Electro-hydraulic driving magnesium-lithium alloy light-weight walking exoskeleton device

Abstract

The application discloses an electro-hydraulic driving magnesium-lithium alloy light-weighted walking aid exoskeleton device, and belongs to the technical field of rehabilitation medical equipment. The device comprises a waist supporting mechanism, a thigh supporting mechanism, a shank supporting mechanism, a hydraulic adjusting mechanism, a side balance structure and a traction mechanism. The waist supporting mechanism is used for fixing the waist of a user, the thigh and shank supporting mechanisms are connected with upper and lower mechanisms through hinged structures respectively, the hydraulic adjusting mechanism is arranged at the side end of the shank supporting mechanism and is used for dynamically adjusting foot buffering, the side balance structure is arranged at the side end of the thigh supporting mechanism and maintains lateral balance through centrifugal force adjustment, and the traction mechanism is connected to the side end of the thigh and shank supporting mechanisms and is used for cooperatively transmitting balance adjusting force. Each main frame is made of magnesium-lithium alloy material to realize light weight. The application realizes the intelligentization, light weight and high stability of walking assistance, and is suitable for rehabilitation training and daily walking assistance of patients with lower limb dysfunction.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical equipment technology, specifically to an electrohydraulic driven magnesium-lithium alloy lightweight walking exoskeleton device, which is particularly suitable for walking assistance and rehabilitation training for patients with lower limb dysfunction. Background Technology

[0002] With the aging population and the increasing number of patients with neurological diseases, the number of patients with lower limb dysfunction is increasing year by year. Traditional exoskeletons suffer from problems such as large weight, poor flexibility, and high energy consumption. Existing exoskeletons are mostly made of steel or aluminum alloy, which, although strong, are heavy, affecting patient comfort and usage time. At the same time, the balance adjustment mechanism of existing devices is not perfect, resulting in insufficient stability when walking on complex terrain.

[0003] Magnesium-lithium alloys, currently the lightest metallic structural material, possess advantages such as low density, high specific strength, and good shock absorption performance; however, their application in the exoskeleton field is not yet widespread. Furthermore, the coordinated control of existing electro-hydraulic drive systems and mechanical balance systems is not optimized enough, affecting the overall performance of the exoskeleton. Summary of the Invention

[0004] The present invention aims to provide an electro-hydraulic driven magnesium-lithium alloy lightweight walking aid exoskeleton device, which solves the technical problems of large weight, insufficient balance adjustment performance and poor wearing comfort of existing exoskeletons.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: An electrohydraulic-driven lightweight magnesium-lithium alloy mobility exoskeleton device includes: The lumbar support mechanism is used to wrap around and secure the user's waist, providing upper body support and weight-bearing. A thigh support mechanism, the upper end of which is rotatably connected to the waist support mechanism via a hinge structure, is used to support the user's thigh area; The calf support mechanism has its upper end rotatably connected to the lower end of the thigh support mechanism via a joint connection structure, and is used to support the user's calf. A hydraulic adjustment mechanism is provided at the side end of the lower leg support mechanism and is used to dynamically adjust the cushioning force and support strength when the foot hits the ground during walking. A lateral balance structure is provided at the side end of the thigh support mechanism and is used to maintain the lateral balance stability of the device by adjusting centrifugal force during walking. A traction mechanism is connected to the side ends of the thigh support mechanism and the lower leg support mechanism respectively, and is used to collaboratively transmit the balance adjustment force generated by the lateral balance structure to each joint of the lower limb. The output end of the side balance structure is connected to the input end of the traction mechanism, and the main frames of the waist support mechanism, thigh support mechanism and calf support mechanism are all made of magnesium-lithium alloy material.

[0006] As a preferred embodiment of the present invention, the waist support mechanism further includes a support frame, a cross frame, a first motor, and a first centrifugal disc; the cross frame is horizontally connected to the side end of the support frame, the first motor is fixedly installed on the upper end of the cross frame, and the first centrifugal disc is coaxially connected to the output shaft end of the first motor.

[0007] As a preferred embodiment of the present invention, the lumbar support mechanism further includes an auxiliary balancing device, which includes a strap connected to the other side of the support frame. A second motor is installed on the side end of the strap, and a second centrifugal disk is coaxially connected to the output shaft of the second motor. The side end of the support frame is also connected to a first connecting shaft for connecting to the thigh support mechanism.

[0008] As a preferred embodiment of the present invention, the thigh support mechanism further includes a first leg support frame, a side plate, a second connecting shaft, and a first mounting base; the upper end of the first leg support frame is connected to the lower end of the waist support mechanism, the side plate is vertically connected to the side end of the first leg support frame, the second connecting shaft is fixedly connected to the inner side of the upper end of the first leg support frame, and the first mounting base is fixedly connected to the side end of the first leg support frame.

[0009] As a preferred embodiment of the present invention, the thigh support mechanism further includes an upper connecting sleeve, a universal joint, a third motor, and a first small bevel gear; the upper connecting sleeve is adjustablely threaded to the side end of the first leg support frame via an adjusting bolt, one end of the universal joint is connected to the side end of the second connecting shaft, and the other end is connected to the first connecting shaft, the third motor is mounted on the side end of the thigh support mechanism, and the first small bevel gear is fixedly connected to the output shaft end of the third motor.

[0010] As a preferred embodiment of the present invention, the calf support mechanism further includes a second leg support frame, a second mounting base, and a lower connecting sleeve; the upper end of the second leg support frame is connected to the lower end of the thigh support mechanism, the second mounting base is fixedly connected to the side end of the calf support mechanism, and the lower connecting sleeve is adjustablely threaded to the side end of the calf support mechanism via an adjusting bolt.

[0011] As a preferred embodiment of the present invention, the calf support mechanism further includes a rear foot plate, a second large conical gear, and a side rod; the rear foot plate is rotatably connected to the lower end of the calf support mechanism via a hinge, the second large conical gear is rotatably connected to the side end of the calf support mechanism via a rotating shaft, the second large conical gear meshes with the first small conical gear, and the side rod is fixedly connected to the side end of the calf support mechanism.

[0012] As a preferred embodiment of the present invention, the hydraulic adjustment mechanism further includes a mounting base, a hydraulic rod, a first spring, and a forefoot plate; the mounting base is fixedly connected to the side end of the side rod, the cylinder end of the hydraulic rod is connected to the side end of the mounting base, the first spring is sleeved on the circumferential surface of the piston rod of the hydraulic rod, the forefoot plate is connected to the output end of the piston rod of the hydraulic rod, and the forefoot plate and the rear foot plate are spatially matched.

[0013] In a preferred embodiment of the present invention, the traction mechanism includes a first connecting plate, a second connecting plate, and a third connecting plate; the first connecting plate is connected to the side end of the thigh support mechanism, the second connecting plate and the third connecting plate are respectively connected to different side ends of the calf support mechanism, the first connecting plate, the second connecting plate and the third connecting plate are interconnected by a traction cable, and a tension spring is also connected to the side end of the third connecting plate, the other end of the tension spring being connected to the traction cable.

[0014] As a preferred embodiment of the present invention, the side balancing structure further includes a fourth bidirectional motor, a fourth balancing disc, and a fourth connecting disc; the fourth bidirectional motor is fixedly installed on the side end of the thigh support mechanism, the fourth balancing disc is coaxially connected to the output shaft end of the fourth bidirectional motor, the fourth connecting disc is connected to the side end of the housing of the fourth bidirectional motor, and the fourth connecting disc is connected to the first connecting disc of the traction mechanism.

[0015] Compared with the prior art, the beneficial effects of the present invention are: 1. Using magnesium-lithium alloy as the main frame material achieves significant weight reduction compared to traditional steel or aluminum alloy exoskeleton devices. The low density of magnesium-lithium alloy greatly reduces the overall weight of the device, improving patient comfort and tolerance, extending the duration of single use, and reducing the physical burden on the user.

[0016] 2. By generating controllable centrifugal force through the centrifugal disc in the lateral balance structure, combined with the synergistic force transmission mechanism of the traction mechanism, dynamic real-time adjustment of lateral balance is achieved during walking. This design effectively improves the stability of the device in complex terrain, when turning, or under lateral forces, and reduces the risk of users falling.

[0017] 3. The combined design of the hydraulic adjustment mechanism and springs intelligently adjusts the cushioning stiffness and support strength when the foot lands, based on the stage of walking and the ground reaction force. This adaptive adjustment mechanism reduces the impact on the user's lower limb joints, improving the naturalness and safety of walking.

[0018] 4. Through multiple adjustable connection structures, such as upper and lower connecting sleeves, the device can adapt to users of different heights, leg lengths, and body types. This adjustable design improves the device's versatility and personalization capabilities, expanding the range of applicable users.

[0019] 5. The electro-hydraulic drive system and the mechanical transmission system are organically combined to achieve efficient conversion and distribution of drive energy. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a perspective view of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 For the present invention Figure 2 A 3D view of the mid-lumbar support structure; Figure 4 For the present invention Figure 2 Exploded view of the mid-lumbar support structure; Figure 5 For the present invention Figure 2 A 3D view of the middle leg support mechanism; Figure 6 For the present invention Figure 2 Exploded view of the middle leg support mechanism; Figure 7 For the present invention Figure 6 Enlarged view of the hydraulic adjustment mechanism; Figure 8 For the present invention Figure 6 First-person perspective 3D view of the central traction mechanism; Figure 9 For the present invention Figure 6 A second-view perspective stereoscopic view of the central traction mechanism.

[0021] In the diagram: 1. Waist support mechanism; 101. Support frame; 102. Horizontal frame; 103. First motor; 104. First centrifugal disc; 105. Strap; 106. Second motor; 107. Second centrifugal disc; 108. First connecting shaft; 2. Thigh support mechanism; 201. First leg support frame; 202. Side plate; 203. Second connecting shaft; 204. First mounting base; 205. Upper connecting sleeve; 206. Universal joint; 207. Third motor; 208. First small bevel gear; 3. Lower leg support mechanism; 301. Second leg support... 302. Support frame; 303. Second mounting base; 304. Lower connecting sleeve; 305. Rear foot plate; 306. Second large bevel gear; 307. Side rod; 4. Hydraulic adjustment mechanism; 401. Mounting base; 402. Hydraulic rod; 403. First spring; 404. Forefoot plate; 5. Side balance structure; 501. Fourth bidirectional motor; 502. Fourth balance disc; 503. Fourth connecting disc; 6. Traction mechanism; 601. First connecting disc; 602. Second connecting disc; 603. Third connecting disc; 604. Traction cable; 605. Tension spring. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example 1

[0024] To address the shortcomings of existing technologies, such as Figure 1-9 As shown, the present invention provides an electro-hydraulic driven magnesium-lithium alloy lightweight walking exoskeleton device, including a waist support mechanism 1, a thigh support mechanism 2, a calf support mechanism 3, a hydraulic adjustment mechanism 4, a lateral balance structure 5, and a traction mechanism 6.

[0025] It should be noted that the specific working principles and implementation methods of the motors, hydraulic systems, sensors, etc. involved in this device are all existing technologies for those skilled in the art. The focus of this solution is on the innovative connection relationship and collaborative control method between the components.

[0026] In this embodiment, all main frame components are made of magnesium-lithium alloy, which has the characteristics of low density and high specific strength, making it suitable for use in exoskeleton devices that require lightweight design.

[0027] Specifically, such as Figure 1-9As shown, the lumbar support mechanism 1 includes a support frame 101, a crossbar 102, a first motor 103, a first centrifugal disc 104, and an auxiliary balancing device. The crossbar 102 is horizontally connected to the side end of the support frame 101. The first motor 103 is fixedly mounted on the upper end of the crossbar 102, and the first centrifugal disc 104 is coaxially connected to the output shaft end of the first motor 103. The auxiliary balancing device includes a strap 105 connected to the other side end of the support frame 101. A second motor 106 is mounted on the side end of the strap 105, and a second centrifugal disc 107 is coaxially connected to the output shaft end of the second motor 106. A first connecting shaft 108 for connecting to the thigh support mechanism 2 is also connected to the side end of the support frame 101.

[0028] In this embodiment, both the first motor 103 and the second motor 106 are conventional DC motors, and their speed and direction are adjusted through a control circuit. The first centrifugal disc 104 and the second centrifugal disc 107 rotate under the drive of the motors to generate controllable centrifugal force, which is used to help maintain the balance of the upper body of the device.

[0029] Furthermore, such as Figure 1-9 As shown, the thigh support mechanism 2 includes a first leg support frame 201, a side plate 202, a second connecting shaft 203, a first mounting base 204, an upper connecting sleeve 205, a universal joint 206, a third motor 207, and a first small bevel gear 208. The upper end of the first leg support frame 201 is connected to the lower end of the waist support mechanism 1, and the side plate 202 is vertically connected to the side end of the first leg support frame 201. The second connecting shaft 203 is fixedly connected to the inner side of the upper end of the first leg support frame 201, and the first mounting base 204 is fixedly connected to the side end of the first leg support frame 201. The upper connecting sleeve 205 is adjustablely threaded to the side end of the first leg support frame 201 via an adjusting bolt. One end of the universal joint 206 is connected to the side end of the second connecting shaft 203, and the other end is connected to the first connecting shaft 208. The third motor 207 is installed on the side of the thigh support mechanism 2, and the first small bevel gear 208 is fixedly connected to the output shaft end of the third motor 207.

[0030] In this embodiment: the third motor 207 is a servo motor, which achieves precise position and speed control through a driver. The universal joint 206 adopts a cross universal joint structure, allowing the thigh support mechanism 2 to rotate in multiple directions relative to the waist support mechanism 1. The adjustable design of the upper connecting sleeve 205 allows the device to adapt to different users' thigh lengths.

[0031] As a preferred implementation scheme, such as Figure 1-9As shown, the calf support mechanism 3 includes a second leg support frame 301, a second mounting base 302, a lower connecting sleeve 303, a rear foot plate 304, a second large bevel gear 305, and a side rod 306. The upper end of the second leg support frame 301 is connected to the lower end of the thigh support mechanism 2, and the second mounting base 302 is fixedly connected to the side end of the calf support mechanism 3. The lower connecting sleeve 303 is adjustablely threaded to the side end of the calf support mechanism 3 via an adjusting bolt. The rear foot plate 304 is rotatably connected to the lower end of the calf support mechanism 3 via a hinge. The second large bevel gear 305 is rotatably connected to the side end of the calf support mechanism 3 via a rotating shaft and meshes with the first small bevel gear 208. The side rod 306 is fixedly connected to the side end of the calf support mechanism 3.

[0032] In this embodiment, the first small bevel gear 208 and the second large bevel gear 305 form a bevel gear transmission pair, transmitting the rotational motion of the third motor 207 to the calf support mechanism 3. The adjustable design of the lower connecting sleeve 303 allows the device to adapt to different users' calf lengths. The hinged design of the rear foot plate 304 allows the foot to perform natural dorsiflexion and plantarflexion movements during walking.

[0033] Furthermore, such as Figure 1-9 As shown, the hydraulic adjustment mechanism 4 includes a mounting base 401, a hydraulic rod 402, a first spring 403, and a forefoot plate 404. The mounting base 401 is fixedly connected to the side end of the side rod 306, and the cylinder end of the hydraulic rod 402 is connected to the side end of the mounting base 401. The first spring 403 is sleeved on the circumferential surface of the piston rod of the hydraulic rod 402, and the forefoot plate 404 is connected to the output end of the piston rod of the hydraulic rod 402. The forefoot plate 404 and the rear footplate 304 are spatially matched.

[0034] In this embodiment: the hydraulic rod 402 is a single-acting or double-acting hydraulic cylinder, and the stroke and pressure are controlled by the hydraulic system. The first spring 403 provides the initial cushioning force, and the hydraulic system dynamically adjusts the cushioning stiffness according to the walking state. The forefoot plate 404 and the rearfoot sole plate 304 together form a complete foot support surface.

[0035] Furthermore, such as Figure 1-9 As shown, the traction mechanism 6 includes a first connecting plate 601, a second connecting plate 602, and a third connecting plate 603. The first connecting plate 601 is connected to the side end of the thigh support mechanism 2, and the second connecting plate 602 and the third connecting plate 603 are respectively connected to different side ends of the calf support mechanism 3. The first connecting plate 601, the second connecting plate 602, and the third connecting plate 603 are interconnected by a traction cable 604. A tension spring 605 is also connected to the side end of the third connecting plate 603, and the other end of the tension spring 605 is connected to the traction cable 604.

[0036] In this embodiment, the side balancing structure 5 further includes a fourth bidirectional motor 501, a fourth balancing disc 502, and a fourth connecting disc 503. The fourth bidirectional motor 501 is fixedly installed on the side end of the thigh support mechanism 2, the fourth balancing disc 502 is coaxially connected to the output shaft end of the fourth bidirectional motor 501, and the fourth connecting disc 503 is connected to the side end of the housing of the fourth bidirectional motor 501, and the fourth connecting disc 503 is connected to the first connecting disc 601 of the traction mechanism 6.

[0037] In this embodiment: the fourth bidirectional motor 501 is a stepper motor or a servo motor, and precise speed and direction control are achieved through a control circuit. The fourth balance disc 502 rotates under the drive of the motor to generate controllable centrifugal force, which is used to maintain the lateral balance of the device. The connection between the fourth connecting disc 503 and the first connecting disc 601 allows the balance adjustment force generated by the lateral balance structure 5 to be transmitted to the joints of the lower limbs through the traction mechanism 6.

[0038] Example 2

[0039] In this embodiment, an energy recovery system and an optimized control algorithm are added based on Embodiment 1. The energy recovery system recovers some kinetic energy through a hydraulic system when the foot lands, storing it in a supercapacitor or battery to further improve energy efficiency. The control algorithm uses a machine learning-based approach to adaptively adjust based on the user's gait characteristics, achieving a personalized assistance strategy.

[0040] Example 3

[0041] In this embodiment, based on Embodiment 1, a wireless remote monitoring system and a safety protection mechanism are added. The wireless remote monitoring system includes a Bluetooth or Wi-Fi communication module, allowing medical personnel to view the user's status, device operating data, and walking trajectory in real time via mobile devices, facilitating remote guidance and health monitoring. The safety protection mechanism includes functions such as an emergency stop button, overload protection, and abnormal posture detection, automatically taking protective measures when abnormal situations are detected to ensure safe use.

[0042] Working principle and usage process of this invention: During use, the user wraps the lumbar support mechanism 1 around their waist and adjusts the positions of the upper connecting sleeve 205 and the lower connecting sleeve 303. After the device is powered on, the control system performs self-test and initialization, each motor returns to zero, sensors are calibrated, the hydraulic system is pre-charged, and the IMU establishes an initial posture reference. When the user intends to stand, the control system detects a posture change signal, the third motor 207 starts, and through the transmission of the first small bevel gear 208 and the second large bevel gear 305, drives the lower leg support mechanism 3 to provide auxiliary torque, helping the user transition from a sitting to a standing posture. During walking, the thigh support mechanism 2 swings forward under the drive of the third motor 207, and the lower leg support mechanism 3 hangs down naturally under gravity. The control system coordinates the timing and amplitude of the joint movements according to the gait planning algorithm. When the foot contacts the ground, the plantar pressure sensor detects the pressure distribution, the hydraulic adjustment mechanism 4 dynamically adjusts the buffer stiffness of the hydraulic rod 402 according to the magnitude of the ground reaction force, the first spring 403 provides initial buffering, and the hydraulic system replenishes as needed. The system adjusts the lateral balance structure 5 by controlling the fourth bidirectional motor 501 to adjust the speed and phase of the fourth balance disc 502 based on the tilt angle and angular velocity detected by the IMU. This generates a corresponding centrifugal force to correct lateral imbalance. The balancing force is transmitted to the first connecting disc 601 of the traction mechanism 6 via the fourth connecting disc 503, and then distributed to the connection points of the thigh and calf via the traction cable 604. When turning or walking on uneven ground, the lateral balance structure 5 adjusts the magnitude and direction of the centrifugal force in real time according to the turning direction and terrain changes. The tension spring 605 in the traction mechanism 6 provides elastic connection, allowing a certain relative displacement between the connecting discs, improving the compliance and adaptability of the device. When the system detects the user's intention to stop walking, it gradually reduces the drive power to assist in standing up smoothly. When the user intends to sit down, the third motor 207 reverses to provide controlled descent assistance, ensuring a safe and smooth transition to a sitting position. The system monitors parameters such as battery power, motor temperature, and hydraulic system pressure in real time and takes protective measures in case of abnormalities.

[0043] Through the above-described workflow, the electro-hydraulic driven magnesium-lithium alloy lightweight walking exoskeleton device of the present invention achieves intelligent assistance to users during the walking process, significantly improving the stability, comfort, and safety of walking. At the same time, the lightweight design and efficient energy utilization extend the usage time and expand the range of applicable users.

[0044] Existing technology description It should be noted that the following components and technologies involved in this solution are all prior art to those skilled in the art, and will not be described in detail here: 1. Motor components: The first motor 103, the second motor 106, the third motor 207, and the fourth bidirectional motor 501 are all conventional DC motors or servo motors. The selection, installation, and control methods of the motors all adopt technologies known in the field. The specific working principle, control circuit, and drive method of the motors are all mature technologies.

[0045] 2. Hydraulic System: The hydraulic rod 402 is a conventional single-acting or double-acting hydraulic cylinder. The working principle, sealing technology, and pressure control of the hydraulic system are all existing technologies. The selection of hydraulic oil, pipeline connection, valve group control, etc. adopt standard technical solutions.

[0046] 3. Mechanical transmission components: The meshing principle, design calculation, and manufacturing of the first small bevel gear 208 and the second large bevel gear 305 are all conventional technologies. The connection method and motion transmission principle of the universal joint 206 are existing technologies. The selection, calculation, and installation of the first spring 403 and the tension spring 605 are known technologies.

[0047] 4. Control System Fundamentals: The basic architecture of the embedded control system and the selection of the main control chip are existing technologies. The interfaces and signal processing of the sensor IMU, angle sensor, and pressure sensor are conventional technologies. The basic principles of the power management system are well-known technologies.

[0048] 5. Material characteristics: The material properties, processing technology, and surface treatment of magnesium-lithium alloys are based on existing material technologies, while the selection of other auxiliary materials such as cushioning pad materials and engineering plastics are based on conventional technologies.

[0049] The innovation of this invention lies in: The aforementioned existing technical components are combined through a specific structural layout, connection relationships, and collaborative control methods to form an exoskeleton system with comprehensive advantages such as lightweight design, dynamic balance adjustment, and intelligent buffering. The connection relationships between the components, the force transmission paths, and the control logic constitute the core of the technical solution of this invention, rather than the innovation of individual components.

[0050] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An electro-hydraulically actuated magnesium-lithium alloy light-weight walking assist exoskeleton device, characterized by, include: The lumbar support mechanism (1) is used to wrap around and fix the user's waist, providing upper body support and load-bearing; Thigh support mechanism (2), the upper end of which is rotatably connected to the waist support mechanism (1) through a hinge structure, for supporting the user's thigh area; The lower leg support mechanism (3) is rotatably connected to the lower end of the thigh support mechanism (2) through a joint connection structure, and is used to support the user's lower leg. Hydraulic adjustment mechanism (4), which is located at the side end of the lower leg support mechanism (3), is used to dynamically adjust the cushioning force and support strength when the foot hits the ground during walking. Side balance structure (5), the side balance structure (5) is disposed at the side end of the thigh support mechanism (2) and is used to adjust the lateral balance stability of the device by centrifugal force during walking; Traction mechanism (6), the traction mechanism (6) is connected to the side end of the thigh support mechanism (2) and the side end of the calf support mechanism (3) respectively, and is used to collaboratively transmit the balance adjustment force generated by the side balance structure (5) to each joint of the lower limb; The output end of the side balance structure (5) is connected to the input end of the traction mechanism (6), and the main frames of the waist support mechanism (1), thigh support mechanism (2) and calf support mechanism (3) are all made of magnesium-lithium alloy material.

2. The electro-hydraulically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 1, characterized in that The waist support mechanism (1) further includes a support frame (101), a cross frame (102), a first motor (103), and a first centrifugal disc (104); the cross frame (102) is horizontally connected to the side end of the support frame (101), the first motor (103) is fixedly installed on the upper end of the cross frame (102), and the first centrifugal disc (104) is coaxially connected to the output shaft end of the first motor (103).

3. The electro-hydraulically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 2, characterized in that The lumbar support mechanism (1) further includes an auxiliary balancing device, which includes a strap (105) connected to the other side of the support frame (101). A second motor (106) is installed on the side of the strap (105), and a second centrifugal disc (107) is coaxially connected to the output shaft of the second motor (106). The side of the support frame (101) is also connected to a first connecting shaft (108) for connecting with the thigh support mechanism (2).

4. The electro-hydrodynamically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 1, characterized in that The thigh support mechanism (2) further includes a first leg support frame (201), a side plate (202), a second connecting shaft (203), and a first mounting base (204); the upper end of the first leg support frame (201) is connected to the lower end of the waist support mechanism (1), the side plate (202) is vertically connected to the side end of the first leg support frame (201), the second connecting shaft (203) is fixedly connected to the inner side of the upper end of the first leg support frame (201), and the first mounting base (204) is fixedly connected to the side end of the first leg support frame (201).

5. The electro-hydraulically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 4, characterized in that The thigh support mechanism (2) further includes an upper connecting sleeve (205), a universal joint (206), a third motor (207), and a first small bevel gear (208); the upper connecting sleeve (205) is adjustablely threaded to the side end of the first leg support frame (201) via an adjusting bolt; one end of the universal joint (206) is connected to the side end of the second connecting shaft (203), and the other end is connected to the first connecting shaft (108); the third motor (207) is installed on the side end of the thigh support mechanism (2); and the first small bevel gear (208) is fixedly connected to the output shaft end of the third motor (207).

6. The electro-hydrodynamically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 1, characterized in that The lower leg support mechanism (3) further includes a second leg support frame (301), a second mounting base (302), and a lower connecting sleeve (303); the upper end of the second leg support frame (301) is connected to the lower end of the thigh support mechanism (2), the second mounting base (302) is fixedly connected to the side end of the lower leg support mechanism (3), and the lower connecting sleeve (303) is threadedly connected to the side end of the lower leg support mechanism (3) in an adjustable manner by means of an adjusting bolt.

7. The electro-hydrodynamically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 6, characterized in that The calf support mechanism (3) further includes a rear foot plate (304), a second large bevel gear (305), and a side rod (306); the rear foot plate (304) is rotatably connected to the lower end of the calf support mechanism (3) via a hinge, the second large bevel gear (305) is rotatably connected to the side end of the calf support mechanism (3) via a rotating shaft, the second large bevel gear (305) meshes with the first small bevel gear (208), and the side rod (306) is fixedly connected to the side end of the calf support mechanism (3).

8. The electro-hydrodynamically actuated magnesium-lithium alloy light-weight walking-aid exoskeleton device according to claim 7, characterized in that The hydraulic adjustment mechanism (4) further includes a mounting base (401), a hydraulic rod (402), a first spring (403), and a forefoot plate (404); the mounting base (401) is fixedly connected to the side end of the side rod (306), the cylinder end of the hydraulic rod (402) is connected to the side end of the mounting base (401), the first spring (403) is sleeved on the circumferential surface of the piston rod of the hydraulic rod (402), the forefoot plate (404) is connected to the piston rod output end of the hydraulic rod (402), and the forefoot plate (404) matches the rear foot plate (304) in spatial position.

9. The electro-hydraulic driven magnesium-lithium alloy lightweight mobility exoskeleton device according to claim 1, characterized in that, The traction mechanism (6) includes a first connecting plate (601), a second connecting plate (602), and a third connecting plate (603); the first connecting plate (601) is connected to the side end of the thigh support mechanism (2), the second connecting plate (602) and the third connecting plate (603) are respectively connected to different sides of the calf support mechanism (3), the first connecting plate (601), the second connecting plate (602) and the third connecting plate (603) are connected to each other by a traction cable (604), and a tension spring (605) is also connected to the side end of the third connecting plate (603), the other end of the tension spring (605) is connected to the traction cable (604).

10. The electro-hydraulic driven magnesium-lithium alloy lightweight mobility exoskeleton device according to claim 1, characterized in that, The side balance structure (5) further includes a fourth bidirectional motor (501), a fourth balance disc (502), and a fourth connecting disc (503); the fourth bidirectional motor (501) is fixedly installed on the side end of the thigh support mechanism (2), the fourth balance disc (502) is coaxially connected to the output shaft end of the fourth bidirectional motor (501), the fourth connecting disc (503) is connected to the side end of the housing of the fourth bidirectional motor (501), and the fourth connecting disc (503) is connected to the first connecting disc (601) of the traction mechanism (6).

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