CN116135480A - Wearable lower limb exoskeleton device - Google Patents

Abstract

The invention relates to a wearable lower limb exoskeleton device, which comprises a waist ring skeleton, wherein the outer walls at two ends of the waist ring skeleton are connected with thigh exoskeleton, the outer wall at the bottom end of the thigh exoskeleton is connected with shank exoskeleton, exoskeleton boots are arranged on the outer wall at the bottom of the shank exoskeleton, joint driving mechanisms are arranged at the rotary joints of the waist ring skeleton and the thigh exoskeleton, the thigh exoskeleton and the shank exoskeleton and the rotation joints of the shank exoskeleton and the exoskeleton boots, telescopic rods are fixedly connected on the outer walls at two ends of the thigh exoskeleton and the shank exoskeleton in an extending manner, the joint driving mechanisms are arranged on the outer walls at the end parts of the telescopic rods, an electric cabinet is arranged on the outer wall at one side of the waist ring skeleton, and a cushioning component is arranged on the outer wall at the bottom of the exoskeleton boots; the telescopic rods are arranged between the lower limb exoskeleton devices, so that the distance between the exoskeleton of each part can be adjusted, the lower limb exoskeleton devices can be properly adjusted according to the height of a user, and the use of the lower limb exoskeleton is facilitated.

Description

Wearable lower limb exoskeleton device

Technical Field

The invention relates to the technical field of exoskeletons, in particular to a wearable lower limb exoskeletons device.

Background

Exoskeleton, also known as mechanical exoskeleton or dynamic exoskeleton, is a mechanical device composed of a steel frame and worn by a person, which can provide additional energy for limb movement; the method is characterized by comprising the following steps: reinforcing clothing, power armor and the like; by virtue of this set of "garments", humans can become so-called "ironmen"; the power exoskeleton is more prone to military use, and has the basic function of enhancing human body capacity, and also has the advantages of good protection, adaptability to complex environments, auxiliary fire, communication, investigation support and other military functions, as shown in patent publication No.: CN 109646246B discloses a wearable lower limb exoskeleton robot stretching and bending device, which comprises a total driving module, a waist protector, a lateral stretching mechanism, an everting mechanism and a joint driving mechanism, wherein the total driving module is arranged on the lateral stretching mechanism, and a total program control board, a motor driving board and a total power supply module are arranged in the total driving module; the lateral stretching mechanism is fixed on the waist protector, the everting mechanism is arranged at the output end of the lateral stretching mechanism, and the output end of the everting mechanism is provided with a joint driving mechanism for driving the lower limbs to stretch and bend.

Along with the development of technology, lower limb exoskeleton device technology on the existing market is more mature, but lower limb exoskeleton device structure on the existing market is simpler, and the structural size of exoskeleton is mostly fixed, can not properly adjust according to user's height, uses comparatively inconvenient, and traditional exoskeleton's outer wall is mostly metal structure, wears to use the travelling comfort relatively poor, and long-term use foot can be tired, does not have the function of self-lubricating in the use of traditional lower limb exoskeleton device, is unfavorable for the long-term use of lower limb exoskeleton.

In order to solve the problems, the invention provides a wearable lower limb exoskeleton device.

Disclosure of Invention

(1) Technical problem to be solved

The invention aims to solve the problems that the structure of a lower limb exoskeleton device in the prior art is mostly fixed, the structure cannot be properly adjusted according to the height of a user, the use is inconvenient, the outer wall of a traditional exoskeleton is mostly a metal structure, wearing and using comfort is poor, long-term feet can be tired, the traditional lower limb exoskeleton device does not have an automatic lubrication function in the using process, and the device is suitable for the actual needs, so that the technical problems are solved.

(2) Technical proposal

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:

the utility model provides a wearing formula low limbs ectoskeleton device, includes the waist ring skeleton, be connected with the thigh ectoskeleton on the outer wall at waist ring skeleton both ends, be connected with the shank ectoskeleton on the outer wall of thigh ectoskeleton bottom, be provided with the ectoskeleton boots on the bottom outer wall of shank ectoskeleton, the joint actuating mechanism is installed with the rotation junction of thigh ectoskeleton and shank ectoskeleton boots, extend fixedly connected with telescopic link on the outer wall at thigh ectoskeleton and shank ectoskeleton both ends, joint actuating mechanism installs on the tip outer wall of telescopic link, install the electric cabinet on the outer wall of one side of waist ring skeleton, be provided with the bradyseism subassembly on the bottom outer wall of ectoskeleton boots.

Preferably, the shock absorbing assembly is including distributing to be seted up the separating groove on the outer bone boots bottom inner wall, the outer wall that outer bone boots are located separating groove top is laid and is connected with the cushion, install the bobbin on the bottom inner wall of separating groove, the inside of bobbin is provided with the piston, be fixed with the connecting rod on the top outer wall of piston, the connecting rod runs through the outside one end of bobbin and is connected with the briquetting, and the briquetting is located the below of cushion, the connecting rod is located the cover and is equipped with the spring on the outer wall between briquetting and the bobbin, through connection has the suction tube on the bottom one side outer wall of bobbin, through connection has the pump delivery pipe on the bottom opposite side outer wall of bobbin, the tip of suction tube and pump delivery pipe all is provided with the check valve, be provided with self-lubricating subassembly and gasbag inflation assembly on the tip outer wall of suction tube and pump delivery pipe.

Preferably, the self-lubricating assembly comprises an oil tank fixed on the outer wall of one side of the bone boot, one end of a suction pipe on one side of the bone boot is in through connection with a liquid suction pipe, one end of the liquid suction pipe penetrates through the inside of the oil tank, one end of a pump delivery pipe on one side of the bone boot is in through connection with an oil pumping main pipe, one end of the oil pumping main pipe is in through connection with an oil pumping branch pipe, one side of the outer wall of the joint driving mechanism is in through connection with an oil injection head, and one end of the oil pumping branch pipe is in through connection with one end of the oil injection head.

Preferably, the air bag inflation assembly comprises an air suction pipe which is connected with one end of an air suction pipe on one side of the skeleton boot in a penetrating way, an air filter element is connected with one end of the air suction pipe in a penetrating way, an air pumping main pipe is connected with one end of an air pump transmission pipe on one side of the skeleton boot in a penetrating way, an air bag is connected to the waist ring skeleton, the thigh exoskeleton, the calf exoskeleton and the inner wall of the exoskeleton boot in a fitting way, an air pumping branch pipe is connected to the outer wall between the air bags in a penetrating way, one end of the air pumping main pipe penetrates through the inner part of the air bag on the inner wall of the exoskeleton boot, an air leakage pipe is connected to the outer wall of the top of the air bag on the waist ring skeleton in a penetrating way, a pressure release valve is arranged at the end of the air leakage pipe in the inner part of the electric cabinet in a penetrating way.

Preferably, the main oil pumping pipe and the branch oil pumping pipe are telescopic hoses.

Preferably, the main pumping pipe and the branch pumping pipe are flexible hoses.

Preferably, the pressure relief valve is an adjustable pressure relief valve.

Preferably, the middle outer walls of the thigh exoskeleton and the calf exoskeleton are connected with binding bands, and the end parts of the binding bands are provided with magic tapes.

Preferably, a liquid injection port is arranged on the outer wall of one side of the top of the oil tank, and lubricating oil is filled in the oil tank.

Advantageous effects

The telescopic rods are arranged between the lower limb exoskeleton devices, so that the distance between the exoskeleton of each part can be adjusted, the lower limb exoskeleton devices can be properly adjusted according to the height of a user, and the use of the lower limb exoskeleton is facilitated.

The setting of bradyseism subassembly, in the dress use of ectoskeleton boots, sole and cushion contact have improved the travelling comfort, and wherein the cushion carries out elastic support through briquetting and spring structure, makes the ectoskeleton boots have the effect of bradyseism, has improved the travelling comfort that this low limbs ectoskeleton used.

The cooperation setting of bradyseism subassembly and self-lubricating subassembly, the reciprocating trampling in-process of above-mentioned ectoskeleton boots can drive the piston and carry out reciprocating lift in the inside of bobbin through briquetting and connecting rod, last the suction in suction tube and pipette department under the setting of check valve, with the lubricating oil suction in the oil tank, in each pump oil branch pipe is input through pump delivery pipe and pump oil main pipe, in the lubricating oil is input the oiling head through each pump oil branch pipe, the oiling head is with the inside of lubricating oil shower nozzle to each joint actuating mechanism, realize the self-lubricating of drive joint on the low limbs ectoskeleton.

The cooperation setting of bradyseism subassembly and air bag inflation assembly, the reciprocating of above-mentioned ectoskeleton boots tramples the in-process, the piston is reciprocal to go up and down in the inside of bobbin, carry out the continuous inhalation of outside air in breathing pipe and air filter department, the inhaled air can be continuous in each gasbag on being input the ectoskeleton through pumping main pipe and pumping branch pipe, make the gasbag inflation, parcel nature and the travelling comfort that the ectoskeleton dressed have been improved, when the air pressure reaches the threshold of relief valve in the gasbag, unnecessary air can be discharged through the bleeder, the inside electric cabinet is input to the exhaust air, realize the effect to the inside heat dissipation of electric cabinet.

Drawings

Fig. 1 is a schematic perspective view of a wearable lower limb exoskeleton device of the present invention.

Fig. 2 is a schematic view of a bottom cut-away of an exoskeleton shoe of a wearable lower limb exoskeleton device of the present invention.

Fig. 3 is an enlarged schematic view of a portion a of a wearable lower limb exoskeleton device according to the present invention.

Fig. 4 is an enlarged view of the structure of the wearable exoskeleton device at B.

Fig. 5 is an enlarged view of the C-site structure of the wearable lower limb exoskeleton device of the present invention.

Fig. 6 is an enlarged view of the structure of the wearable exoskeleton device at D in accordance with the present invention.

The reference numerals are as follows:

1. a lumbar ring skeleton; 2. thigh exoskeleton; 3. a lower leg exoskeleton; 4. exoskeleton boots; 5. a telescopic rod; 6. a joint driving mechanism; 7. an electric control box; 8. a cushioning assembly; 9. a self-lubricating assembly; 10. an airbag inflation assembly; 801. a partition groove; 802. a soft cushion; 803. a bobbin; 804. a piston; 805. a connecting rod; 806. briquetting; 807. a spring; 808. a suction tube; 809. a pump delivery tube; 810. a one-way valve; 901. a pipette; 902. an oil tank; 903. an oil pumping main pipe; 904. an oil pumping branch pipe; 905. an oil filling head; 101. an air suction pipe; 102. an air filter element; 103. a pumping main pipe; 104. an air bag; 105. a pumping branch pipe; 106. a gas discharge tube; 107. and a pressure release valve.

Description of the embodiments

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

The invention is further illustrated below with reference to figures 1-6 and examples:

in this embodiment, as shown in fig. 1-6, a wearing formula low limbs exoskeleton device, including waist ring skeleton 1, be connected with thigh ectoskeleton 2 on the outer wall at waist ring skeleton 1 both ends, be connected with shank ectoskeleton 3 on the outer wall of thigh ectoskeleton 2 bottom, be provided with ectoskeleton boots 4 on the bottom outer wall of shank ectoskeleton 3, waist ring skeleton 1 and thigh ectoskeleton 2, thigh ectoskeleton 2 and shank ectoskeleton 3 and the rotation junction of shank ectoskeleton 3 and ectoskeleton boots 4 install joint actuating mechanism 6, the outer wall upper extension fixedly connected with telescopic link 5 at thigh ectoskeleton 2 and shank ectoskeleton 3 both ends, joint actuating mechanism 6 is installed on the tip outer wall of telescopic link 5, install electric cabinet 7 on the outer wall of one side of waist ring skeleton 1, be provided with bradyseism subassembly 8 on the outer wall of the bottom of ectoskeleton boot 4, in this low limbs ectoskeleton device use, wear waist ring skeleton 1 in the user's upper, the both feet penetrate in the ectoskeleton 4, install joint actuating mechanism 6 again with thigh ectoskeleton 2 and shank ectoskeleton 3 and the rotation junction of ectoskeleton boots 4, thereby the fine and the user's the fine limbs can carry out the height through the flexible electric cabinet 7 of the pedal 5 of the user, the appropriate distance between the user's the pedal ectoskeleton is adjusted, the user's position is adjusted according to the present device, and the distance between the user's low limbs is adjusted, and the user's position is convenient for setting up, and the device is convenient for adjusting the joint device is easy to use.

In this embodiment, referring to fig. 1-3, the cushioning component 8 includes the distributed isolation groove 801 of seting up on the inner wall of the bottom of ectoskeleton boots 4, lay on the outer wall of isolation groove 801 top and be connected with cushion 802, install bobbin 803 on the inner wall of the bottom of isolation groove 801, the inside of bobbin 803 is provided with piston 804, be fixed with connecting rod 805 on the top outer wall of piston 804, connecting rod 805 runs through the one end outside bobbin 803 and is connected with briquetting 806, and briquetting 806 is located the below of cushion 802, the outer wall that connecting rod 805 is located between briquetting 806 and the bobbin 803 is equipped with spring 807 in the cover, the bottom one side outer wall of bobbin 803 is connected with suction tube 808 in the through-going, the through-going is connected with pump pipe 809 on the bottom opposite side outer wall of bobbin 803, suction tube 808 and pump pipe 809 all are provided with check valve 810 on the tip, be provided with self-lubricating assembly 9 and air bag inflation component 10 on the tip outer wall of pump 809, in the use process of ectoskeleton boots 4, the sole contacts with cushion, the travelling comfort has been improved, wherein briquetting 802 carries out elastic support through briquetting 806 and spring 807, and spring 807 are located below cushion 802, the outside boots 802, the sole can hold down cushion 802 under the action of the cushion and cushion can be carried out under the action of the impact, and cushion is lifted under the impact on the impact of the shoes 802, and the impact pad is carried out, and the impact pad is lifted under the impact on the cushion and the cushion is under the impact on the cushion and the cushion, and the impact pad is under the impact on the cushion and the impact.

In this embodiment, referring to fig. 1-4, the self-lubricating assembly 9 includes an oil tank 902 fixed on the outer wall of the outer skeleton boot 4, a suction pipe 901 is connected through one end of a suction pipe 808 on the outer skeleton boot 4 side, one end of the suction pipe 901 penetrates inside the oil tank 902, a main pump pipe 903 is connected through one end of a main pump pipe 903 on the outer skeleton boot 4 side, an oil filling head 905 is connected through one end of the main pump pipe 903 on one outer wall of the joint driving mechanism 6, one end of the oil filling head 905 is connected through one end of the oil filling head 904, the use process of the lower limb exoskeleton is performed, the connecting rod 805 is driven to reciprocate under the action of a pressing block 806 and a spring 807 in the reciprocating stepping process of the outer skeleton boot 4, so that the piston 804 is driven to reciprocate inside the pipe 803, the suction pipe 808 and the suction pipe 901 are continuously sucked under the setting of a check valve 810, the lubricating oil sucked into the main pump pipe 903 is continuously input into each pump head 905 through the main pump pipe 809 and the main pump pipe 903, and the lubricating oil is driven into each joint head 905 by driving the lower limb 6.

In this embodiment, referring to fig. 1, 2, 3, 5 and 6, the airbag inflation module 10 includes an air suction pipe 101 penetrating and connected to one end of an air suction pipe 808 on one side of an exoskeleton 4, one end of the air suction pipe 101 is penetrating and connected to an air filter element 102, one end of a pump pipe 809 on one side of the exoskeleton 4 is penetrating and connected to a pump main pipe 103, an airbag 104 is attached and connected to inner walls of the waist-ring exoskeleton 1, the thigh exoskeleton 2, the shank exoskeleton 3 and the exoskeleton 4, a pump branch pipe 105 is penetrating and connected to an outer wall between the airbags 104, one end of the pump main pipe 103 penetrates and is connected to an inner wall of the exoskeleton 4 in the airbag 104, a vent pipe 106 is penetrating and connected to an outer wall of a top of the airbag 104 on the waist-ring exoskeleton 1, a pressure release valve 107 is penetrating and connected to an end of the vent pipe 106 in the electric cabinet 7, the lower-limb exoskeleton is used in a reciprocating pedaling process of the exoskeleton 4, the connecting rod 805 is driven to reciprocate and lift under the action of the pressing block 806 and the spring 807, so that the piston 804 is driven to reciprocate and lift inside the bobbin 803, continuous suction is carried out at the suction pipe 808 and the suction pipe 101 under the arrangement of the one-way valve 810, continuous suction of external air is carried out at the air filter element 102, the air sucked into the bobbin 803 is continuously input into the air bags 104 on the inner wall of the exoskeleton shoe 4 through the air pumping main pipe 103, compressed air is continuously input into each air bag 104 on the exoskeleton through the through connection of the air pumping branch pipe 105, the air bags 104 are inflated, the wrapping property and comfort of the exoskeleton wearing are improved, when the air pressure in the air bags 104 reaches the threshold value of the pressure relief valve 107 in the continuous air injection process, the redundant air is discharged through the air discharge pipe 106, the discharged air is input into the electric cabinet 7, realizing the function of heat dissipation in the electric cabinet 7.

Further, the main pump 903 and the branch pump 904 are flexible hoses, so that the pump can normally deliver oil during the wearing process of the exoskeleton.

Further, the pump gas main pipe 103 and the pump gas branch pipe 105 are flexible hoses, so that the pump gas pipe can normally convey gas in the wearing and using process of the exoskeleton.

Further, the pressure release valve 107 is an adjustable pressure release valve, so that the pressure release valve 107 can set the air pressure threshold value in the air bag 104 according to the requirement, thereby realizing the adjustment of the wrapping degree of the air bag 104.

Further, the middle outer walls of the thigh exoskeleton 2 and the shank exoskeleton 3 are connected with the binding bands, and the end parts of the binding bands are provided with the magic tapes, so that the wearing of the exoskeleton is facilitated.

Further, a liquid filling port is formed in the outer wall of the top of the oil tank 902, and lubricating oil is filled in the oil tank 902, so that the lubricating oil in the oil tank 902 can be replenished through the liquid filling port.

The invention has the beneficial effects that:

the telescopic rods 5 are arranged between the lower limb exoskeleton devices, so that the spacing between the exoskeleton of each part can be adjusted, the lower limb exoskeleton devices can be properly adjusted according to the height of a user, and the use of the lower limb exoskeleton is facilitated.

Further, the setting of cushioning member 8, in the wearing use of exoskeleton boot 4, the sole contacts with cushion 802, has improved the travelling comfort, and wherein cushion 802 carries out elastic support through briquetting 806 and spring 807 structure, makes exoskeleton boot 4 have the effect of cushioning, has improved the travelling comfort that this low limbs exoskeleton used.

Further, the cooperation setting of bradyseism subassembly 8 and self-lubricating subassembly 9, the reciprocating trampling in-process of above-mentioned ectoskeleton boots 4, can drive piston 804 and carry out reciprocating lift in the inside of bobbin 803 through briquetting 806 and connecting rod 805, continuously suck at suction tube 808 and pipette 901 department under the setting of check valve 810, the lubricating oil in the oil tank 902 is sucked out, input into each pump oil branch pipe 904 through pump oil branch pipe 809 and pump oil main pipe 903, the lubricating oil is input into oiling head 905 through each pump oil branch pipe 904, oiling head 905 is with the inside of each joint actuating mechanism 6 of lubricating oil shower nozzle, realize the self-lubricating of driving joint on the lower limb ectoskeleton.

Further, the cooperation setting of bradyseism subassembly 8 and air bag inflation component 10, the reciprocating trampling in-process of above-mentioned ectoskeleton boots 4, piston 804 is reciprocal to go up and down in the inside of bobbin 803, carry out the continuous suction of outside air in breathing pipe 101 and air filter 102 department, the air of suction can be continuous through the air pumping main pipe 103 and the air pumping branch pipe 105 input each gasbag 104 on the ectoskeleton, make gasbag 104 inflation, the parcel and the travelling comfort that the ectoskeleton was dressed have been improved, when the atmospheric pressure reached the threshold of relief valve 107 in gasbag 104, unnecessary air can be discharged through bleeder 106, the inside of electric cabinet 7 can be input to the exhaust air, realize the effect to the inside heat dissipation of electric cabinet 7.

Working principle: when the lower limb exoskeleton device is used, in the using process, the waist ring exoskeleton 1 is sleeved on a user, two feet penetrate into exoskeleton boots 4, and then thigh exoskeleton 2 and shank exoskeleton 3 are worn outside thighs and shanks of the user, wherein the arrangement of the telescopic rods 5 enables the spacing between the exoskeleton at each part to be adjusted, so that the lower limb exoskeleton device can be properly adjusted according to the height of the user, and in the using process of the lower limb exoskeleton device, the electric cabinet 7 controls the joint driving mechanism 6 to work so as to intelligently drive each joint of the lower limb exoskeleton; in the wearing and using process of the exoskeleton boots 4, soles are in contact with the cushion 802, comfort is improved, the cushion 802 is elastically supported through the structures of the pressing blocks 806 and the springs 807, feet can press the cushion 802 and the pressing blocks 806 in the treading process of the exoskeleton boots 4, the pressing blocks 806 and the connecting rods 805 move downwards to press the springs 807, after the exoskeleton boots 4 are lifted, the pressing blocks 806 and the cushion 802 are driven to reset under the action of the springs 807, so that the exoskeleton boots 4 have a cushioning effect, in the reciprocating treading process of the exoskeleton boots 4, the connecting rods 805 are driven to lift reciprocally under the action of the pressing blocks 806 and the springs 807, so that the pistons 804 are driven to lift reciprocally in the bobbins 803, continuous suction is carried out at the suction pipes 808 and the liquid suction pipes 901 under the arrangement of the check valves 810, lubricating oil in the oil tanks 902 is sucked out, the lubricating oil sucked into the bobbins 803 can be continuously input into the respective pump oil branch pipes 904 through the pump delivery pipes 809 and the pump oil main pipes 903, the lubricating oil injection heads 905 input the lubricating oil into the respective pump heads 905, and the joints 905 drive the inner parts of the joints 6, and the self-lubricating of the lower limbs is realized; in the reciprocating stepping process of the exoskeleton shoe 4, the connecting rod 805 is driven to reciprocate and lift under the action of the pressing block 806 and the spring 807, so that the piston 804 is driven to reciprocate and lift inside the tube 803, continuous suction is performed at the suction tube 808 and the suction tube 101 under the arrangement of the one-way valve 810, continuous suction of external air is performed at the air filter element 102, the air sucked into the tube 803 can be continuously input into the air bag 104 on the inner wall of the exoskeleton shoe 4 through the air pumping main pipe 103, compressed air is continuously input into each air bag 104 on the exoskeleton through the through connection of the air pumping branch pipe 105, the air bags 104 are inflated, the wrapping performance and comfort of exoskeleton wearing are improved, redundant air can be discharged through the air release pipe 106 when the air pressure in the air bags 104 reaches the valve value of the air bags 107 in the continuous air injection process, the discharged air can be input into the electric control box 7, the effect of heat dissipation inside the electric control box 7 is achieved, the air release valve 107 is an adjustable valve, the air release valve 107 can be continuously input into each air bag 104 according to the requirement, and the air pressure of the air bags 104 can be continuously arranged, and the wrapping degree of the air bags 104 is adjusted.

The embodiments of the present invention are disclosed as preferred embodiments, but not limited thereto, and those skilled in the art will readily appreciate from the foregoing description that various extensions and modifications can be made without departing from the spirit of the present invention.

Claims (9)

1. The utility model provides a wearing formula low limbs ectoskeleton device, includes waist ring skeleton (1), its characterized in that, be connected with thigh ectoskeleton (2) on the outer wall at waist ring skeleton (1) both ends, be connected with shank ectoskeleton (3) on the outer wall at thigh ectoskeleton (2) bottom, be provided with ectoskeleton boots (4) on the bottom outer wall of shank ectoskeleton (3), waist ring skeleton (1) and thigh ectoskeleton (2), thigh ectoskeleton (2) and shank ectoskeleton (3) and the rotation junction of shank ectoskeleton (3) and ectoskeleton boots (4) install joint actuating mechanism (6), extend fixedly connected with telescopic link (5) on the outer wall at thigh ectoskeleton (2) and shank ectoskeleton (3) both ends, joint actuating mechanism (6) are installed on the tip outer wall of telescopic link (5), install electric cabinet (7) on the outer wall of one side of waist ring skeleton (1), be provided with on the bottom outer wall of ectoskeleton boots (4) and shake subassembly (8).

2. A wearable lower extremity exoskeleton device as claimed in claim 1, wherein: the utility model provides a shock-absorbing assembly (8) is including the distribution seting up separate groove (801) on the inner wall of ectoskeleton boots (4) bottom, ectoskeleton boots (4) are located the outer wall upper portion of separate groove (801) and lay and be connected with cushion (802), install bobbin (803) on the bottom inner wall of separate groove (801), the inside of bobbin (803) is provided with piston (804), be fixed with connecting rod (805) on the top outer wall of piston (804), connecting rod (805) run through in the outside one end of bobbin (803) and are connected with briquetting (806), and briquetting (806) are located the below of cushion (802), connecting rod (805) are located the cover on the outer wall between briquetting (806) and bobbin (803) and are equipped with spring (807), through-connection has on the outer wall of bottom one side of bobbin (803) has pumping tube (809), the tip of pumping tube (808) and pumping tube (809) all is provided with check valve (810), pumping tube (808) and pumping tube (809) are provided with lubrication subassembly (10) on pumping tube (809) and pumping tube's) tip.

3. A wearable lower extremity exoskeleton device as claimed in claim 2, wherein: the self-lubricating assembly (9) is fixed including fixing oil tank (902) on outer wall of exoskeleton boots (4) one side, the one end of exoskeleton boots (4) one side suction tube (808) is link-up and is connected with pipette (901), the one end of pipette (901) runs through in the inside of oil tank (902), the one end link-up of exoskeleton boots (4) one side pump delivery pipe (809) is connected with pump oil and is responsible for (903), the one end link-up of pump oil is responsible for (903) is connected with pump oil branch pipe (904), all link-up is connected with oiling head (905) on the outer wall of one side of joint driving mechanism (6), the one end of pump oil branch pipe (904) all link-up with the one end of oiling head (905).

4. A wearable lower extremity exoskeleton device as claimed in claim 2, wherein: the air bag inflation assembly (10) comprises an air suction pipe (101) which is connected with one end of an air suction pipe (808) on one side of an exoskeleton boot (4) in a penetrating mode, an air filter element (102) is connected with one end of the air suction pipe (101) in a penetrating mode, an air pumping main pipe (103) is connected with one end of an air pumping pipe (809) on one side of the exoskeleton boot (4) in a penetrating mode, an air bag (104) is connected to the inner wall of the waist exoskeleton (1), the inner wall of the thigh exoskeleton (2), the lower leg exoskeleton (3) and the inner wall of the exoskeleton boot (4) in a laminating mode, an air pumping branch pipe (105) is connected to the outer wall between the air bags (104) in a penetrating mode, one end of the air pumping main pipe (103) penetrates the inner portion of the air bag (104) on the inner wall of the exoskeleton boot (4), an air leakage pipe (106) is connected to the outer wall of the top of the air bag (104) in a penetrating mode, a pressure release valve (107) is installed at the end portion of the air leakage pipe (106) in a penetrating mode, and one end of the air leakage pipe (106) penetrates the inner portion of an electric cabinet (7).

5. A wearable lower extremity exoskeleton device as claimed in claim 3, wherein: the main oil pumping pipe (903) and the branch oil pumping pipe (904) are telescopic hoses.

6. A wearable lower extremity exoskeleton device as claimed in claim 4, wherein: the pumping main pipe (103) and the pumping branch pipe (105) are telescopic hoses.

7. A wearable lower extremity exoskeleton device as claimed in claim 4, wherein: the pressure relief valve (107) is an adjustable pressure relief valve.

8. A wearable lower extremity exoskeleton device as claimed in claim 1, wherein: the middle outer walls of the thigh exoskeleton (2) and the shank exoskeleton (3) are connected with binding bands, and the end parts of the binding bands are provided with magic tapes.

9. A wearable lower extremity exoskeleton device as claimed in claim 3, wherein: the oil tank (902) is characterized in that an oil filling port is formed in the outer wall of one side of the top of the oil tank (902), and lubricating oil is filled in the oil tank (902).

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