Lower limb joint assisting exoskeleton with quick release connection

Abstract

This invention discloses a quick-release lower limb joint assistive exoskeleton, relating to the field of exoskeleton technology. The exoskeleton includes a lumbar fixation and adjustment component and an assistive component. The lumbar fixation and adjustment component comprises a back support, a waist belt, exoskeleton connectors, and a control power supply component. The back support is connected at both ends to two exoskeleton connectors via the waist belt, and the two connectors are symmetrically arranged. Each connector has a quick-release socket, and the assistive component has a quick-release plug that mates with the quick-release socket. The quick-release socket and plug enable a detachable mechanical fixation and electrical connection between the assistive component and the lumbar fixation and adjustment component. This invention, through the cooperation of the quick-release socket and plug, achieves simultaneous rapid mechanical fixation and electrical connection between the assistive component and the lumbar fixation and adjustment component, improving modularity and ease of use.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically to a quick-release lower limb joint assistive exoskeleton. Background Technology

[0002] Exoskeletons are mechatronic devices used to assist human walking, rehabilitation training, or weight-bearing support. Exoskeletons designed to assist lower limb joints typically include a lumbar fixation structure, a drive mechanism, and a leg support structure. The lumbar fixation structure is used to fix the entire device relative to the human pelvis to ensure effective transmission of driving force and wearing comfort.

[0003] In existing technologies, the connection between the components of an exoskeleton is mostly achieved by bolt fixing combined with external cable plugging. Disassembly and assembly require separate operation of mechanical and electrical connections, which is cumbersome. Furthermore, the external cables are prone to tangling or pulling damage during wear, affecting the reliability of the device and the wearing experience. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes a quick-release lower limb joint assistive exoskeleton.

[0005] The technical solution adopted in this invention is as follows: A quick-release lower limb joint assistive exoskeleton includes a lumbar fixation and adjustment component and an assistive component. The lumbar fixation and adjustment component includes a back support, a waist belt, exoskeleton connectors, and a control power supply component. The back support is connected to two exoskeleton connectors at both ends via the waist belt, and the two exoskeleton connectors are symmetrically arranged. Each exoskeleton connector is equipped with a quick-release socket, and the assistive component is equipped with a quick-release plug that mates with the quick-release socket. The quick-release socket and the quick-release plug are used to achieve a detachable mechanical fixation connection and electrical connection between the assistive component and the lumbar fixation and adjustment component. The control power supply component is located on the back support and is used to provide power and control signals to the exoskeleton.

[0006] This structure, through the cooperation of quick-release sockets and quick-release plugs, enables the simultaneous completion of rapid mechanical fixing and electrical connection between the power assist component and the waist fixation and adjustment component, simplifying the disassembly and assembly process and improving modularity and ease of use.

[0007] In a preferred embodiment of the present invention, the quick-release socket includes a socket panel, a female connector, and a female connector fixing plate. The socket panel is disposed on the side surface of the exoskeleton connector facing the assistive component and is fixedly connected to the exoskeleton connector. The socket panel is recessed inward and has a plug interface adapted to the shape of the female connector's output end. The female connector fixing plate is fixedly installed on the inner side of the exoskeleton connector and has an opening adapted to the shape of the female connector. The female connector's input end is located inside the exoskeleton connector, and its output end extends to the opening of the socket panel after passing through the female connector fixing plate. The socket panel has a locking groove. This quick-release socket has a compact structure and high integration, integrating the electrical connection interface and mechanical locking structure into the socket panel, improving the reliability of the connection and the convenience of operation.

[0008] In a preferred embodiment of the present invention, the quick-release plug includes a plug housing, a male connector, and a resilient locking mechanism. The plug housing protrudes and is fixed to the side of the assistive component facing the exoskeleton connector. The male connector is fixed to the plug housing, and its input end mates with the output end of the female connector of the quick-release socket. The output end of the male connector is electrically connected to the motor of the assistive component via conductive lines arranged within the assistive component. The resilient locking mechanism is disposed in the plug housing and is used to form a releasable locking engagement with the quick-release socket. This quick-release plug and quick-release socket form a shape-matched plug-in engagement, achieving simultaneous completion of mechanical positioning and electrical connection. The resilient locking mechanism ensures the stability of the connection after connection and prevents accidental loosening.

[0009] In a preferred embodiment of the present invention, the elastic locking mechanism includes a locking fixing plate, an elastic buckle, and two push buttons; the locking fixing plate is provided with an inverted T-shaped groove composed of a transverse groove and a longitudinal groove, and the elastic buckle and the push buttons are respectively confined in the longitudinal groove and the transverse groove; the locking fixing plate has an opening, the elastic buckle includes an integrally formed sliding part and a hook part, the sliding part is installed in the longitudinal groove, and the hook part extends out from the opening of the locking fixing plate; the top surface of the sliding part of the elastic buckle is provided with a spring post, and a compression spring is sleeved on the spring post; the lower end of the sliding part of the elastic buckle is provided with two symmetrically arranged and outwardly and downwardly inclined guide slopes, and the two push buttons are respectively symmetrically arranged on both sides of the elastic buckle, and each push button has a driving slope matching the guide slope on the side facing the elastic buckle, and the driving slope and the guide slope form a surface contact sliding fit; the quick-release socket is provided with a locking groove that cooperates with the hook part. When the two buttons are pressed and moved toward each other, the horizontal linear motion of the buttons is converted into the vertical upward movement of the elastic buckles along the sliding groove of the locking plate by the cooperation of the driving inclined surface and the guide inclined surface, so that the hooks at both ends of the elastic buckles are lifted upward synchronously; when the buttons are released, the elastic restoring force of the compression spring pushes the elastic buckles downward to reset, and the two buttons move back to their original positions.

[0010] In a preferred embodiment of the present invention, the waist belt includes a chain waist belt and a front waist belt. The chain waist belt is composed of multiple identical chain links that are hinged end to end in sequence. The front waist belt connects two of the exoskeleton connectors. Conductive circuits are provided inside each chain link, and electrical conduction is achieved between adjacent chain links through conductive pins. One end of the conductive circuit within the chain waist belt is electrically connected to the control power supply assembly, and the other end is electrically connected to the quick-release socket. The chain structure allows the waist belt to conform to the curve of the human waist while simultaneously achieving electrical conduction, simplifying the wiring structure.

[0011] In a preferred embodiment of the present invention, the assistive component is a hip joint assistive component, which includes a hip joint motor assembly, a leg bar input component, and a hip and thigh leg bar; the hip joint motor assembly includes a hip joint motor housing and a hip joint motor; the quick-release plug is disposed on the hip joint motor housing. This structure enables modular and quick assembly and disassembly of the hip joint assistive component and the lumbar fixation and adjustment component, allowing users to quickly replace hip joint assistive components of different specifications or functions as needed.

[0012] In a preferred embodiment of the present invention, a thigh fixation component for binding and securing the hip and thigh joint is slidably disposed at the end of the hip and thigh joint leg bar; the upper end of the hip and thigh joint leg bar is connected to the output end of the hip joint motor via the leg bar input component, and the leg bar input component is hinged to the hip and thigh joint leg bar, with the hinge axis perpendicular to the rotation axis of the hip joint motor. This hinge structure allows for greater freedom of movement of the thigh in the lateral direction, improving wearing comfort and movement flexibility.

[0013] In a preferred embodiment of the present invention, the assistive component is a knee joint assistive component, which includes a quick-release plug, a suspension strap, a knee and thigh support bar, a knee motor assembly, and a lower leg support bar. One end of the suspension strap is fixed to the housing of the quick-release plug, and the other end is fixed to the top of the knee and thigh support bar. A thigh fixation component is provided on the knee and thigh support bar. The knee motor assembly includes a knee motor housing and a knee motor. The knee motor housing is fixedly connected to the lower end of the knee and thigh support bar, and the knee motor is disposed inside the knee motor housing. The upper end of the lower leg support bar is drivenly connected to the output shaft of the knee motor, and the lower end extends towards the foot. By having the suspension strap bear part of the weight of the knee joint assistive component, the wearer's lower limbs are relieved of the burden.

[0014] In a preferred embodiment of the present invention, the lower leg bar is provided with at least two lower leg fixing components, each including a lower leg baffle and a lower leg strap. The lower leg baffles in the two lower leg fixing components respectively conform to the physiological curves of the front and back sides of the human lower leg. The multi-point binding structure improves the fixation reliability between the leg bar and the limb, and the front and rear double baffle design enhances torque transmission efficiency.

[0015] In a preferred embodiment of the present invention, conductive lines are arranged within the suspension strap. One end of the conductive line is connected to the male connector inside the knee quick-release plug, and the other end extends along the suspension strap to the inside of the knee thigh leg bar, where it is electrically connected to the conductive lines within the knee thigh leg bar. Conductive lines are also arranged inside the knee thigh leg bar, with the upper end electrically connected to the conductive lines within the suspension strap and the lower end extending to and electrically connected to the knee motor assembly. This forms an electrical signal and power transmission path from the quick-release plug to the knee motor assembly. By integrating the conductive lines within the suspension strap and leg bar, the functions of electrical conduction and structural load-bearing are integrated.

[0016] This invention achieves rapid mechanical fixing and electrical connection between the assist component and the waist fixation and adjustment component through the cooperation of quick-release socket and quick-release plug, simplifying the disassembly and assembly process and improving modularity and ease of use; the chain waist belt has internal wiring to achieve electrical conduction, simplifying wiring; the knee joint assist component achieves weight reduction and electrical conduction integration through suspension straps and internal conductive lines, improving wearing comfort and modularity. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a lower limb joint-assisted exoskeleton according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the outer structure of the exoskeleton connector in this invention; Figure 3 This is a schematic diagram of the inner structure of the exoskeleton connector in this invention; Figure 4 This is a schematic diagram of the quick-release plug in this invention; Figure 5 This is a schematic diagram of the overall structure of a lower limb joint-assisted exoskeleton according to another embodiment of the present invention.

[0018] Figure label: 100-Waist fixation and adjustment assembly, 101-Back support, 102-Chain waist belt, 103-Front waist belt, 104-Exoskeleton connector, 105-Control power assembly; 109-Quick release socket, 109a-Socket panel, 109b-Female socket, 109c-Female socket fixing plate, 109d-Locking groove; 200-Hip joint assist component, 201-Hip joint motor component, 202-Leg bar input component, 203-Hip and thigh leg bar, 204-Hip and thigh fixation component, 205-Hip quick-release plug, 205a-Plug housing, 205b-Male socket, 206-Elastic locking mechanism, 206a-Locking fixing plate, 206b-Elastic buckle, 206c-Press button; 300-Knee joint assist component, 301-Knee quick-release plug, 302-Suspension strap, 303-Knee and thigh support bar, 304-Knee and thigh fixation component, 305-Knee motor component, 306-Lower leg support bar, 307-Lower leg fixation component. Detailed Implementation

[0019] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below. Example 1

[0020] like Figure 1As shown, a quick-release lower limb joint assistive exoskeleton includes a waist fixation and adjustment assembly 100 and a hip joint assistive assembly 200. The waist fixation and adjustment assembly 100 provides a wearable support base for the hip joint assistive assembly 200. It includes a back support 101, a chain waist belt 103, an exoskeleton connector 104, a control power assembly 105, and a front waist belt 106. The chain waist belt 103 and the exoskeleton connector 104 are symmetrically arranged in two sets on the left and right sides. The control power assembly 105 is disposed on the back support 101 and is used to provide power and control signals to the exoskeleton.

[0021] The back support 101 is hinged at both ends to two chain waist belts 103, with the hinge shafts vertically positioned. Each chain waist belt 103 includes at least three links, each with an identical structure. Each link includes a connecting portion in the middle and tail and head ends integrally formed at both ends of the connecting portion. Both tail and head ends have connecting holes extending along the width of the chain waist belt 103. The tail and head ends of adjacent links are hinged by pins passing through these connecting holes, thus connecting the links sequentially to form a chain structure. The connecting portion has a rectangular hollow shell structure with internal weight-reducing through holes. The tail end includes two spaced-apart ear plates at the same end of the connecting portion, with connecting holes respectively opened on the two ear plates and coaxially positioned. The head end protrudes from the other end of the connecting portion, and its width matches the gap between the two ear plates. Each link contains conductive lines extending along the length of the link and penetrating the inner wall of the connecting holes. The pin is a conductive pin, with both ends of the pin connected to the conductive lines on the inner wall of the connecting hole, thereby forming an electrical conduction path between adjacent chain links for transmitting electrical signals and supplying power.

[0022] One end of the chain waist belt 103 is connected to the back support 101, and the other end is hinged to the exoskeleton connector 104. The exoskeleton connector 104 is also connected to the front waist belt 106 and the assist component. The control power component 105 is disposed on the back support 101 and is used to provide power and control signals to the exoskeleton. The control power component 105 is electrically connected to the chain waist belt 103 through conductive lines. Specifically, the output end of the control power component 105 is connected to the adjacent chain link through a wire, and the power and signal are transmitted to the exoskeleton connector 104 at the end of the chain waist belt 103 through the conductive lines and conductive pins inside the chain link.

[0023] like Figure 2 and Figure 3As shown, the exoskeleton connector 104 has a hinge portion on one side that hinges to the end of the chain belt 103, and a mounting hole on the other side that connects to the front belt 106; the structure of the hinge portion is the same as the tail or head end structure of the chain link. The exoskeleton connector 104 is also provided with a quick-release socket 109 for quick plug-and-play connection with the power assist component. The exoskeleton connector 104 has a conductive line inside that connects the hinge portion and the quick-release socket 109. One end of the conductive line extends to the inner wall of the hinge portion of the exoskeleton connector 104 and is electrically connected to the conductive line in the chain belt 103, and the other end is electrically connected to the quick-release socket 109, thereby transmitting the power and control signals of the control power component 105 to the quick-release socket 109.

[0024] The quick-release socket 109 includes a socket panel 109a, a female connector 109b, and a female connector fixing plate 109c. The socket panel 109a is disposed on the side surface of the exoskeleton connector 104 facing the assist component, i.e., the outer side surface of the exoskeleton connector 104, and the socket panel 109a is fixedly connected to the exoskeleton connector 104. The socket panel 109a is recessed inward and has a plug interface that matches the shape of the output end of the female connector 109b. The female connector fixing plate 109c is fixedly installed on the inner side surface of the exoskeleton connector 104 and has an opening that matches the shape of the female connector 109b. The input end of the female connector 109b is located inside the exoskeleton connector 104, and its output end extends to the opening of the socket panel 109a after passing through the female connector fixing plate 109c. The output end of the female connector 109b is used for electrical connection with the assist component, and the input end is electrically connected to the conductive line in the chain belt 103 through a conductive line.

[0025] The hip joint assistive device 200 includes a hip joint motor assembly 201, a leg bar input device 202, and a hip and thigh leg bar 203. The hip joint motor assembly 201 includes a hip joint motor housing and a hip joint motor. The hip joint motor housing extends upward to a quick-release socket 109, and has a hip quick-release plug 205 on the side facing the exoskeleton connector 104. The quick-release socket 109 and the hip quick-release plug 205 form a quick-release connection structure, realizing a detachable mechanical fixation connection and electrical connection. On the exoskeleton connector 104 on the left or right side of the wearer, the hip joint motor housing also has a control panel for adjusting the control mode and assist parameters. The control panel is electrically connected to the hip joint motor.

[0026] like Figure 4As shown, the hip quick-release plug 205 includes a plug housing 205a, a male connector 205b, and an elastic locking mechanism 206. The plug housing 205a protrudes and is fixed to the side of the hip joint motor housing facing the exoskeleton connector 104, and the protruding shape of the plug housing 205a matches the recessed shape of the socket panel 109a. The male connector 205b is fixed to the plug housing 205a, and the input end of the male connector 205b cooperates with the output end of the female connector 109b to receive electrical signals transmitted from the conductive lines inside the exoskeleton connector 104. The output end of the male connector 205b is electrically connected to the hip joint motor through the conductive lines arranged inside the hip joint motor housing.

[0027] The elastic locking mechanism 206 is disposed on the plug housing 205a and includes a locking fixing plate 206a, an elastic buckle 206b, and two push buttons 206c. The locking fixing plate 206a is provided with an inverted T-shaped groove composed of a transverse groove and a longitudinal groove. The elastic buckle 206b and the push buttons 206c are respectively limited in the longitudinal groove and the transverse groove. The locking fixing plate 206a is fixedly connected to the plug housing 205a and plays a limiting role for the elastic buckle 206b and the push buttons 206c in the direction perpendicular to the inner side of the plug housing 205a. The locking plate 206a has an opening, and the elastic buckle 206b includes an integrally formed sliding part and a hook part. The sliding part is installed in the longitudinal groove, and the hook part extends out from the opening of the locking plate 206a and bends downward. The top surface of the sliding part of the elastic buckle 206b is provided with two spring posts. A compression spring is sleeved on the spring posts. The compression spring abuts against the inner wall of the longitudinal groove and the top surface of the sliding part to provide a downward elastic preload to the elastic buckle 206b, so that the hook part remains in the extended locked position in its natural state. The lower end of the sliding part of the elastic buckle 206b is provided with two symmetrically arranged guide slopes that slope outward and downward. The two push buttons 206c are respectively symmetrically arranged on both sides of the elastic buckle 206b. Each push button 206c has a driving slope that matches the guide slope on the side facing the elastic buckle 206b. The driving slope and the guide slope form a surface contact sliding fit. When the two push buttons 206c are pressed and moved towards each other, the horizontal linear movement of the push buttons 206c is converted into vertical upward movement of the elastic buckle 206b along the sliding groove of the locking plate 206a through the cooperation of the driving slope and the guide slope. This causes the hook parts at both ends of the elastic buckle 206b to lift up synchronously and disengage from the locking groove 109d, thereby unlocking. When the push buttons 206c are released, the elastic restoring force of the compression spring pushes the elastic buckle 206b to reset downward, and the two push buttons 206c move back to their original positions.

[0028] The socket panel 109a of the exoskeleton connector 104 is provided with a locking groove 109d that cooperates with the hook portion of the elastic buckle 206b. When the hip joint motor assembly 201 is connected to the exoskeleton connector 104, the male connector 205b and the female connector 109b are plugged in to realize the electrical connection between the hip joint motor assembly 201 and the exoskeleton connector 104. At the same time, the hook portions at both ends of the elastic buckle 206b pop outward under the elastic force of the compression spring and lock into the locking groove 109d, realizing the mechanical connection between the hip joint motor assembly 201 and the exoskeleton connector 104. When disassembly is required, press the two press buttons 206c to make the elastic buckle 206b slide upward against the elastic force of the compression spring, and the hook portion disengages from the locking groove 109d, so that the hip joint motor assembly 201 can be quickly pulled out from the exoskeleton connector 104, realizing the synchronous disconnection of the electromechanical connection.

[0029] The hip and thigh leg bar 203 is slidably provided with a hip and thigh fixation component 204 for binding and fixing with the wearer's thigh; the upper end of the hip and thigh leg bar 203 is connected to the output end of the hip joint motor through the leg bar input component 202, and the leg bar input component 202 and the hip and thigh leg bar 203 are hinged together, with the hinge axis perpendicular to the hip joint motor rotation axis, which facilitates the wearer's leg to perform lateral opening and closing movements. Example 3

[0030] For the knee joint, this embodiment provides another quick-release lower limb joint assist exoskeleton, including a waist fixation and adjustment component 100 and a knee joint assist component 300, for providing flexion and extension assistance to the wearer's knee joint, wherein the waist fixation and adjustment component 100 is the same as that described in Embodiment 1.

[0031] like Figure 5 As shown, the knee joint assist component 300 is symmetrically arranged in two parts, each including a knee quick-release plug 301, a suspension strap 302, a knee thigh support 303, a knee motor assembly 305, and a lower leg support 306. The internal structure and principle of the knee quick-release plug 301 are the same as those of the hip quick-release plug 205 described in Embodiment 2, including a male base and an elastic locking mechanism, for detachable mechanical and electrical connection with the exoskeleton connector 104 in the lumbar fixation and adjustment component 100. One end of the suspension strap 302 is fixed to the outer shell of the knee quick-release plug 301, and the other end is fixed to the top of the knee thigh support 303, for bearing part of the weight of the knee joint assist component 300 and reducing the wearer's lower limb load; conductive wires are also arranged inside the suspension strap 302, one end of which is connected to the male base inside the quick-release plug, and the other end extends along the suspension strap 302 to the inside of the knee thigh support 303 and is electrically connected to the conductive wires inside the knee thigh support 303.

[0032] The knee and thigh support bar 303 is a rod-shaped structure extending along the outer side of the human thigh, made of lightweight, high-strength material. It contains conductive wiring, with its upper end electrically connected to the conductive wiring within the suspension strap 302, and its lower end extending to and electrically connecting to the knee motor assembly 305. This establishes a complete electrical signal and power transmission path from the knee quick-release plug 301 to the knee motor assembly 305. The knee and thigh support bar 303 is equipped with a knee and thigh fixation assembly 304, which includes a thigh guard and thigh straps. The thigh guard has strap connection holes on both sides for connecting the thigh straps, which then secure the thigh guard to the front of the wearer's thigh.

[0033] The knee motor assembly 305 includes a knee motor housing and a knee motor. The knee motor housing is fixedly connected to the lower end of the knee and thigh support 303. The knee motor is disposed inside the knee motor housing, and its output shaft is coaxial with the wearer's knee joint. The knee motor is electrically connected to conductive circuitry within the knee and thigh support 303 to receive power and control signals.

[0034] The lower leg rod 306 is a rod-shaped structure extending along the outer side of the lower leg. It is made of the same material as the thigh leg rod 303. Its upper end is connected to the output shaft of the knee motor to receive the torque output from the knee motor, and its lower end extends towards the foot. Two lower leg fixing components 307 are provided in the middle or lower part of the lower leg rod 306. Each lower leg fixing component 307 includes a lower leg baffle and a lower leg strap. The thigh strap and lower leg strap are not shown in the accompanying drawings. The lower leg baffles in the two lower leg fixing components 307 respectively conform to the physiological curves of the front and back sides of the lower leg. Strap connection holes are provided on both sides of the lower leg baffle for connecting the lower leg straps. The lower leg baffles are bound and fixed to the wearer's lower leg through the lower leg straps, achieving relative fixation between the lower leg rod 306 and the wearer's lower leg.

[0035] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any brief modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A quick-release lower limb joint assistive exoskeleton, comprising a lumbar fixation and adjustment component and an assistive component, characterized in that, The lumbar fixation and adjustment assembly includes a back support, a waist belt, exoskeleton connectors, and a control power assembly. The back support is connected to two exoskeleton connectors at both ends via the waist belt, with the two connectors arranged symmetrically. Each exoskeleton connector has a quick-release socket, and the assistive assembly has a quick-release plug that mates with the quick-release socket. The quick-release socket and plug enable a detachable mechanical and electrical connection between the assistive assembly and the lumbar fixation and adjustment assembly. The control power assembly is located on the back support and provides power and control signals to the exoskeleton.

2. The quick-release lower limb joint assistive exoskeleton according to claim 1, characterized in that, The quick-release socket includes a socket panel, a female connector, and a female connector fixing plate. The socket panel is disposed on the side surface of the exoskeleton connector facing the assist component and is fixedly connected to the exoskeleton connector. The socket panel is recessed inward and has a plug interface that matches the shape of the female connector output end. The female connector fixing plate is fixedly installed on the inner side of the exoskeleton connector and has an opening that matches the shape of the female connector. The female connector input end is located inside the exoskeleton connector, and its output end extends to the opening of the socket panel after passing through the female connector fixing plate. The socket panel has a locking groove.

3. The quick-release lower limb joint assistive exoskeleton according to claim 1, characterized in that, The quick-release plug includes a plug housing, a male connector, and a resilient locking mechanism. The plug housing protrudes and is fixed to the side of the assistive component facing the exoskeleton connector. The male connector is fixed to the plug housing, and the input end of the male connector mates with the output end of the female connector of the quick-release socket. The output end of the male connector is electrically connected to the motor of the assistive component via conductive lines arranged inside the assistive component. The resilient locking mechanism is disposed in the plug housing and is used to form a releasable locking engagement with the quick-release socket.

4. The quick-release lower limb joint assistive exoskeleton according to claim 3, characterized in that, The elastic locking mechanism includes a locking fixing plate, an elastic buckle, and two push buttons. The locking fixing plate has an inverted T-shaped groove composed of a transverse groove and a longitudinal groove. The elastic buckle and the push buttons are respectively confined in the longitudinal groove and the transverse groove. The locking fixing plate has an opening. The elastic buckle includes an integrally formed sliding part and a hook part. The sliding part is installed in the longitudinal groove, and the hook part extends out of the opening of the locking fixing plate. The top surface of the sliding part of the elastic buckle has a spring post, and a compression spring is sleeved on the spring post. The lower end of the sliding part of the elastic buckle has two symmetrically arranged guide slopes that slope outward and downward. The two push buttons are symmetrically arranged on both sides of the elastic buckle. Each push button has a driving slope that matches the guide slope on the side facing the elastic buckle. The driving slope and the guide slope form a surface contact sliding fit. The quick-release socket has a locking groove that matches the hook part.

5. The quick-release lower limb joint assistive exoskeleton according to claim 1, characterized in that, The belt includes a chain belt and a front belt. The chain belt is composed of multiple identical chain links that are hinged together end to end. The front belt connects two exoskeleton connectors. The chain links have conductive lines inside, and adjacent chain links are electrically connected through conductive pins. One end of the conductive line in the chain belt is electrically connected to the control power supply assembly, and the other end is electrically connected to the quick-release socket.

6. The quick-release lower limb joint assistive exoskeleton according to claim 1, characterized in that, The assistive component is a hip joint assistive component, which includes a hip joint motor assembly, a leg bar input component, and a hip and thigh leg bar; the hip joint motor assembly includes a hip joint motor housing and a hip joint motor; the quick-release plug is disposed on the hip joint motor housing.

7. The quick-release lower limb joint assistive exoskeleton according to claim 6, characterized in that, The hip and thigh leg bar is slidably provided with a thigh fixation component for binding and fixing with the wearer's thigh; the upper end of the hip and thigh leg bar is connected to the output end of the hip joint motor through the leg bar input component, and the leg bar input component is hinged to the hip and thigh leg bar, with the hinge axis perpendicular to the rotation axis of the hip joint motor.

8. The quick-release lower limb joint assistive exoskeleton according to claim 1, characterized in that, The assistive component is a knee joint assistive component, which includes a quick-release plug, a suspension strap, a knee and thigh support bar, a knee motor assembly, and a lower leg support bar. One end of the suspension strap is fixed to the housing of the quick-release plug, and the other end is fixed to the top of the knee and thigh support bar. The knee and thigh support bar is equipped with a thigh fixation component. The knee motor assembly includes a knee motor housing and a knee motor. The knee motor housing is fixedly connected to the lower end of the knee and thigh support bar, and the knee motor is disposed inside the knee motor housing. The upper end of the lower leg support bar is drivenly connected to the output shaft of the knee motor, and the lower end extends towards the foot.

9. The quick-release lower limb joint assistive exoskeleton according to claim 8, characterized in that, The lower leg bar is provided with at least two lower leg fixing components, each including a lower leg baffle and a lower leg strap. The lower leg baffles in the two lower leg fixing components respectively conform to the physiological curves of the front and back sides of the human lower leg.

10. The quick-release lower limb joint assistive exoskeleton according to claim 8, characterized in that, Conductive wires are arranged inside the suspension strap. One end of the conductive wire is connected to the male socket inside the knee quick-release plug, and the other end extends along the suspension strap to the inside of the knee thigh leg bar and is electrically connected to the conductive wire inside the knee thigh leg bar. Conductive wires are arranged inside the knee thigh leg bar, with the upper end electrically connected to the conductive wire inside the suspension strap and the lower end extending to the knee motor assembly and being electrically connected to the knee motor assembly.

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