Modular passive carrying mechanical auxiliary mechanism

Abstract

The utility model discloses a modularized passive carrying mechanical auxiliary mechanism which comprises a trunk module, a left leg part and a right leg part, the left leg part and the right leg part are mirror images of each other and are fixed to the two sides of the trunk module, and the trunk module, the left leg part and the right leg part each comprise a plurality of rigid elements and elastic elements which are connected with each other. The rigid elements of the trunk module are connected through the elastic elements to form a bearing structure of the trunk module and used for reducing supporting loads borne by the upper body of a user, the trunk module obtains the freedom degree during movement through the elastic elements, and the rigid elements of the left leg part and the right leg part reduce and transmit the supporting loads under the action of the elastic elements; the trunk module comprises a binding wearing module and a back spine module, the binding wearing module is connected with the back spine module, the back spine module comprises spine sections and a base plate, and the base plate is attached to the back curve of the human body. Motion stress of hip joints, knee joints and ankle joints in the walking process is reduced, the swing period is shortened, and the ground load force transmission capacity is enhanced.

Description

Technical Field

[0001] The utility model relates to the field of exoskeletons, and in particular to a modular passive carrying mechanical auxiliary mechanism. Background Art

[0002] The utility model patent with application number 201580044276.2 and name of exoskeleton and method of using the same, is an exoskeleton designed to be worn by a user and is usually configured to support and transfer loads downward to the ground, which are supported by the user's head, neck and / or torso (shoulders, chest and / or back). The exoskeleton is usually passive and includes at least three interconnected parts, which are a torso part, a hip part and a leg part. Each of these parts usually includes a plurality of interconnected rigid elements, which form the load-bearing structure of the exoskeleton. When the user wears the exoskeleton, the load usually carried by the user's head, neck and / or torso is at least partially supported by the exoskeleton and transferred to the ground, thereby effectively reducing the load supported by the user himself. The leg part of the exoskeleton is also designed to ensure that the final position of the load is located on the inner side of the foot, which is consistent with human biology.

[0003] This structure achieves motion transmission assistance through the support form of the lower limb mechanism, but the support mechanism has too large a freedom and is too flexible, and generally requires human control to maintain structural balance. The control is difficult and the effect of dynamic walking assistance is poor. Utility Model Content

[0004] The purpose of the utility model is to provide a modular passive carrying mechanical auxiliary mechanism to solve the problems in the background technology and improve the walking assistance effect.

[0005] The technical solution to achieve the purpose of the utility model is: a modular passive carrying mechanical auxiliary mechanism, including a trunk module, a left leg and a right leg, the left leg and the right leg are mirror images of each other and are fixed on both sides of the trunk module, the trunk module, the left leg and the right leg all include a plurality of rigid elements and elastic elements connected to each other, the rigid elements of the trunk module are connected through the elastic elements to form a bearing structure of the trunk module, which is used to reduce the support load on the upper body of the user, the trunk module obtains the degree of freedom during activities through the elastic elements, and the rigid elements of the left leg and the right leg reduce the transmission support load under the action of the elastic elements;

[0006] The torso module includes a wearable binding module and a back spine module, the wearable binding module is connected to the back spine module, the back spine module includes spinal segments and a pad, and the pad fits the back curve of the human body.

[0007] Furthermore, the wearable binding module includes a shoulder strap, a shoulder strap, a chest guard, a waist belt, a back adjustment plate, a spinal pad, a spine-mounted webbing and a waist seal, wherein the upper end of the shoulder strap is connected to the back adjustment plate, the lower end of the shoulder strap is connected to the upper end of the shoulder strap, and the shoulder strap is provided with a length adjustment buckle for adjusting the length of the shoulder strap; the two ends of the chest guard are connected to the middle of the left and right shoulder straps, and the chest guard is provided with a buckle and a length adjustment buckle for opening the connection with the shoulder straps or adjusting the length of the chest guard; the lower part of the shoulder strap is provided with a buckle and a length adjustment buckle, which is connected to the waist seal, and is used to open the connection with the waist seal or adjust the length of the shoulder strap; the waist belt is provided with a buckle and a length adjustment buckle for opening or adjusting the length to adapt to different waist sizes; the waist seal is fixed with a webbing at a fixed length distance for connecting other accessories and the spinal module; the spinal pad is connected to the waist seal and the back adjustment pad, the spinal pad is designed with a spinal mounting webbing with a standard spacing connected to the spine, and the spinal pad is connected to the back adjustment plate to achieve adjustment for different back lengths.

[0008] Furthermore, the back spine module includes an upper spinal segment, a middle spinal segment, a lower spinal segment and a spinal pad. The upper spinal segment, the middle spinal segment and the lower spinal segment each include a spinal pad, a spinal cover and a first elastomer. The spinal pad and the spinal cover are fixed to each other by bolts to form a cavity. The first elastomer is installed in the cavity, and the outer side of the spinal pad is connected to the wearable binding module; the spinal pad corresponding to the upper spinal segment is fixed to the spinal pad by bolts, and different bolt hole positions are used to adapt to different human trunk lengths. The spinal pad is connected to the back adjustment plate of the wearable binding module.

[0009] Furthermore, the upper spinal segment, the middle spinal segment, and the lower spinal segment include one or more sections of the first elastic body.

[0010] Furthermore, the left leg and the right leg have the same structure, the left leg includes a hip joint function module, a knee joint function module and a foot function module, the lower end of the hip joint function module is connected to the upper end of the knee joint function module through a docking track groove, which is used to match and adjust the length of the human thigh, and the upper end of the hip joint function module is fixedly connected to the torso module through a buckle; the lower end of the knee joint function module is connected to the upper end of the foot function module through a docking track groove, which is used to match and adjust the length of the human calf.

[0011] Furthermore, the spinal pad is connected to the back adjustment plate of the wearable binding module by Velcro, buckles, bolts or webbing, the upper end of the knee joint function module is fixed to the human thigh by binding webbing, Velcro or buckles, and the lower end of the knee joint function module is fixed to the human calf by binding webbing, Velcro or buckles; the lower end of the foot function module is fixed to the human foot shoe by a binding structure.

[0012] Furthermore, the hip joint function module includes a mounting seat, a first rotating shaft, a first rotating seat, a first adjusting rotating seat, a second elastic body, a second rotating shaft, a first knob and a quick-release buckle. The hip joint function module is fixedly connected to the wearing binding module through two sets of quick-release buckles. The quick-release buckle is connected and fixed to the buckle and the mounting seat component through its internal spring. The upper end of the first rotating shaft is connected to the mounting seat to form a rotating pair. The lower end hole of the first rotating shaft is connected to the upper end hole of the first rotating seat through a pin shaft to form a rotating pair. The lower end of the first rotating seat is connected to the first adjusting rotating seat through a second rotating shaft and a bearing to form a rotating pair. The second elastic body is placed between the first rotating seat and the first adjusting rotating seat to realize the first adjusting rotating seat tending to be vertical; the first adjusting rotating seat is connected and fixed to the upper end of the knee joint function module through the first knob to form a thigh length adjustment structure.

[0013] Furthermore, the knee joint function module includes a thigh support brace, a calf support brace, a second swivel seat, a third swivel seat, a third elastic body, a fourth rotating shaft and an elastic connecting block; the knee joint function module is connected and fixed to the hip joint function module through the thigh support brace, the knee joint function module is connected and fixed to the foot function module through the calf support brace, the thigh support brace is in corresponding contact with the human body, the calf support brace is in corresponding contact with the human body, the thigh support brace is connected to the second swivel seat through the elastic connecting block and fixed with a pin, the calf support brace is connected to the third swivel seat through the elastic connecting block and fixed with a pin, the lower end of the second swivel seat is connected to the third swivel seat through the fourth rotating shaft and a bearing to form a rotating pair, the upper end of the second swivel seat and the lower end of the third swivel seat form a horizontal distance offset, the third elastic body is placed between the second swivel seat and the third swivel seat, for realizing the knee joint function module tending to be vertical, the first adjustment swivel seat is connected to the thigh support brace through the first knob to form a thigh length adjustment structure.

[0014] Furthermore, the foot function module includes a second adjustment swivel, a support plate, a shoe tray and a second knob. The foot function module is connected and fixed to the knee joint function module through the second adjustment swivel and the second knob. The second adjustment swivel is connected and fixed to the support plate through a joint bearing to form a kinematic pair. The support plate is partially inserted into the shoe tray and fixedly connected by bolts. Guide grooves are designed on the thigh support guard and the calf support guard to cooperate with the first adjustment swivel and the second adjustment swivel to achieve leg length adjustment.

[0015] Furthermore, the first adjustment swivel seat and the second adjustment swivel seat are adjusted and fixed by a locking mechanism. The adjustment locking mechanism comprises a locking buckle, a safety buckle, a locking tongue and a locking block. The safety buckle has a built-in spring so that the locking tongue and the designed card point in the locking buckle are automatically buckled into each other to complete the press-to-unlock function. The built-in spring in the locking block realizes that the locking tongue is automatically unlocked after the locking buckle is unlocked.

[0016] Compared with the prior art, the present invention has the following significant effects: (1) The trunk part carries the load. The modular design allows the trunk part to be combined and matched as needed to achieve force transmission and load reduction for the user's shoulders, chest and / or back while satisfying the upper body's adaptation to different sports movements; (2) The leg part provides support and assistance. The use of a directional elastic body allows the knee joint to tend to support and open. In combination with the hip joint directional elastic body and the designed horizontal distance offset between the thigh and calf, the gait support period is increased. At the same time, the oblique front and rear protective gear arrangements eliminate the vibration during exercise. (3) Reduce the force on the hip, knee and ankle joints during walking, and reduce the fatigue of lower limb joints; increase the proportion of support period during walking, reduce the swing period, enhance the force transmission capacity of ground load, and thus reduce human movement metabolism; (4) Reduce the force transmission of the lumbar spine when carrying heavy objects, reduce the risk of lumbar movement injury, increase the range of motion of the upper body carrying equipment, reduce the restraint of the carrying equipment on the waist, and increase a certain amount of lumbar movement limit, thereby enhancing the limit protection of the lumbar spine when carrying heavy objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the portable mechanical auxiliary mechanism of the utility model.

[0018] Figure 2 This is a schematic diagram of the torso module in Example 1 of the utility model.

[0019] Figure 3 This is a schematic diagram of the wearable binding module in Example 1 of the utility model.

[0020] Figure 4 This is a schematic diagram of the back spine module in Example 1 of the utility model.

[0021] Figure 5 It is a schematic diagram of the left leg and the right leg in Example 2 of the utility model.

[0022] Figure 6 This is a schematic diagram of the hip joint function module in Example 2 of the utility model.

[0023] Figure 7 This is a schematic diagram of the knee joint function module in Example 2 of the utility model.

[0024] Figure 8 This is a schematic diagram of the foot function module in Example 2 of the utility model.

[0025] Fig. 9 This is a schematic diagram of the back spine module in Example 3 of the present utility model.

[0026] Fig.10 Schematic diagram of a replaceable quick-release buckle 218 in Embodiment 3 of the present invention.

[0027] Fig.11 It is a schematic diagram of the first adjustment rotating seat and the second adjustment rotating seat in Example 3 of the utility model.

[0028] Fig.12 It is a schematic diagram of the front view, side view and rear view of the utility model. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] The utility model is a portable mechanical auxiliary mechanism designed to be worn by a user, which is usually used to support a load and transfer the load downward to the ground. These loads are usually on the user's torso (shoulders, chest and / or back) or legs. The mechanism is usually passive and includes at least three interconnected parts. The three interconnected parts mainly include a torso module 1, a left leg part 2 and a right leg part 3 (see attached Figure 1 and Fig.12 ), wherein the left leg 2 and the right leg 3 are mirror images of each other. The torso module 1 is quickly connected to the left leg 2 and the right leg 3 and fixed on both sides by webbing or buckles, and the fixing position can be adjusted according to different users. The torso module 1 usually includes a plurality of rigid elements and elastic elements that are interconnected. These rigid elements are connected by elastic elements to form a load-bearing structure of the torso module 1 to reduce the support load on the upper body of the user. The torso module 1 obtains degrees of freedom such as bending, elongation and torsion through elastic elements. The left leg 2 and the right leg 3 usually include a plurality of rigid elements and trend elastic elements that are interconnected. These rigid elements can help the user reduce the transmitted support load under the action of the trend elastic elements.

[0031] The present invention will be further described below with reference to three specific embodiments.

[0032] Example 1

[0033] In this embodiment, the trunk module 1 mainly includes a wearable binding module 120 and a back spine module 110 (see attached Figure 2). The wearing binding module 120 is fixedly connected to the back spine module 110 by webbing, Velcro and buckles, etc., and the length of different buckles and webbing on the wearing binding module 120 can be adjusted to adapt to different human body sizes; the back spine module 110 is composed of spine segments and back pads. Replacing or adding spine segments with different design requirements can increase the function of the corresponding spine module. The back pad is designed according to the back curve of the human body and has a certain elasticity and strength, which can adapt to fit different back curves of the human body.

[0034] See attached Figure 3 The wearable binding module 120 is composed of a back strap 121, a shoulder strap 122, a chest guard 123, a waist belt 124, a back adjustment pad 125, a spine pad 126, a spine mounting webbing 127 and a waist seal 128. The back strap 121 is connected to the back adjustment pad 125 and the shoulder strap 122, the upper end of the back strap 121 is connected to the back adjustment pad 125, the lower end of the back strap 121 is connected to the shoulder strap 122, and the back strap 121 is equipped with a length adjustment buckle to adjust the length of the back strap 121; the two ends of the chest guard 123 are connected to the left and right shoulder straps 122, and the chest guard 123 is equipped with an opening buckle and a length adjustment buckle to quickly open or adjust the length; the shoulder strap 122 is connected to the waist seal 128 and the back adjustment pad 125, the middle part of the shoulder strap has a position adjustment buckle connected to the chest guard 123, and the lower part of the shoulder strap has a buckle and a length adjustment buckle. The buckle is connected to the waist seal 128 and can be quickly opened or the length is adjusted; the buckle and the length adjustment buckle are installed on the waist belt 124, which can be quickly opened or the length is adjusted to adapt to different waist sizes; the waist seal 128 is fixed with standard webbing at a fixed length to connect other accessories and the spine module; the spine pad 126 is connected to the waist seal 128 and the back adjustment pad 125, and the spine pad 126 is designed with a spine installation webbing 127 with standard spacing to connect to the spine. The spine pad 126 is connected to the back adjustment pad 125 by Velcro, buckles, bolts and webbing to achieve back length adjustment.

[0035] See attached Figure 4 The back spine module 110 is composed of an upper spine pad 112, an upper spine cover 113, a middle spine pad 115, a middle spine cover 114, a lower spine pad 117, a lower spine cover 116, a first elastic body 118, and a spine pad 111. Each spinal segment is composed of each spinal pad and each spinal cover and is fixed to each other by bolts. Corresponding grooves and convex points are designed inside each middle spine pad and each spinal cover for fixed connection with the first elastic body 118. A groove is designed outside each spinal pad for connection with the wearable binding module 120. The upper spine pad is fixed to the spinal pad 111 by bolt connection. Different bolt hole positions can be used to adapt to different human trunk lengths. The spinal pad 111 is connected to the back adjustment pad 125 of the wearable binding module 120 by Velcro, buckles, bolts and webbing. The preferred solution of the first elastic body 118 is composed of an external spring and an internal plastic rod. Each spinal segment can be connected with one or more sections of elastic body as required.

[0036] Example 2

[0037] Please see attached Figure 5 This embodiment mainly includes a left leg 2 and a right leg 3, wherein the left leg 2 is composed of a hip joint function module 210, a knee joint function module 220 and a foot function module 230, and the right leg 3 is composed of a hip joint function module 310, a knee joint function module 220 and a foot function module 330, and the left leg 2 and the right leg 3 are mirror-symmetrical to each other. The lower end of the hip joint function module is connected to the upper end of the knee joint function module through a docking track groove for matching and adjusting the length of the human thigh, and the hip joint function module is fixedly connected to the human waist and the torso module 1 through a quick buckle; the lower end of the knee joint function module is connected to the upper end of the foot function module through a docking track groove for matching and adjusting the length of the human calf, the upper end of the knee joint function module is fixed to the human thigh through a specially designed binding webbing, Velcro, buckle, etc., and the lower end of the knee joint function module is fixed to the human calf through a specially designed binding webbing, Velcro, buckle, etc.; the lower end of the foot function module is fixed to the human foot shoe through a specially designed binding structure, and the foot function module is designed with three-dimensional freedom release and motion limit corresponding to the human ankle joint; the hip joint function module and the knee joint function module are designed with trend balance stabilization springs on specific rotation axes to help the human body achieve gait support.

[0038] See attached Figure 6 The hip joint function module 210 is composed of a mounting seat 211, a first rotating shaft 212, a first rotating seat 213, a first adjusting rotating seat 214, a second elastic body 215, a second rotating shaft 216, a first knob 217, and a quick release buckle 218. The hip joint function module 210 / 310 is fixedly connected to the wearable binding module 120 through two sets of quick release buckles 218. The quick release buckle 218 is connected and fixed with the buckle and the mounting seat 211 component through its internal spring. The upper end shaft of the first rotating shaft 212 component is connected to the mounting seat 211 component to form a rotation pair. The lower end hole of the first rotating shaft 212 component is connected to the upper end hole of the first rotating seat 213 component through a pin to form a rotation pair. The lower end of the first rotating seat 213 is connected to the first adjusting rotating seat 214 through the second rotating shaft 216 and the bearing to form a rotation pair. The second elastic body 215 is placed between the first rotating seat 213 and the first adjusting rotating seat 214 to realize that the first adjusting rotating seat 214 tends to be vertical. The first adjustment swivel 214 and the upper thigh support brace 221 of the knee joint function module 220 are connected and fixed via the first knob 217 to form a thigh length adjustment structure.

[0039] See attached Figure 7The knee joint function module 220 is composed of a thigh support brace 221, a calf support brace 222, a second swivel seat 223, a third swivel seat 224, a third elastic body 225, a fourth shaft 226, and an elastic connection block 227. The knee joint function module 220 is connected and fixed to the hip joint function module 210 through the thigh support brace 221, and the knee joint function module 220 is connected and fixed to the foot function module 230 through the calf support brace 222. The thigh support brace 221 and the calf support brace 222 are designed with guide grooves that can be adjusted in length with the matching parts of the first adjustment swivel seat 214 and the second adjustment swivel seat 231. The thigh support brace 221 and the corresponding contact brace of the human body are located at the front oblique outer side of the human thigh, and the calf support brace 222 and the corresponding contact brace of the human body are located at the rear oblique outer side of the human calf. The leg support brace 221 is connected to the second swivel seat 223 through an elastic connecting block 227 and fixed with a pin, the calf support brace 222 is connected to the third swivel seat 224 through an elastic connecting block 227 and fixed with a pin, the lower end of the second swivel seat 223 is connected to the third swivel seat 224 through a fourth rotating shaft 226 and a bearing to form a rotating pair, and the two vertical parts of the upper end of the second swivel seat 223 and the lower end of the third swivel seat 224 form a horizontal distance offset, wherein the third elastic body 225 is placed between the second swivel seat 223 and the third swivel seat 224 to realize the vertical orientation of the knee joint function module 220.

[0040] See attached Figure 8 The foot function module 230 is composed of a second adjustment swivel seat 231, a support plate 232, a shoe support 233, and a second knob 234. The foot function module 230 is connected and fixed to the knee joint function module 220 through the second adjustment swivel seat 231 and the second knob 234. The second adjustment swivel seat 231 is connected and fixed to the support plate 232 through a joint bearing to form a kinematic pair. The support plate 232 is partially inserted into the shoe support 233 and fixedly connected by bolts. The front of the shoe support 233 is designed with a standard mounting hole, which can be used to lock and fix with the user's shoes using an adjustment buckle, a buckle, a toothed belt, etc.

[0041] Example 3

[0042] See attached Fig. 9 In this embodiment, the back spine module 110 is simplified and replaced by a spine pad 111 and a spine support plate 130 .

[0043] See attached Fig.10 The quick-release buckle 218 of the hip joint function module 210 of the embodiment is replaced by a splint cover 241 and a splint insert 242, and can be directly fixedly connected to the simplified mounting base 211 using bolts, adapter plates, webbing, etc., such as a specific waist belt, belt, or walking gear.

[0044] See attached Fig.11 The first adjustment rotating seat 214 and the second adjustment rotating seat 231 of the embodiment are Fig.11 The structure shown is adjusted and fixed by a locking mechanism, wherein the adjusting locking mechanism consists of a locking buckle 401, a safety buckle 402, a locking tongue 403, an adjusting nut 404, and a locking block 405. The locking buckle 401 is connected to the waist-shaped hole at one end of the locking tongue 403 through a pin; the locking tongue 403 passes through the adjusting swivel seat 214 or the second adjusting swivel seat 231 and the locking block 405, and is connected to the adjusting nut 404 through the thread provided at the other end of the locking tongue 403; the safety buckle 402 is fixed to the first adjusting swivel seat 214 or the second adjusting swivel seat 231 by a screw passing through its designed hole, and the protruding card point designed at one end thereof is inserted into the corresponding groove of the locking buckle 401. The safety buckle 402 has a built-in spring so that the protruding card point can be automatically buckled into the designed groove in the locking buckle 401 to complete the press-to-unlock function, and the built-in spring in the locking block 405 realizes automatic unlocking after the locking buckle 401 is unlocked.

[0045] The trunk part of the utility model is modularly designed. The trunk part can be combined and matched as needed to achieve force transmission and load reduction on the user's shoulders, chest and / or back, while satisfying the upper body's adaptation to different sports movements. The use of directional elastic bodies makes the knee joint tend to support and open, and the hip joint directional elastic body and the designed horizontal distance offset of the thigh and calf are used to increase the gait support period. At the same time, the oblique front and rear protective gear arrangements eliminate the movement during exercise, further improving the support period effect.

Claims

1. A modular passive carrying mechanical auxiliary mechanism, characterized in that: The invention comprises a trunk module (1), a left leg (2) and a right leg (3), wherein the left leg (2) and the right leg (3) are mirror images of each other and are fixed on both sides of the trunk module (1), and the trunk module (1), the left leg (2) and the right leg (3) all comprise a plurality of rigid elements and elastic elements connected to each other, the rigid elements of the trunk module (1) are connected via the elastic elements to form a bearing structure of the trunk module (1), and are used to reduce the supporting load on the upper body of the user, the trunk module (1) obtains the degree of freedom during movement via the elastic elements, and the rigid elements of the left leg (2) and the right leg (3) reduce the transmitted supporting load under the action of the elastic elements; The torso module (1) comprises a wearable binding module (120) and a back spine module (110); the wearable binding module (120) is connected to the back spine module (110); the back spine module (110) comprises spine segments and a pad; the pad fits the back curve of the human body.

2. A modular passive carrying mechanical auxiliary mechanism according to claim 1, characterized in that: The wearable binding module (120) comprises a shoulder strap (121), a shoulder strap (122), a chest guard (123), a waist belt (124), a back adjustment pad (125), a spine pad (126), a spine mounting webbing (127) and a waist seal (128), wherein the upper end of the shoulder strap (121) is connected to the back adjustment pad (125), the lower end of the shoulder strap (121) is connected to the upper end of the shoulder strap (122), and the shoulder strap (121) is provided with a length adjustment buckle for adjusting the length of the shoulder strap (121); the two ends of the chest guard (123) are connected to the middle of the left and right shoulder straps (122), and the chest guard (123) is provided with a buckle and a length adjustment buckle for opening the connection with the shoulder strap (122) or adjusting the chest guard (123). The shoulder strap (122) has a buckle and a length adjustment buckle at the bottom, which are connected to the waist seal (128) and are used to open the connection with the waist seal (128) or adjust the length of the shoulder strap (122); the waist belt (124) is equipped with a buckle and a length adjustment buckle, which are used to open or adjust the length to adapt to different waist sizes; the waist seal (128) is fixed with a webbing at a fixed length, which is used to connect other accessories and a spine module; the spine pad (126) is connected to the waist seal (128) and the back adjustment pad (125), and the spine pad (126) is designed with a spine installation webbing (127) with a standard spacing and connected to the spine, and the spine pad (126) is connected to the back adjustment pad (125) to achieve adjustment for different back lengths.

3. A modular passive carrying mechanical auxiliary mechanism according to claim 2, characterized in that: The back spine module (110) includes an upper spine segment, a middle spine segment, a lower spine segment and a spine pad (111), and the upper spine segment, the middle spine segment and the lower spine segment all include a spine pad, a spine cover and a first elastomer (118). The spine pad and the spine cover are fixed to each other by bolts to form a cavity. The first elastomer (118) is installed in the cavity, and the outer side of the spine pad is connected to the wearable binding module (120); the spine pad corresponding to the upper spine segment is fixed to the spine pad (111) by bolt connection, and different bolt hole positions are used to adapt to different human body trunk lengths. The spine pad (111) is connected to the back adjustment pad (125) of the wearable binding module (120).

4. A modular passive carrying mechanical auxiliary mechanism according to claim 3, characterized in that: The upper spinal segment, the middle spinal segment, and the lower spinal segment include one or more sections of a first elastic body (118).

5. The modular passive carrying mechanical auxiliary mechanism according to claim 3, characterized in that: The left leg (2) and the right leg (3) have the same structure. The left leg (2) comprises a hip joint function module (210), a knee joint function module (220) and a foot function module (230). The lower end of the hip joint function module (210) is connected to the upper end of the knee joint function module (220) via a docking track groove, and is used to match and adjust the length of a human thigh. The upper end of the hip joint function module (210) is fixedly connected to the trunk module (1) via a buckle; the lower end of the knee joint function module (220) is connected to the upper end of the foot function module (230) via a docking track groove, and is used to match and adjust the length of a human calf.

6. A modular passive carrying mechanical auxiliary mechanism according to claim 5, characterized in that: The spine pad (111) is connected to the back adjustment pad (125) of the wearable binding module (120) via Velcro, buckles, bolts or webbing; the upper end of the knee joint function module (220) is fixed to the human thigh via binding webbing, Velcro or buckles; the lower end of the knee joint function module (220) is fixed to the human calf via binding webbing, Velcro or buckles; and the lower end of the foot function module (230) is fixed to the human foot shoe via a binding structure.

7. A modular passive carrying mechanical auxiliary mechanism according to claim 5, characterized in that: The hip joint function module (210) comprises a mounting seat (211), a first rotating shaft (212), a first rotating seat (213), a first adjusting rotating seat (214), a second elastic body (215), a second rotating shaft (216), a first knob (217) and a quick-release buckle (218). The hip joint function module (210) is fixedly connected to the wearable binding module (120) via two sets of quick-release buckles (218). The quick-release buckle (218) is connected and fixed to the buckle and the mounting seat (211) via its internal spring. The upper end of the first rotating shaft (212) is connected to the mounting seat (211) and A rotation pair is formed, the lower end hole of the first rotating shaft (212) and the upper end hole of the first rotating seat (213) are connected through a pin shaft to form a rotation pair, the lower end of the first rotating seat (213) and the first adjusting rotating seat (214) are connected through a second rotating shaft (216) and a bearing to form a rotation pair, and the second elastic body (215) is placed between the first rotating seat (213) and the first adjusting rotating seat (214) to realize the first adjusting rotating seat (214) tending to be vertical; the first adjusting rotating seat (214) and the upper end of the knee joint function module (220) are connected and fixed through a first knob (217) to form a thigh length adjustment structure.

8. A modular passive carrying mechanical auxiliary mechanism according to claim 7, characterized in that: The knee joint function module (220) comprises a thigh support brace (221), a calf support brace (222), a second rotating seat (223), a third rotating seat (224), a third elastic body (225), a fourth rotating shaft (226) and an elastic connecting block (227); the knee joint function module (220) is connected and fixed to the hip joint function module (210) via the thigh support brace (221); the knee joint function module (220) is connected and fixed to the foot function module (230) via the calf support brace (222); the thigh support brace (221) is in corresponding contact with the human body; the calf support brace (222) is in corresponding contact with the human body; the thigh support brace (221) is connected to the fourth rotating shaft (226) via the elastic connecting block (227); The second rotating seat (223) is connected and fixed by a pin, the calf support brace (222) is connected to the third rotating seat (224) through an elastic connecting block (227) and fixed by a pin, the lower end of the second rotating seat (223) is connected to the third rotating seat (224) through a fourth rotating shaft (226) and a bearing to form a rotating pair, the upper end of the second rotating seat (223) and the lower end of the third rotating seat (224) form a horizontal distance offset, the third elastic body (225) is placed between the second rotating seat (223) and the third rotating seat (224), and is used to realize the vertical orientation of the knee joint function module (220), the first adjustment rotating seat (214) and the thigh support brace (221) are connected through a first knob (217) to form a thigh length adjustment structure.

9. A modular passive carrying mechanical auxiliary mechanism according to claim 8, characterized in that: The foot function module (230) comprises a second adjustment rotating seat (231), a support plate (232), a shoe support (233) and a second knob (234); the foot function module (230) is connected and fixed to the knee joint function module (220) via the second adjustment rotating seat (231) and the second knob (234); the second adjustment rotating seat (231) is connected and fixed to the support plate (232) via a joint bearing to form a kinematic pair; the support plate (232) is partially inserted into the shoe support (233) and fixedly connected via bolts; guide rail grooves are designed on the thigh support brace (221) and the calf support brace (222) to cooperate with the first adjustment rotating seat (214) and the second adjustment rotating seat (231) to achieve leg length adjustment.

10. A modular passive carrying mechanical auxiliary mechanism according to claim 9, characterized in that: The first adjustable rotating seat (214) and the second adjustable rotating seat (231) are adjusted and fixed by using a locking mechanism.

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