CN111329720A - Air-supported passive lower limb assistance exoskeleton device - Google Patents

Abstract

The invention relates to an air-supported passive lower limb assistance exoskeleton device which comprises a thigh mounting seat, an upper adapter part, an air-supported part tending to extend, a middle adapter part, a connecting rod part, a lower adapter part and a shoe part, wherein the upper adapter part is respectively connected with the upper parts of the thigh mounting seat and the air-supported part and enables the air-supported part to rotate relatively around the thigh mounting seat, the middle adapter part is respectively connected with the air-supported part and the connecting rod part and enables the top of the connecting rod part and the air-supported part to rotate relatively, and the lower adapter part is respectively connected with the connecting rod part and the shoe part and enables the connecting rod part to rotate relatively around the shoe part. Compared with the prior art, the invention has compact structure and low manufacturing and maintenance cost, realizes power assistance through the passive element and does not need external energy input.

Description

A gas-supported passive lower-extremity-assisted exoskeleton device

technical field

The invention belongs to the field of power-assisted skeleton, and relates to a gas-supported passive lower-limb power-assisted exoskeleton device.

Background technique

Arthritis and muscle damage caused by joint disease or overloaded exercise make people's lower limbs lose their original ability to exercise, and the aging of the human body has also caused a series of lower limb inconveniences. There are some commercialized exoskeletons on the market, and most of them adopt an active power assist scheme, which inputs energy to the human body through the motor to support the human body. However, the problem with active exoskeletons is that they tend to be cumbersome and require complex control algorithms, which in turn require high manufacturing and maintenance costs. Passive exoskeletons can avoid this problem, and can make the device small and cost-effective through a compact design, which is suitable for daily use.

At present, there is still a lack of suitable passively powered exoskeleton devices on the market.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an air-supported passive lower-limb power-assisted exoskeleton device in order to overcome the above-mentioned defects in the prior art.

The object of the present invention can be realized through the following technical solutions:

An air-support passive lower-limb power-assisted exoskeleton device, comprising a thigh mount, an upper adapter part, a gas support part that tends to stretch, a middle adapter part, a link part, a lower adapter part and a shoe part, wherein, The upper adapter part is respectively connected to the thigh mounting seat and the upper part of the air support part, so that the air support part can rotate relatively around the thigh mounting seat; The top of the link member and the air support member can be rotated relative to each other, and the lower transition member is respectively connected to the link member and the shoe member, so that the link member can rotate relatively around the shoe member.

Further, the upper adapter part includes a U-shaped joint, a first rotating bearing, a first bearing seat and a first bolt, wherein the first bearing seat is fixed on the thigh mounting seat, and the first rotating The bearing is mounted on the first bearing seat, the U-shaped joint is rotatably matched with the first rotating bearing through a first bolt, and the U-shaped joint is also connected to the air support component.

Further, the first bearing seat is provided with a bearing hole, the first rotating bearing is installed in the bearing hole, and the bearing hole is also provided with a bearing for relatively fixing the first rotating bearing and the first bearing seat. of the first ring.

Furthermore, two first sleeves are also sleeved on the first bolt, and one first sleeve is provided on each side of the first rotating bearing.

In addition, like the upper adapter part, there are sleeves in the middle adapter part and the lower adapter part, which are used to provide the lateral spacing between the two connected parts, so that they can avoid friction when they rotate relative to each other. Bearings are provided to minimize the friction between the two connected components and improve the mechanical efficiency of the device.

Further, the air support component includes an air support cylinder body, a piston body and a piston rod, wherein the upper end of the air support cylinder body is connected to the upper adapter component, and its interior is filled with high-pressure gas, and the piston The piston body is slidably installed in the air support cylinder, and divides the cavity in the air support cylinder into a large cavity above and a small cavity below, and the piston body is also provided with a large cavity to make the large cavity The piston rod and the piston body are fixed into one body, and the piston rod seals pass through the bottom end of the air support cylinder body and is fixedly connected to the middle transfer part. Since the area of the upper surface of the piston body (that is, the end surface that contacts the large cavity) is larger than that of the lower surface (that is, larger than the area of the end surface of the small cavity), the piston body is always subjected to a tendency to elongate under the action of the high-pressure gas. The constant force does not disappear until it reaches the longest.

Further, the bottom end of the air support cylinder is provided with a through hole for the piston rod to pass through, and a sealing ring for sealing the contact portion between the piston rod and the through hole is also provided at the through hole. The sealing ring is used for sealing.

Further, the connecting rod component includes an upper rod, a lower rod, a coupling piece, a pulley coupling rod and a support pulley, wherein the upper rod and the lower rod are tightly connected, and a coupling piece is installed at the bottom of the lower rod One end of the pulley connecting rod is fixedly installed on the connecting piece, and the supporting pulley is installed on the other end through the adapter piece.

Further, the lower rod is provided with a first chute for sliding connection with the upper rod, and a first fastener is also provided between the upper rod and the lower rod for relatively fixing the two.

Furthermore, the pulley connecting rod is also provided with a second chute for sliding cooperation with the connecting piece, and a second fastener is also provided between the pulley connecting rod and the connecting piece to make the two relatively fixed.

Furthermore, an arc-shaped third chute is provided on the coupling piece, and the pulley coupling rod and the coupling piece are fastened by bolts and nuts passing through the third chute.

The air support part is the force generating element, and the connecting rod part is used to transmit the force. When the leg of the wearable device is in the support period, the air support part is compressed, giving the thigh an upward force, and the link part transmits the reaction force of the thigh to the device to the ground, and passively plays a supporting role. The connecting rod part is in contact with the ground through the pulley. During walking, due to the continuous change of the posture of the lower limbs, the connecting rod part will move relative to the ground when it plays a supporting role. The movement of the exoskeleton is made possible by the rolling friction of the support pulley. smooth. When the air support part is compressed and shortened, a force is generated, and the device can play a certain role in assisting when standing, walking and squatting. When the leg wearing the device is in the swing phase, it does not assist and does not hinder the movement of the thigh. This kind of clutch-like action that assists the leg support and does not assist when the leg swings does not require any controller to control, nor does it require a mechanical clutch. This process is automatically realized by the mechanism of the passive lower limb exoskeleton.

There are sliding grooves in the connecting piece and pulley connecting rod. The length and relative angle of the inner rod can be adjusted before being fastened by bolts and nuts, and the relative position of the inner rod of the connecting rod can be easily adjusted to make the device geometrically It is suitable for users with a wider range of different lower limb parameters, and the user can adjust the rod length and relative angle according to the comfort of use.

Compared with the prior art, the fully passive solution adopted by the present invention can avoid the defects of the active exoskeleton, and can adapt to the working conditions of standing, squatting and walking. In these three working conditions, the device can provide a certain degree of The gravity support of the present invention is more suitable for daily use due to its easy wearing and lightness characteristics.

Description of drawings

Figure 1 is a schematic diagram of a person wearing a power-assisted exoskeleton to stand;

Figure 2 is a schematic diagram of a person wearing a power-assisted exoskeleton to walk;

Figure 3 is a schematic diagram of a person wearing a power-assisted exoskeleton while squatting;

Figure 4 is a schematic diagram of a gas-supported passive lower-limb power-assisted exoskeleton;

Figure 5 is a cross-sectional view of the upper adapter part;

6 is a cross-sectional view of a gas support component;

Fig. 7 is the sectional view of the middle adapter part;

Figure 8 is a cross-sectional view of the lower adapter part;

Figure 9 shows the connection mode of the connecting rod components;

Figure 10 is a schematic view of the support pulley at the link member;

Description of marks in the figure:

1- Thigh mount, 2- Upper adapter part, 3- Air support part, 4- Middle adapter part, 5- Link part, 6- Lower adapter part, 7- Shoe part;

201-U type joint, 202-first rotary bearing, 203-first nut, 204-first retaining ring, 205-first bearing seat, 206-first sleeve, 207-first bolt, 208-first screw;

301-sealing ring, 302-piston rod, 303-air support cylinder, 304-piston body, 305-connecting hole, 306-large cavity, 307-small cavity;

401-Second bolt, 402-Transfer block, 403-Second retaining ring, 404-Second rotary bearing, 405-Second sleeve, 406-Linear bearing, 407-Second screw;

501-connecting piece, 502-upper rod, 503-lower rod, 504-bolt and nut, 505-supporting pulley, 506-pin, 507-adapter, 508-pulley connecting rod;

601-the third bearing seat, 602-the third bolt, 603-the third sleeve, 604-the third rotating bearing, 605-the third retaining ring, 606-the third nut, 607-the third screw.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

The present invention proposes an air-supported passive lower-limb power-assisted exoskeleton device, the structure of which is shown in FIG. 4 , including a thigh mount 1 , an upper transition part 2 , an elongated air support part 3 , and a middle transition part 4. The connecting rod part 5, the lower adapter part 6 and the shoe part 7, wherein the upper adapter part 2 connects the thigh mounting seat 1 and the upper part of the air support part 3 respectively, and makes the air support part 3 can be installed around the thigh The base 1 rotates relatively, and the middle adapter part 4 connects the air support part 3 and the link part 5 respectively, so that the top of the link part 5 and the air support part 3 can rotate relative to each other, and the lower adapter part 6 respectively connect the link member 5 and the shoe member 7 so that the link member 5 can rotate relative to the shoe member 7 .

In a specific embodiment of the present invention, as shown in FIG. 5 , the upper adapter part 2 includes a U-shaped joint 201 , a first rotating bearing 202 , a first bearing seat 205 and a first bolt, wherein , the first bearing seat 205 is fixed on the thigh mounting seat 1, the first rotating bearing 202 is mounted on the first bearing seat 205, and the U-shaped joint 201 is connected to the first rotating through the first bolt The bearing 202 is rotatably fitted, and the U-shaped joint 201 is also connected to the air support member 3 .

In a more specific embodiment, the first bearing seat 205 is provided with a bearing hole, the first rotating bearing 202 is installed in the bearing hole, and the bearing hole is also provided with a bearing hole for the first rotating bearing 202 and the bearing hole. The first bearing seat 205 is relatively fixed to the first retaining ring 204 .

In a more specific embodiment, two first sleeves 206 are also sleeved on the first bolt, and one first sleeve 206 is provided on each side of the first rotating bearing 202 .

In addition, like the upper adapter part 2, please refer to Figures 7 and 8, there are sleeves in the middle adapter part 4 and the lower adapter part 6, which are used to provide the lateral spacing between the two connected parts , so that they can avoid friction during relative rotation. In addition, bearings are provided to minimize the friction between the two connected components and improve the mechanical efficiency of the device.

In a specific embodiment of the present invention, as shown in FIG. 6 , the air support component 3 includes an air support cylinder 303 , a piston body 304 and a piston rod 302 , wherein the air support cylinder The upper end of 303 is connected to the upper adapter part 2, the interior of which is filled with high-pressure gas, the piston body 304 is slidably installed in the air support cylinder body 303, and the cavity in the air support cylinder body 303 is divided into the upper part The large cavity 306 and the small cavity 307 below, the piston body 304 is also provided with a communication hole 305 which makes the large cavity 306 and the small cavity 307 communicate with each other, the piston rod 302 and the piston body 304 is fixed into one body, the piston rod 302 is sealed through the bottom end of the air support cylinder 303, and is fixedly connected to the middle adapter part 4. Since the area of the upper surface of the piston body 304 (that is, the end surface that contacts the large cavity 306 ) is larger than the area of the lower surface (that is, larger than the area of the end surface of the small cavity 307 ), the piston body 304 is always subjected to a A constant force that tends to elongate and disappears until it reaches its maximum length.

In a more specific embodiment, the bottom end of the air support cylinder 303 is provided with a through hole for the piston rod 302 to pass through, and the through hole is also provided with a contact portion between the piston rod 302 and the through hole. Sealed sealing ring 301 . The sealing ring 301 is used for sealing.

In a specific embodiment of the present invention, please refer to FIG. 9 and FIG. 10 , the link member 5 includes an upper rod 502 , a lower rod 503 , a coupling piece 501 , a pulley coupling rod 508 and a supporting pulley 505 , wherein the upper rod 502 and the lower rod 503 are tightly connected, a coupling piece 501 is installed at the bottom of the lower rod 503, one end of the pulley coupling rod 508 is fixedly installed on the coupling piece 501, and the other The support pulley 505 is installed on one end through a transition piece 507 .

In a more specific embodiment, the lower rod 503 is provided with a first chute for sliding connection with the upper rod 502, and a first chute is provided between the upper rod 502 and the lower rod 503 to make the two relatively fixed. a fastener.

In a more specific embodiment, the pulley coupling rod 508 is further provided with a second chute for sliding engagement with the coupling piece 501, and between the pulley coupling rod 508 and the coupling piece 501 there is also a second chute for making the two relatively fixed. Second fastener.

In a more specific embodiment, the coupling piece 501 is provided with an arc-shaped third chute, and the pulley coupling rod 508 and the coupling piece 501 are connected by bolts and nuts passing through the third chute. 504 Fastening.

The air support member 3 is a force generating element, and the link member 5 is used to transmit the force. When the leg of the wearable device is in the support period, the air support member 3 is compressed, giving the thigh an upward force, and the link member 5 transmits the reaction force of the thigh to the device to the ground, and passively plays a supporting role. The link member 5 is in contact with the ground through the pulley. During walking, due to the constant change of the posture of the lower limbs, the link member 5 will move relative to the ground when it plays a supporting role. The movement of the bones is smoothed. When the air support part 3 is compressed and shortened, a force is generated, and the device can play a certain role in assisting when standing, walking and squatting. When the leg wearing the device is in the swing phase, it does not assist and does not hinder the movement of the thigh. This kind of clutch-like action that assists the leg support and does not assist when the leg swings does not require any controller to control, nor does it require a mechanical clutch. This process is automatically realized by the mechanism of the passive lower limb exoskeleton.

There are sliding grooves in the coupling piece 501 and the pulley coupling rod 508. The length and relative angle of the inner rod can be adjusted before being fastened by bolts and nuts. It is geometrically suitable for a wider range of users with different lower limb parameters, and the user can adjust the rod length and relative angle according to the comfort of use.

The above embodiments may be implemented individually, or may be implemented in any two or more combinations.

The above embodiments will be described in more detail below with reference to specific embodiments.

Example 1:

This embodiment proposes a lower limb power-assisted exoskeleton with spring energy storage and quick unloading. Its structure is shown in Figure 4, including a thigh mounting seat 1, an upper transition part 2, a gas support part 3, a middle transition part 4, and a connecting rod. Part 5 , lower transition part 6 and shoe part 7 .

The specific assembly relationship of the upper adapter part 2 is shown in Figure 5. The main function of the adapter part is to connect the thigh mount 1 and the air support part 3, so that the air support part 3 can rotate around an axis of the thigh mount 1, except for this As a function, the upper adapter part 2 also provides support for the top end of the compression spring 302 . The upper adapter part 2 is composed of a U-shaped joint 201 , a first rotating bearing 202 , a first nut 203 , a first retaining ring 204 , a first bearing seat 205 , a first sleeve 206 , a first bolt 207 and a first screw 208 , wherein the bottom hole of the U-shaped joint 201 is threaded and is connected with the thread of the guide rod 301 ; the first rotating bearing 202 is installed in the hole of the bearing seat 205 , and the first retaining ring 204 is used to prevent the first rotating bearing 202 The movement of the ring relative to the first bearing seat 205; the first bolt 207 passes through the U-shaped joint 201, the first sleeve 206 and the first rotating bearing 202, and is fastened with the first nut 203; the first screw 208 is used to connect the first Bearing block 205 and thigh mount 1. Through the above solution, the guide rod 301 can be rotated relative to the thigh mount 1 , and the axis of rotation coincides with the center line of the first rotating bearing 202 . Among them, the first rotating bearing 202 can reduce the friction between the thigh mounting seat 1 and the guide rod 301 during relative rotation; the first sleeve 206 provides a lateral distance between the U-shaped joint 201 and the first bearing seat 205, which can Avoid friction between their lateral surfaces.

The specific assembly relationship of the air support component is shown in FIG. 6 , which consists of a sealing ring 301 , a piston rod 302 , a piston body 304 and an air support cylinder body 303 . The cavity of the air support cylinder 303 is divided into a large cavity 306 and a small cavity 307 by the piston body 304. The large cavity 306 and the small cavity 307 are connected through the communication hole 305 on the piston body 304. sealing effect. The cavity of the air support cylinder 303 is filled with high-pressure gas. Since the surface area of the upper surface of the piston body 304 is larger than that of the lower surface and the pressure on both sides is the same, the pressure on the upper surface is greater than that on the lower surface. 304 is compressed, it will always receive a thrust in the direction of elongation, and this thrust will not disappear until the piston rod 302 is extended to the longest.

The specific assembly relationship of the middle adapter part 4 is shown in Figure 7 . The transfer part 4 is composed of a second bolt 401 , a transfer block 402 , a second retaining ring 403 , a second rotating bearing 404 , and a second sleeve 405 . The adapter block 402 is machined with a hole for placing the linear bearing 406 ( FIG. 6 ), which is fastened by the second screw 407 ; the second bearing 404 is installed in the hole of the upper rod 502 , and the outer ring is limited by the second retaining ring 403 The second bolt 401 passes through the second sleeve 405, the inner ring of the second rotary bearing 404 and the second sleeve 405 in turn, and is threadedly connected with the threaded hole in the adapter block 402. In this way, The connecting rod part 5 can be rotated relative to the middle part of the connecting part 4 . Wherein, the second rotating bearing 404 can reduce the friction between the connecting rod assembly 5 and the middle connecting part 4 during relative rotation; the second sleeve 405 provides the middle connecting part 4 and the upper rod 502 in the connecting rod 5 The lateral spacing between them can avoid friction between their lateral surfaces.

The specific assembly relationship of the lower adapter part 6 is shown in Figure 8 . The lower adapter part 6 is composed of a third bearing seat 601, a third bolt 602, a third sleeve 603, a third rotating bearing 604, a third retaining ring 605, a third nut 606 and a third screw 607, wherein the third The rotating bearing 604 is installed in the hole of the third bearing seat 601, and the third retaining ring 605 is used to prevent the movement of the outer ring of the third rotating bearing 604 relative to the third bearing seat 601; the third bolt 602 passes through the connection of the connecting rod part 5 The plate 501 , the third sleeve 603 and the third rotating bearing 604 are fastened with the third nut 606 . Through the above solution, the connecting rod assembly 5 can be rotated relative to the axis of the shoe component 7 , and the axis of rotation coincides with the center line of the third rotating bearing 604 . Wherein, the third rotating bearing 604 can reduce the friction between the connecting rod assembly 5 and the shoe part 7 during relative rotation; the third sleeve 603 provides the connection between the connecting piece 501 in the connecting rod part 5 and the third bearing seat 601 Lateral spacing to avoid friction between their lateral surfaces.

The specific assembly relationship of the connecting rod part 5 is shown in Figure 9, which consists of a connecting piece 501, an upper rod 502, a lower rod 503, a bolt 504, a supporting pulley 505, a pin 506, an adapter piece 507 and a pulley connecting rod 508. The upper rod 502 and the lower rod 503 are fastened by the screw and nut structure, and there is a first chute in the lower rod 503. Before the upper rod 502 and the lower rod 503 are fastened with the screw and nut structure, the upper rod can be adjusted according to the comfort of the user. The relative distance between 502 and the lower rod 503, that is, move properly along the direction of the first chute, and then tighten the screw and nut structure. The support pulley 505 is coupled to an adapter plate 507 through a pin 506, and the adapter plate 507 is fastened to the pulley coupling rod 508 through a screw and nut structure. Similarly, the pulley coupling rod 508 has a second sliding groove, which can be used to adjust the position of the support pulley 505 relative to the pulley coupling rod 508 along the direction of the second sliding groove. The lower rod 503 and the pulley coupling rod 508 are sandwiched by the coupling piece 501 and are locked by bolts and nuts 504 . Similarly, there is a third chute on the coupling piece 501, and the relative angle of the lower rod 503 and the pulley coupling rod 508 can be adjusted according to the user's comfort. constant.

The effect of the present invention is described below according to specific working conditions:

Standing assist mode, Figure 1 shows the situation when a person wears the air-support passive lower-limb assist exoskeleton standing still. At this time, the air-support part 3 has a certain amount of compression, and the air-support part 3 is compressed to generate force. Characteristic, it will provide a diagonal forward and upward force to the thigh, and the reaction force of the thigh to the air support is directly transmitted to the ground through the link assembly. The above-mentioned force transmission process can achieve a certain gravity support, and part of the gravity flowing through the lower limbs is now transmitted to the ground through the power-assisted exoskeleton, that is, the human body gravity that needs to be supported by the lower limbs is reduced, which can play a certain role in assisting. Since different users have different sizes of lower limbs, the user can adjust the relative position of the link member 5 according to the specific situation. Besides, the air support member 3 with different pressure specifications can also be used to achieve the best boosting effect.

Walking assist mode, Figure 2 shows the situation when a person walks wearing the spring-type passive lower limb assist exoskeleton. The following three stages are described: swing period, transition period and support period:

(1) Swing period:

When the leg wearing the exoskeleton is in the swing phase in the air (hereinafter referred to as the swing leg, corresponding to the right leg in Figure 2), the air support part 3 returns to its original length, and the air support part 3 at this time can be seen as a For a rigid rod with a constant length, after the posture of the swinging leg is given, the axis of the third bearing 604 of the lower adapter part 6 is determined. Since the supporting pulley 505 will not be in contact with the ground at this time, the swinging leg is wearing The posture of the exoskeleton is also uniquely determined. At this time, the air support member 3 is in a fully extended state and no longer provides support for the human body, that is, the mechanism of the device will not hinder the movement of the human body.

(2) Transition period:

When the leg wearing the exoskeleton is in the transition stage from the swing period in the air to the support period, the swing leg wearing the exoskeleton is about to contact the ground, and the leg is in the front, and the opposite leg is in the back. Before the swinging leg touches the ground, the pulley of the exoskeleton comes into contact with the ground. During the transition period, the air support of the exoskeleton is gradually compressed until it enters the support period. During this transitional stage, the swinging leg is gradually decelerated under the action of the air support, and this part of the energy is stored in the air support for release during the support period. In addition to that, the leg is decelerated due to the gas brace energy storage, which helps to reduce the impact energy loss when the leg hits the heel.

(3) Support period:

During the walking phase, the passive exoskeleton worn by the support leg (the left leg in Figure 2) acts as a booster: the air support part 3 of the passive exoskeleton supporting the leg is in a compressed state, and the direction of the force applied by the air support to the thigh is the same as that of the person. The direction of advancement is the same, and the air support component 3 can push the thighs to move forward, help walking, and play a certain role in assisting.

Squatting assist mode, Figure 3 shows the situation when a person wears the spring-type passive lower-limb assist exoskeleton to squat. For workplaces that require semi-squatting, such as assembly line work, the exoskeleton can provide a certain thigh support, which can play a role in squatting. Seat-like function.

The foregoing description of the embodiments is provided to facilitate understanding and use of the invention by those of ordinary skill in the art. It will be apparent to those skilled in the art that various modifications to these embodiments can be readily made, and the generic principles described herein can be applied to other embodiments without inventive step. Therefore, the present invention is not limited to the above-mentioned embodiments, and improvements and modifications made by those skilled in the art according to the disclosure of the present invention without departing from the scope of the present invention should all fall within the protection scope of the present invention.

Claims (10)

1. The utility model provides an air supporting type passive lower limbs helping hand ectoskeleton device, its characterized in that includes thigh mount pad, upper portion switching part, tends to the gas support part of extension, middle part switching part, connecting rod part, lower part switching part and shoes part, wherein, upper portion switching part is connected respectively thigh mount pad and gas support part upper portion to make the gas support part can rotate relatively around the thigh mount pad, middle part switching part is connected respectively gas support part and connecting rod part to make and to rotate relatively between connecting rod part top and the gas support part, the lower part switching part is connected respectively connecting rod part and shoes part to make the connecting rod part can rotate relatively around the shoes part.

2. The inflatable passive lower extremity assistance exoskeleton device of claim 1, wherein the upper adapter component comprises a U-joint, a first rotating bearing, a first bearing seat and a first bolt, wherein the first bearing seat is fixed on the thigh mounting seat, the first rotating bearing is installed on the first bearing seat, the U-joint is rotatably engaged with the first rotating bearing through the first bolt, and the U-joint is further connected to the inflatable component.

3. The gas-strut passive lower extremity assistance exoskeleton device according to claim 2, wherein the first bearing seat is provided with a bearing hole, the first rotating bearing is installed in the bearing hole, and a first retaining ring for fixing the first rotating bearing and the first bearing seat relative to each other is further provided in the bearing hole.

4. The gas-strut passive lower limb assistance exoskeleton device as claimed in claim 2, wherein two first sleeves are further sleeved on the first bolt and are respectively located on two sides of the first rotating bearing.

5. The inflatable passive lower limb assistance exoskeleton device as claimed in claim 1, wherein the inflatable member comprises an inflatable cylinder, a piston and a piston rod, wherein the upper end of the inflatable cylinder is connected with the upper adapter member, the upper adapter member is filled with high-pressure gas, the piston is slidably mounted in the inflatable cylinder and divides a cavity in the inflatable cylinder into a large cavity above and a small cavity below, the piston is further provided with a communication hole for communicating the large cavity with the small cavity, the piston rod and the piston are fixed into a whole, and the piston rod penetrates through the bottom end of the inflatable cylinder in a sealing manner and is fixedly connected with the middle adapter member.

6. The inflatable passive lower limb assistance exoskeleton device as claimed in claim 5, wherein a through hole for the piston rod to pass through is formed at the bottom end of the inflatable cylinder body, and a sealing ring for sealing a contact part between the piston rod and the through hole is further formed at the through hole.

7. The gas-strut passive lower limb assistance exoskeleton device as claimed in claim 1, wherein the link member comprises an upper rod, a lower rod, a coupling piece, a pulley coupling rod and a support pulley, wherein the upper rod and the lower rod are fastened and connected, the coupling piece is installed at the bottom of the lower rod, one end of the pulley coupling rod is fixedly installed on the coupling piece, and the other end of the pulley coupling rod is provided with the support pulley through an adapter piece.

8. The inflatable passive lower extremity assisting exoskeleton device of claim 7, wherein the lower rod is provided with a first sliding slot for slidably connecting the lower rod with the upper rod, and a first fastening member for fixing the upper rod and the lower rod relative to each other is provided between the upper rod and the lower rod.

9. The inflatable passive lower extremity assisting exoskeleton device of claim 7, wherein a second sliding groove in sliding fit with the coupling piece is further formed on the pulley coupling rod, and a second fastening piece for fixing the pulley coupling rod and the coupling piece relatively is further arranged between the pulley coupling rod and the coupling piece.

10. The inflatable passive lower limb assistance exoskeleton device as claimed in claim 7, wherein the connecting plate is provided with a third arc-shaped sliding groove, and the pulley connecting rod and the connecting plate are fastened by bolts and nuts penetrating through the third sliding groove.

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