CN111773026B

CN111773026B - Multi-joint rigid-flexible combined power-assisted lower limb exoskeleton

Info

Publication number: CN111773026B
Application number: CN202010549936.5A
Authority: CN
Inventors: 吴新宇; 曹武警; 陈春杰; 朱路; 王大帅; 何勇; 马跃
Original assignee: Shenzhen Institute of Advanced Technology of CAS
Current assignee: Shenzhen Institute of Advanced Technology of CAS
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2022-08-09
Anticipated expiration: 2040-06-16
Also published as: CN111773026A

Abstract

The application relates to the technical field of joint assistance, and particularly discloses a multi-joint rigid-flexible combined assistance lower limb exoskeleton. The multi-joint rigid-flexible combined power-assisted lower limb exoskeleton comprises: hip joint ties up system and shank braced system, and the hip joint ties up the system and ties up the drive assembly who ties up on the piece including hip joint and setting, and the shank braced system includes: the first rope, the second rope, the thigh component, the knee joint component and the shank component are matched with each other to support the legs of the human body and assist the human body to stand; the thigh component and the shank component are connected to the driving assembly through a first rope and a second rope respectively, and the driving assembly is used for driving the thigh component and the shank component to move correspondingly through the first rope and the second rope respectively. Through the mode, human shank and the swing bucking for knee joint part provide the helping hand can be supported in this application, and the structure is retrencied stably, and the quality is light.

Description

Multi-joint rigid-flexible combined power-assisted lower limb exoskeleton

Technical Field

The application relates to the technical field of joint power assistance, in particular to a multi-joint rigid-flexible combined power assistance lower limb exoskeleton.

Background

The multi-joint rigid-flexible combined power-assisted lower limb exoskeleton applies torque to joints so as to provide assistance for the action of a human body, and along with the technical progress, the multi-joint rigid-flexible combined power-assisted lower limb exoskeleton is increasingly applied in the fields of industrial manufacturing, army, medical rehabilitation and the like.

In long-term research, the inventor of the application finds that in the prior art, the flexible lower limb exoskeleton can only provide assistance for swinging of human joints, but cannot provide auxiliary support for the human joints, so that fatigue of the human joints caused by supporting bodies when people walk or stand with heavy load cannot be relieved, and walking assistance efficiency is limited. In the prior art, the rigid lower limb exoskeleton is usually directly connected with a transmission mechanism at a knee joint component to provide assistance, and a plurality of sets of driving mechanisms are arranged on the rigid lower limb exoskeleton, so that the design is easy to increase the volume and weight of the lower limb exoskeleton, influence the wearing comfort and cause the corresponding increase of the manufacturing and maintenance cost. On the other hand, the joint rotation center of the rigid lower limb exoskeleton needs to be consistent with the physiological joints of the human body, so that the joint deviation between human and machine needs to be eliminated by arranging an auxiliary mechanism, otherwise, secondary damage is easily caused. On the other hand, due to the fact that the rigid lower limb exoskeleton is high in rigidity, a healthy person can only perform limited movement when wearing the exoskeleton, the exoskeleton is inconvenient for a wearer to flexibly control, and inconvenience is easily brought to the wearer.

Disclosure of Invention

The present application provides a multi-joint rigid-flexible power-assisted lower extremity exoskeleton that addresses at least some of the above-mentioned problems.

In order to solve the technical problem, the application adopts a technical scheme that: provided is a multi-joint rigid-flexible power-assisted lower limb exoskeleton, which comprises: the hip joint binding system comprises a hip joint binding piece and a driving assembly arranged on the hip joint binding piece, and the hip joint binding piece can be worn on the waist of a human body; the leg supporting system is connected to the hip joint binding system and can be worn on the legs of the human body; wherein the leg support system comprises: the first rope, the second rope, the thigh component, the knee joint component and the shank component are matched with each other to support the legs of the human body and assist the human body to stand; the thigh component and the shank component are connected to the driving assembly through a first rope and a second rope respectively, and the driving assembly is used for driving the thigh component and the shank component to move correspondingly through the first rope and the second rope respectively.

The beneficial effect of this application is: different from the prior art, the leg part, the knee joint part and the shank part are matched with each other to support the leg of the human body, so that the fatigue of the joints of the human body caused by supporting the body when the human body walks or stands with a load can be relieved. In addition, the driving assembly can respectively and actively drive the thigh part and the shank part to do corresponding movement through the first rope and the second rope, so that assistance is provided for the swinging and bending of the knee joint part. Meanwhile, the driving assembly is arranged at the hip joint binding system, so that the structure is simplified and stable, the weight is light, the size is small, the natural motion constraint on a normal human body is small, the assistance efficiency is high, and the problems that the standing phase of the flexible lower limb exoskeleton cannot be supported in an auxiliary mode and the weight is overlarge during the assistance of multiple joints of the rigid lower limb exoskeleton in the prior art are solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. Wherein:

FIG. 1 is a schematic diagram of a multi-joint rigid-flexible power-assisted lower extremity exoskeleton according to an embodiment of the present application;

FIG. 2 is another schematic diagram of a multi-joint rigid-flexible power-assisted lower extremity exoskeleton according to an embodiment of the present application;

fig. 3 is a schematic view of another structure of a multi-joint rigid-flexible power-assisted lower extremity exoskeleton according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Referring to fig. 1, fig. 1 is a schematic structural view of a multi-joint rigid-flexible combined power-assisted lower extremity exoskeleton according to an embodiment of the present application.

The multi-joint rigid-flexible power-assisted lower extremity exoskeleton 100 is a non-invasive mechanical device directly equipped on a human body. After the user wears the multi-joint rigid-flexible power-assisted lower limb exoskeleton 100, the multi-joint rigid-flexible power-assisted lower limb exoskeleton 100 can play roles in supporting a human body, assisting the human body to move, reducing the sense of load and the like.

As shown in fig. 1, the multi-joint rigid-flexible power-assisted lower extremity exoskeleton 100 comprises: the hip joint binding system 10 comprises a hip joint binding piece 2 and a driving component 1 arranged on the hip joint binding piece 2, the hip joint binding piece 2 can be worn on the waist of a human body, and the leg support system 20 can be worn on the leg of the human body.

Wherein the leg support system 20 comprises: the first rope 12, the second rope 9, the thigh member 21, the knee joint member 22 and the lower leg member 23, and the thigh member 21, the knee joint member 22 and the lower leg member 23 cooperate with each other to support the legs of the human body and assist the human body to stand. The thigh part 21 and the shank part 23 are connected to the driving assembly 1 through a first rope 12 and a second rope 9 respectively, and the driving assembly 1 is used for driving the thigh part 21 and the shank part 23 to move correspondingly through the first rope 12 and the second rope 9 respectively.

In this embodiment, when the user wears the multi-joint rigid-flexible power-assisted lower extremity exoskeleton 100, the hip joint binding piece 2 can be bound to the waist of the user.

Alternatively, the hip-binding 2 may be made of textile fibers, leather or the like, to provide the hip-binding 2 with a certain strength and flexibility, thereby increasing the binding effect between the hip-binding system 10 and the waist of the user.

Unlike the prior art, the leg part 21, the knee joint part 22 and the lower leg part 23 are matched with each other to support the legs of the human body, so that the fatigue of the joints of the human body caused by supporting the body when the human body walks or stands with a load can be relieved. In addition, the driving assembly 1 can actively drive the thigh part 21 and the shank part 23 to move correspondingly through the first rope 12 and the second rope 9, so as to provide assistance for the swinging and bending of the knee joint part 22. Meanwhile, the driving assembly 1 is only arranged at the hip joint binding system 10, so that the hip joint binding system is simple and stable in structure, light in weight, small in size, small in natural motion constraint on a normal human body and high in power assisting efficiency, and the problems that in the prior art, a flexible lower limb exoskeleton cannot assist in supporting when standing, and the weight is too large when a rigid lower limb exoskeleton is assisted by multiple joints are solved.

With continued reference to figure 1, the thigh part 21 comprises a thigh support 3 and a thigh strap 4, the shank part 23 comprising: a calf tie 5 and a calf support 6. The lower end of the thigh support 3 and the upper end of the calf support 6 are connected by a knee joint part 22.

Wherein the thigh bindings 4 are arranged on the thigh support 3, the thigh bindings 4 being connected to the drive assembly 1 via first ropes 12. The calf strap 5 is arranged on the calf support 6, the calf strap 5 being connected to the drive assembly 1 by a second cord 9.

In this embodiment, when the user wears the multi-joint rigid-flexible power-assisted lower extremity exoskeleton 100, the thigh bindings 4 can be attached to the left thigh and/or the right thigh of the user, and the shank bindings 5 can be attached to the left shank and/or the right shank of the user.

Alternatively, the thigh and

calf bindings

4, 5 may be made of textile fibre, leather or the like, so that the thigh and

calf bindings

4, 5 have a certain strength and flexibility, thereby increasing the binding effect between the thigh and

calf parts

21, 23 and the user's leg.

It should be noted that, the "user" in the embodiment of the present application is generally an adult, and there may be differences in sex, height, weight, and the like among different users, so that there may also be differences in the position of the fastening.

Referring to fig. 2, fig. 2 is another schematic structural diagram of a multi-joint rigid-flexible power-assisted lower extremity exoskeleton according to an embodiment of the present application.

The thigh support 3 is provided with a mounting boss 301 at one end connected with the knee joint part 22, and the calf support 6 is provided with a first mounting hole 809 and a second mounting hole 808 at one end connected with the knee joint part 22.

The knee joint component 22 includes a knee joint component 8, the knee joint component 8 includes a housing 801,

first screws

802 and 803,

rolling bearings

804 and 805, a torsion spring 806 and a joint bearing 807, the

first screws

802 and 803 are fixed in a first mounting hole 809 through the

rolling bearings

804 and 805, the torsion spring 806 is disposed in a second mounting hole 808, and the joint bearing 807 is sleeved on the mounting boss 301. The installation boss 301 is provided with a rotating shaft 302, and the rotating shaft 302 sequentially penetrates through the torsion spring 806 and the through hole of the shell 801.

Specifically, two

rolling bearings

804, 805 are placed on either side of the first slot 810, respectively, and two

first screws

802, 803 are secured in the calf support 6 on the calf assembly by the

rolling bearings

804, 805.

With continued reference to FIG. 2, a first slot 810 is provided along the perimeter of the end of the calf support 6 that is connected to the knee component 22. The knee joint component 22 further includes a push rod assembly 7, the push rod assembly 7 includes a fixed structural component 701, a push rod 702 and a rotating elastic component 703, the fixed structural component 701 is fixedly connected with the thigh support 3, the push rod 702 is disposed on the fixed structural component 701, the rotating elastic component 703 is connected with the push rod 702, and one end of the rotating elastic component 703, which is far away from the push rod 702, can be clamped in the first clamping groove 810.

Specifically, the first cable 12 and the second cable 9 are actively stretched on the leg support system 20 by the driving assembly 1 of the hip-binding system 10 to realize the swing of the knee joint component 22.

Through the cooperation of the push rod assembly 7 at the end of the thigh support 3 and the first locking groove 810, the knee joint component 22 is locked after being bent by a preset angle in standing phase, so as to realize auxiliary support.

After the knee joint part 22 is unlocked, the friction is the rolling friction between the push rod 702 and the

rolling bearings

804 and 805, and the knee joint part can be unlocked quickly by a small force.

Wherein, knee joint part 22's swing is divided into swing flexion and swing extension two stages mutually, at swing flexion in-process, drive first rope 12 and second rope 9 through drive assembly 1 and tie up binding 4, shank and tie up binding 5 and stretch, and then realize the compression of built-in torsional spring 806, the energy storage, at swing extension process, drive assembly 1, first rope 12 and second rope 9 do not have an effect to knee joint part 22, at this moment, built-in torsional spring 806 extends the release energy storage, helping hand knee joint part 22 swings and extends.

Above-mentioned structure is when realizing the unpowered auxiliary stay of lightweight, provide initiative helping hand for knee joint part 22's swing bucking through flexible drive, and when knee joint part 22 swing bucking, accessible hip joint ties up system 10 drive assembly 1 and drives first rope 12 and second rope 9 and tie up 4, shank and tie up 5 and stretch to thigh, and then utilize built-in torsional spring 806 initiative energy storage, and when knee joint part 22 swing extends, torsional spring 806 releases the energy storage, extend for knee joint part 22's swing and provide passive helping hand.

In one embodiment, the push rod 702 is a lead screw drive or an electromagnetic push rod. The lead screw driving medium includes: at least one of an electromagnet, a linear motor, or a rotary motor; and at least one of a ball screw or a trapezoidal screw.

Further, the electromagnetic push rod may be a normally extended push rod or a normally retracted push rod, and when the electromagnetic push rod is a normally extended push rod, that is, when the electromagnetic push rod is not powered on, the rotating elastic member 703 is located in the first slot 810. When the heel touches the ground and enters a standing phase, the electromagnetic push rod is not electrified, the rotating elastic piece 703 on the push rod component 7 is positioned in the first clamping groove 810, the knee joint component 22 can be locked after rotating for a certain angle due to the compressible elastic body, so as to form variable resistance auxiliary support, meanwhile, the torsion spring 806 in the knee joint component 22 is compressed, when the knee joint stands and extends, the energy of the torsion spring 806 releases the passive assistance to help the knee joint to stand and extend, the first shock absorption piece 11 touches the ground to absorb shock and stores partial energy, and the energy is released to assist in a swinging and extending period; when the foot goes into the swing and extension period from the ground, the electromagnetic push rod is powered on, the electromagnetic push rod on the push rod assembly 7 retracts to drive the rotating elastic piece 703 to be separated from the first clamping groove 810 upwards, and two

rolling bearings

804 and 805 are arranged on two sides in the first clamping groove 810, so that the friction when the rotating elastic piece 703 leaves the first clamping groove 810 is rolling friction. Meanwhile, the motor in the driving assembly 1 rotates positively to drive the second rope 9 to stretch, so that the knee joint part 22 is enabled to bend and rotate actively through the shank binding part 5, the torsion spring 806 in the knee joint part 22 is compressed to store energy, the motor in the driving assembly 1 rotates reversely to drive the first rope 12 to stretch in the swinging and stretching period, the thigh binding part 4 actively assists power to the hip joint bending action, meanwhile, the second rope 9 is loosened, and the torsion spring 806 in the knee joint part 22 releases energy to assist the swinging and stretching of the knee joint passively.

When the electromagnetic push rod is a normally contracted push rod, namely when the electromagnetic push rod is not electrified, the rotating elastic part 703 is positioned outside the first clamping groove 810, when the heel is landed and enters a standing phase, the electromagnetic push rod is electrified and extends out to drive the rotating elastic part 703 to downwards enter the first clamping groove 810, as the elastic body can be compressed, the knee joint part 22 can be locked after rotating a certain angle to form variable-resistance auxiliary support, meanwhile, the torsion spring 806 in the knee joint part 22 is compressed, when the knee joint is stood and extended, the energy of the torsion spring 806 is released to passively assist the knee joint to stand and extend, the first damping part 11 is landed to damp and store partial energy, and the energy is released to assist in a swinging and extending period; when the foot enters the swing extension period from the ground, the electromagnetic push rod is powered off and retracts to drive the rotary elastic piece 703 to be separated from the first clamping groove 810 upwards, and two

rolling bearings

804 and 805 are arranged on two sides in the clamping groove, so that the friction when the rotary elastic piece 703 leaves the clamping groove is rolling friction. Meanwhile, the motor in the driving assembly 1 rotates positively to drive the second rope 9 to stretch, so that the knee joint part 22 is enabled to bend and rotate actively through the shank binding part 5, the torsion spring 806 in the knee joint part 22 is compressed to store energy, the motor in the driving assembly 1 rotates reversely to drive the first rope 12 to stretch in the swinging and stretching period, the thigh binding part 4 actively assists power to the hip joint bending action, meanwhile, the second rope 9 is loosened, and the torsion spring 806 in the knee joint part 22 releases energy to assist the swinging and stretching of the knee joint passively.

In this embodiment, after the user wears the multi-joint rigid-flexible power-assisted lower extremity exoskeleton 100, the user can move from a standing or upright state to a heel-lifted off-ground state, which will be described in detail below.

The leg support system 20 provided by the embodiment of the application is provided with two sets, namely a left leg motion system and a right leg motion system, which are respectively arranged at the outer sides of the left leg and the right leg of a human body, the leg support systems 20 at each side are symmetrical in structure, and the structure of one side is used for description in the embodiment.

When the heel of a human body is grounded and enters a standing state, the push rod 702 extends out and drives the rotary elastic part 703 to move downwards until the rotary elastic part 703 on the push rod assembly 7 is positioned in the first clamping groove 810 on the calf support part 6, at the moment, the rotary elastic part 703 can be compressed, the knee joint part 22 can be locked after rotating for a preset angle, variable resistance is formed to realize auxiliary support, meanwhile, because the torsion spring 806 in the knee joint part 22 is compressed before, when the knee joint part 22 stands and extends, the torsion spring 806 releases energy storage and provides passive assistance for the standing and extending action of the knee joint part 22, and self-locking of the knee joint part 22 is realized.

Wherein, because different joints need different rotating angles, in order to ensure that the knee joint component 22 can be suitable for various people, the preset angle can be 40-50 degrees, 50-60 degrees, 55-65 degrees, 100-120 degrees or 110-120 degrees.

When the heel of the human body is lifted, the human body enters a swing extension period, the push rod 702 retracts and drives the rotating elastic piece 703 to move upwards, so that the rotating elastic piece 703 is separated from the first clamping groove 810, meanwhile, the motor in the driving assembly 1 rotates forwards and drives the second rope 9 to stretch, the knee joint part 22 is driven to actively bend and rotate through the shank binding piece 5, and at the moment, the torsion spring 806 is compressed and stores energy.

It should be noted that two rolling

bearings

804 and 805 are disposed on two sides inside the first engaging groove 810, so that the friction when the rotating elastic member 703 is disengaged from the first engaging groove 810 is rolling friction.

During the swing extension period, the driving assembly 1 drives the first rope 12 to stretch, the motor in the driving assembly 1 rotates reversely and drives the first rope 12 to stretch, and then the active assistance is provided for the flexion of the hip joint through the thigh binding piece 4, meanwhile, the second rope 9 is loosened, the torsion spring 806 releases the stored energy and provides the passive assistance for the swing extension of the knee joint component 22, and the knee joint component 22 swings and extends.

Referring to fig. 3, fig. 3 is another schematic structural view of a multi-joint rigid-flexible power-assisted lower extremity exoskeleton according to an embodiment of the present application.

In one embodiment, the hip joint binding 2 comprises: the waist fixing plate 202 is provided with an adjustable buckle 203, and the waist fixing plate 202 can be fixedly connected to the binding belt 201 through the adjustable buckle 203. The binding belt 201 is bound at the waist of the human body, so that the waist fixing plate 202 is fixed at the back waist of the human body through the adjustable buckle 203, and the adjustable buckle 203 is used for realizing tightening and loosening of the binding belt 201 and the waist of the human body.

The drive assembly 1 comprises: second screws 102 and 103, rope fixing blocks 104 and 105, a wire coil 106, a wire tube 108, a motor 113 fixing block 109, a speed reducer 112, a motor 113 and a motor shaft end cover 101. The motor shaft end cover 101 is screwed to the wire coil 106.

The driving assembly 1 is fixed on the binding belt 201 through a waist fixing plate 202, the motor 113 and the reducer 112 are fixed on the waist fixing plate 202 through a motor 113 fixing block 109, the rope fixing blocks 104 and 105 are connected with a wire coil 106 through second screws 102 and 103, the motor 113 is connected with an input shaft of the reducer 112, an output of the reducer 112 is connected with an axis plate 106, the wire coil 106 is connected with a motor shaft end cover 101, and a columnar body on the wire pipe 108 is clamped in a second clamping groove on the wire coil 106.

Specifically, the input end of the reducer 112 is connected with the output shaft of the motor 113, and the output end of the reducer 112 is connected with the wire coil 106. When the motor 113 rotates clockwise from a stationary state, since the input terminal of the decelerator 112 is connected to the output shaft of the motor 113, the decelerator 112 also rotates clockwise in synchronization with the motor 113.

The reducer 112 may be a harmonic reducer 112, and in the embodiment of the present application, by providing the reducer 112, the torque transmitted to the wire coil 106 is increased by using the principle of speed reduction and torque increase, so that the wire coil 106 is driven to rotate by the received power of the motor 113.

Wherein, the winding has first rope 12 and second rope 9 on the spool 108, and first rope 12 and second rope 9 adopt soft material to make usually, have the quality low, elasticity low grade characteristics, and wherein the one end of first rope 12 and second rope 9 is fixed on spool 108 to after a plurality of rings of spool 108 winding, tie up the piece 5 with thigh ligature 4, shank through the other end respectively and be connected. For example, one end of the first rope 12 and the second rope 9 is fixed on the line pipe 108 by a pin on the line pipe 108, and the other end is connected with the thigh binding 4 and the shank binding 5 respectively, so as to wear the driving force to the human body, when the thigh of the user moves forward, the leg wearing part can be pulled by the first rope 12 and the second rope 9, and the purpose of walking assistance is achieved.

In one embodiment, the lower leg component 23 further includes a first shock absorber 11, the first shock absorber 11 being disposed at a lower end of the lower leg support 6 distal from the knee component 22. When the heel of the human body falls to the ground, the first shock absorbing member 11 is grounded to absorb shock and store energy. During the swing extension phase, the first cushioning element 11 releases stored energy and provides assistance to the swing extension motion of the knee component 22. The first damping member 11 may be made of rubber.

In one embodiment, the first and

second ropes

12 and 9 are at least one of bowden cable, steel wire and maraca wire.

In one embodiment, a second shock absorber (not shown) is provided inside the calf support 6.

In one embodiment, the leg support system 20 further includes a foot support (not shown) that connects an end of the calf support 6 distal from the knee component 22. A third cushioning element (not shown) is provided on the foot support to cushion ground impact forces.

The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims

1. A multi-joint rigid-flexible power-assisted lower limb exoskeleton is characterized by comprising:

the hip joint binding system comprises a hip joint binding piece and a driving assembly arranged on the hip joint binding piece, wherein the hip joint binding piece can be worn on the waist of a human body; and

a leg support system connected to the hip joint cinching system, the leg support system wearable to a leg of a human body;

wherein the leg support system comprises: a first cord, a second cord, a thigh component, a knee component, and a calf component, the thigh component, the knee component, and the calf component cooperating with each other to support a leg of a human body;

the thigh member includes: a thigh support and thigh bindings disposed on the thigh support, the thigh bindings being connected to the drive assembly by the first cable;

the lower leg member includes: the lower end of the thigh support part is connected with the upper end of the shank support part through the knee joint part, and the shank binding part is connected to the driving assembly through the second rope;

a mounting boss is arranged at one end of the thigh supporting piece connected with the knee joint part, a rotating shaft is arranged on the mounting boss, and a first mounting hole and a second mounting hole are formed at one end of the shank supporting piece connected with the knee joint part;

the knee joint component comprises a knee joint component, the knee joint component comprises a shell, a first screw, a rolling bearing, a torsional spring and a joint bearing, the first screw is fixed in the first mounting hole through the rolling bearing, the torsional spring is arranged in the second mounting hole, and the joint bearing is sleeved on the mounting boss;

the rotating shaft sequentially penetrates through the torsion spring and the through hole of the shell;

a first clamping groove is formed in the peripheral edge of one end, connected with the knee joint component, of the shank support piece;

the knee joint component further comprises a push rod component, the push rod component comprises a fixed structural part, a push rod and a rotary elastic part, the fixed structural part is fixedly connected with the thigh supporting part, the push rod is arranged on the fixed structural part, the rotary elastic part is connected with the push rod, and one end, far away from the push rod, of the rotary elastic part can be clamped in the first clamping groove;

when a human body is in a standing state, the push rod extends out and drives the rotating elastic part to move downwards until the rotating elastic part is clamped in the first clamping groove, at the moment, the rotating elastic part can be compressed, the knee joint part can be locked after rotating for a preset angle, and meanwhile, the energy of the torsion spring is released and provides passive power for the standing and extending action of the knee joint;

when the heel of a human body is lifted, the human body enters a swinging and stretching period, the push rod retracts and drives the rotating elastic piece to move upwards so that the rotating elastic piece is separated from the first clamping groove, meanwhile, the driving assembly drives the second rope to stretch so that the shank binding piece drives the knee joint part to actively bend and rotate, and the torsion spring is compressed and stores energy;

during the swing extension period, the driving assembly drives the first rope to stretch, so that the thigh binding piece provides active assistance for the bending action of the hip joint, meanwhile, the second rope is loosened, and the torsion spring releases stored energy and provides passive assistance for the swing extension action of the knee joint component.

2. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the lower leg component further includes: a first shock absorber disposed at a lower end of the calf support remote from the knee joint component;

when the heel of the human body falls to the ground, the first shock absorption piece lands to absorb shock and store energy;

during the swing extension period, the first shock absorption piece releases stored energy and provides assistance for the swing extension action of the knee joint component.

3. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the push rod is a lead screw transmission piece or an electromagnetic push rod;

wherein, the lead screw transmission part includes:

at least one of an electromagnet, a linear motor, or a rotary motor; and

at least one of a ball screw or a trapezoidal screw.

4. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the drive assembly includes: the second screw, the rope fixing block, the wire coil, the wire pipe, the motor fixing block, the speed reducer, the motor and the motor shaft end cover;

the hip joint binding comprises: the binding belt comprises a binding belt, a waist fixing plate and an adjustable buckle, wherein the waist fixing plate and the adjustable buckle are arranged on the binding belt, and the adjustable buckle is used for realizing tightening and loosening of the binding belt and the waist of a human body;

the driving assembly is fixed to the binding belt through the waist fixing plate, the motor and the speed reducer are fixed to the waist fixing plate through the motor fixing block, the rope fixing block is connected with the wire coil through the second screw, the motor is connected with the input shaft of the speed reducer, the output of the speed reducer is connected with the wire coil, the wire coil is connected with the motor shaft end cover, and the columnar body on the wire pipe is clamped in the second clamping groove on the wire coil.

5. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the first rope and the second rope are at least one of Bowden ropes, steel wires and strong force horse wires.

6. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

a second shock absorbing member is arranged inside the shank support member.

7. The multi-joint rigid-flexible power-assisted lower extremity exoskeleton of claim 1,

the leg support system further comprises: a foot support connected to an end of the calf support distal from the knee joint component;

a third shock absorbing member is provided on the foot support.