module (105), the rotating joint (2) and the driving part of the linear motion joint (3) and switching of the main power supply through the side opening of the carrier (104).

6. A control method for a wearable lower limb active heterogeneous exoskeleton device according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: The wearer wears the lower limb active heterogeneous exoskeleton device; Step 2: The wearer turns on the power switch, so that the power module supplies power to the control system, position and pressure sensors of the exoskeleton device, and indirectly supplies power to the drive motor through the drive motor speed regulator; Step 3: The wearer turns on the signal switch and stands still for a while, so that the control system can successfully receive the signals from the position and pressure sensor and the drive motor speed regulator. The control system sends a signal to the drive motor speed regulator to complete the initialization. Step 4: The wearer performs the target action, and the control system collects and processes the signals of the position and pressure sensors and the drive motor speed regulator in real time; Step 5: The control system sends the processed control signal to the drive motor speed regulator, and the drive motor speed regulator adjusts the power supply output to the drive motor; Step 6: The wearer completes the action, cuts off the power supply and signal switch, and ends the control.

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