CN111906752B - A passive exoskeleton robot for enhanced human payload transport - Google Patents

Abstract

The invention discloses a passive exoskeleton robot for enhancing load transportation capacity of a human body, which comprises a waist supporting plate component, a thigh component, a shank component, a sole component and a drawstring; the waist support plate component is fixed on the waist of a human body, the thigh component is upwards and fixedly connected with the waist support plate component from the outer side of the hip joint, and simultaneously the thigh component downwards turns to the front side of the thigh and is rotationally connected with the shank component at the knee joint; the shank component is turned from the front side of the shank to the outer side of the shank, extends downwards and is rotationally connected with the sole component; the thigh component can be matched with the flexion and extension, adduction and abduction and rotation degrees of freedom of the hip joint; the lower leg assembly can match plantarflexion and dorsiflexion degrees of freedom of the ankle joint; the drawstring is positioned on the front of the human body, and two ends of the drawstring are respectively fixedly connected with the waist supporting plate component and the thigh component. The invention can balance the interaction force between the exoskeleton and the human body, reduce the driving force required by the human body and provide assistance for thigh swing.

Description

A passive exoskeleton robot for enhanced human payload transport

technical field

The invention relates to the technical field of exoskeleton robots, in particular to a passive exoskeleton robot for enhancing the load transport capacity of a human body.

Background technique

Human body enhancement technology is a very popular field in the current development of science and technology, and exoskeleton robot technology is one of the branches of human body enhancement technology. Exoskeleton robots can be divided into active exoskeleton robots and passive exoskeleton robots according to whether they use energy. Active exoskeleton robots rely on their own energy to drive each joint of the exoskeleton through the control system and execution system. The weight and volume of active exoskeleton itself are large, and the energy reserve is limited, and its cruising range is limited, which limits the practical application of active exoskeleton robots. Compared with active exoskeleton robots, passive exoskeleton robots can better meet the current market demand for exoskeleton robots because of their characteristics of no energy supply, efficient force transmission, light weight and flexibility.

Although passive exoskeletons are not as bulky as active exoskeletons, the use of passive exoskeletons also increases the energy consumption of the human body. This is mainly due to the natural human-machine movement deviation, and the consistency of exoskeleton and human movement is difficult to guarantee. For example, when using an exoskeleton to walk with a load, the rotational moment generated by the load on the exoskeleton requires human power to overcome, which will to a certain extent cause the energy consumed by the human body itself to exceed the energy consumed when not wearing an exoskeleton for weight-bearing.

For this reason, designing elastic elements in passive exoskeleton robots to assist human body movement has become a new direction for the development of passive exoskeleton robots, and energy storage elements have been proven in current scientific research. Energy and release energy can reduce the overall energy consumption of the human body itself. This idea aims to transform the negative energy generated during the human body's movement into elastic potential energy, and finally act on the human body to assist its movement. In essence, it does not improve the nature of human driving force output.

Contents of the invention

In view of this, the present invention provides a passive exoskeleton robot for enhancing the load transport capacity of the human body, which can balance the interaction force between the exoskeleton and the human body, reduce the driving force that the human body needs to provide, and provide support for thigh swings. help.

The technical scheme that the present invention adopts is as follows:

A passive exoskeleton robot for enhancing human body load transportation capacity, including a waist support plate assembly, a thigh assembly, a calf assembly, a shoe sole assembly and a drawstring;

The waist support plate assembly is an unclosed ring structure, and the thigh assembly, calf assembly, shoe sole assembly and drawstring are two groups, which are arranged symmetrically about the vertical axis direction;

The waist support plate assembly is fixed on the waist of the human body, the unclosed side is located on the front of the human body, and the back side of the human body is used to shelve the load; taking one side as an example, the thigh assembly is fixed upward from the outside of the hip joint and connected to the waist support plate assembly, At the same time, the thigh assembly turns downward to the front side of the thigh, and is rotationally connected with the calf assembly at the knee joint; the calf assembly turns from the front side of the calf to the outer side of the calf, extends downward and is rotationally connected with the sole assembly; the thigh assembly can match the hip joint Flexion and extension degrees of freedom, adduction and abduction degrees of freedom, and rotation degrees of freedom; the calf assembly can match the plantarflexion and dorsiflexion degrees of freedom of the ankle joint, as well as the degree of freedom of varus and varus; the drawstring is located on the front of the human body, and the two ends of the drawstring They are respectively fixedly connected with the waist support plate assembly and the thigh assembly, and are used to balance the reclining moment formed by the load and provide assistance for the swing of the thigh.

Further, the waist support plate assembly includes a waist support plate, a right-angle support for the support plate, a fixing member for the support plate, a folding hinge, a waist back plate, a waist side plate and a drawstring hanger;

Both sides of the waist back panel are fixedly connected with the waist side panels, and the two waist side panels are fixedly connected with the drawstring hangers to form an unclosed ring structure; the waist supporting plate is rotated with the waist back panel through folding hinges Connection; the right-angled support of the pallet is fixed on the bottom of the waist pallet through the fixing part of the pallet support, and the waist backboard is pressed to the level by the load during use.

Further, the thigh assembly includes an L-shaped connector, a U-shaped connector, a hip joint rotation member, a thigh length adjustment member, a rotation limit block and a thigh bearing structure;

One end of the L-shaped connector is fixedly connected to the waist support plate assembly, and the other end is rotatably connected to the closed end of the U-shaped connector. The U-shaped open end of the connecting piece is rotatably connected with the hip joint rotator, and the rotation axis is in the direction of the coronal axis, matching the degree of freedom of flexion and extension of the human hip joint; the hip joint rotator is rotatably connected with the thigh length adjustment member, and the rotation axis is in the direction of the vertical axis , matching the degree of freedom of internal and external rotation of the human hip joint, and at the same time, the rotation of the hip joint is limited by the rotation limit block, and the limit angle is 60 degrees for the left and right;

The thigh load-bearing structure is an integrated structure, including a special-shaped curved panel and two claw arcs. One end of the special-shaped curved panel is fixedly connected to the thigh length adjustment member, and the other end is integrated with the closed end of the two claw arcs; the two claws are arc-shaped The open end of the piece is provided with an arc-shaped plate, and the arc-shaped plate matches the shape of the knee joint.

Further, a copper sleeve is installed in the hip joint rotating part, and the protruding end of the copper sleeve is covered with an annular ring. The hip joint rotating part is inserted into the U-shaped opening end of the U-shaped connector and fixed by a T-shaped pin, and the hip joint rotates The two ends of the piece are respectively in contact with the U-shaped connecting piece through the annular flash edge and the annular ring of the copper sleeve.

Further, the hip joint rotating member is rotatably connected to the thigh length adjusting member through a deep groove bearing.

Further, the calf assembly includes a calf bearing structure, a strap, a calf side transfer structure, a calf side support plate, a calf length adjustment plate, a Y-shaped connector, an ankle joint height adjustment block, and an ankle joint base;

One end of the supporting structure of the lower leg is an arc-shaped plate structure, which is rotatably connected with the supporting structure of the thigh, and forms a mechanical limit when standing upright, and matches the shape of the knee joint. The belt is fixed on the calf load-bearing structure; the calf side transfer structure is fixedly connected to the calf side support plate, and the calf side support plate is fixedly connected to the calf length adjustment plate; the calf length adjustment plate is rotationally connected to the open end of the Y-shaped connector. The axis is in the direction of the coronal axis, which matches the degrees of freedom of plantarflexion and dorsiflexion of the human ankle joint; the Y-shaped connector is rotationally connected with the base of the ankle joint through the ankle joint height adjustment block, and the rotation axis is in the direction of the coronal axis, matching the inside and outside of the ankle joint Turn degrees of freedom.

Further, a copper sleeve is installed in the shank length adjustment plate, and the protruding end of the copper sleeve is fitted with an annular ring. The shank length adjustment plate is inserted into the open end of the Y-shaped connector and fixed by a T-shaped pin. The two sides of the shank length adjustment plate are The end faces are in contact with the Y-shaped connector through the copper sleeve annular flash and the annular ring respectively.

Further, the shoe sole assembly includes a shoe-shaped rigid structural bottom plate and a mounting seat, and the mounting seat is fixed on a side of the shoe-shaped rigid structural bottom plate for fixed connection with the calf assembly.

Beneficial effect:

1. The waist supporting plate structure of the present invention transmits the load gravity to the thigh components on both sides, the thigh component transmits the load gravity to the calf component, and finally the sole component transmits the load gravity to the ground, thereby reducing the need for the human body to carry The load of the human body is protected from the damage of the load pressure.

Among them, the present invention utilizes the elastic pulling force of the drawstring to balance the interaction force between the exoskeleton and the human body, reduces the driving force that the human body needs to provide, that is, reduces the load recoil moment that the upper body of the human body needs to overcome, and provides support for the thigh swing. Assisting, thereby adjusting the interaction force between man and machine, fundamentally achieving the purpose of labor saving and assisting;

Moreover, the form of the lower limbs of the passive exoskeleton robot fully considers the characteristics of the human body’s own force output mode, that is, most of the human body’s motion exists in the sagittal plane, and the human body’s driving force in this motion plane is the human body’s customary force output mode. Therefore, the form of the lower limbs of the exoskeleton is transferred from the outside of the hip joint to the coronal plane of the human body, that is, the front side of the human body. At this time, when the exoskeleton is worn on the human body, the interaction force between the human and the machine is in the sagittal plane, namely The exoskeleton is in the same direction as the human body, which can improve the wearer's comfort when using the exoskeleton.

Secondly, when the exoskeleton is worn on the human body, its movement form is basically the same as that of the human body, and it can match the degree of freedom of flexion and extension of the hip joint, the degree of freedom of adduction and abduction, the degree of freedom of rotation, the degree of freedom of flexion and extension of the knee joint, and the degree of freedom of the ankle joint. The degrees of freedom of flexion and dorsiflexion and valgus are compatible with the movement of the lower limbs of the human body, ensuring the consistency of the movement of the lower limbs of the exoskeleton and the movement of the lower limbs of the human body. Through the structural motion compatibility design, the interference between the exoskeleton and the human body movement is improved, and the fatigue of the wearer is effectively reduced.

2. Between the thigh length adjustment part and the thigh load-bearing structure, between the calf length adjustment plate and the calf side support plate, between the ankle joint height adjustment part and the Y-shaped connector of the present invention, the length and length of the thigh assembly of the lower limb of the exoskeleton can be adjusted. The length of the calf component and the height of the ankle joint of the exoskeleton match the rotational freedom of the lower extremity of the exoskeleton with the rotational position of the hip joint, knee joint and ankle joint of the human body to suit different heights Range wearer.

3. In the present invention, when the lower limbs of the human body stand upright, the combined surface contact between the thigh bearing structure and the calf bearing structure forms a mechanical limit, which prevents excessive reverse movement between the two and oppresses the human knee, protects the knee joint from structural oppression, and The lower extremity structure of the exoskeleton forms an integrated structure, which improves the stability of the load gravity in the process of downward transmission.

4. The present invention utilizes the connection form of the copper sleeve and the annular ring, which can avoid the contact friction between two planes and reduce its frictional resistance.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Figure 2 is an exploded view of the waist support plate assembly of the present invention;

Figure 3 is an exploded view of the hip joint structure;

Figure 4 is an exploded view of the calf-ankle joint structure;

Fig. 5 is the structural representation of sole assembly;

Fig. 6 is a partial schematic diagram of the connection between the thigh load-bearing structure and the lower leg load-bearing structure;

Among them, 1-drawing belt, 2-thigh load-bearing structure, 3-calf load-bearing structure, 4-waist back panel, 5-draw belt pendant, 6-waist side panel, 7-waist support plate, 8-support plate right angle support , 9-Folding hinge, 10-Pallet support fixture, 11-L-shaped connector, 12-U-shaped connector, 13-Ring Ⅰ, 14-Copper sleeve Ⅰ, 15-T-shaped pin Ⅰ, 16 -pin stopper Ⅰ, 17-hip joint rotation part, 18-rotation limit block, 19-deep groove bearing, 20-thigh length adjustment part, 21-calf side transfer structure, 22-calf side, 23-calf length adjustment Plate, 24-Pin block II, 25-T pin II, 26-Copper sleeve II, 27-Annular ring II, 28-Y-type connector, 29-Ankle joint height adjustment block, 30-Copper sleeve III, 31- Axial pin, 32-ankle joint base, 33-mounting seat, 34-shoe-shaped rigid structure bottom plate, 35-calf strap.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and examples.

The present invention provides a passive exoskeleton robot for enhancing the load transport capacity of the human body, as shown in FIG.

The waist support plate assembly is an unclosed annular structure, and the thigh assembly, the calf assembly, the sole assembly and the drawstring 1 are two groups, symmetrically arranged about the vertical axis direction.

The waist support plate assembly is fixed on the waist of the human body, the unclosed side is located on the front of the human body, and the back side of the human body is used to shelve the load; taking one side as an example, the thigh assembly is fixed upward from the outside of the hip joint and connected to the waist support plate assembly, while the thigh assembly is facing toward the Turn down to the front side of the thigh, and rotate with the calf assembly at the knee joint; the calf assembly turns from the front side of the calf to the outside of the calf, and extends downward to rotate and connect with the sole assembly; the thigh assembly can match the degree of freedom of flexion and extension of the hip joint, adduction and abduction degrees of freedom and rotation degrees of freedom; the calf assembly can match the degrees of freedom of plantar flexion and dorsiflexion and varus and varus of the ankle joint; the drawstring 1 is located on the front of the human body, and the two ends of the drawstring 1 are respectively connected to the waist The board assembly and the thigh assembly are fixedly connected to balance the reclining moment formed by the load and provide assistance for the swing of the thigh.

As shown in Figure 2, the waist support plate assembly includes the waist support plate 7, the support plate right-angle support 8, the support plate support fixture 10, the folding hinge 9, the waist back plate 4, the waist side plate 6 and the drawstring hanger 5 ;

Both sides of the waist back board 4 are fixedly connected with the waist side board 6, and the two waist side boards 6 are fixedly connected with the drawstring pendant 5 to form an unclosed ring structure; The plates 4 are connected in rotation; the right-angled supporting part 8 of the supporting plate is fixed on the bottom of the waist supporting plate 7 through the supporting part fixing part 10 of the supporting plate. 7. The bottom surface is fixedly connected with the bottom of the supporting piece 8 at right angles to the supporting plate, and the vertical part is in contact with the supporting piece 8 at right angles. The waist backboard 4 contacts the limit.

The waist backboard 4 is pressed to the horizontal position by the load when in use, and bounces back to the vertical position under the action of the folding hinge 9 when not in use, and the whole structure is fixed on the level of the waist and pelvis. The leg is stretched from vertical to toe off the ground when changing legs), and its pulling force acts on the drawstring pendant 5 and the thigh assembly, and the pulling force acting on the drawstring pendant 5 forms a clockwise direction as the fulcrum of the bone hip joint. The moment is used to offset part of the counterclockwise moment formed by the load at the fulcrum; the pulling force acting on the thigh assembly releases its stored elastic potential energy when the human thigh changes from a support state to a swing state, and turns is the kinetic potential energy of the thigh swing.

As shown in FIG. 3 , the thigh assembly includes a hip joint structure and a thigh bearing structure 2 . Wherein, the hip joint structure includes an L-shaped connecting piece 11, a U-shaped connecting piece 12, a hip joint rotating piece 17, a thigh length adjusting piece 20, a rotation limiting block 18 and a thigh bearing structure 2;

One end of the L-shaped connector 11 is fixed on the waist side plate 6 of the waist support plate assembly by bolts, and the other end is rotationally connected with the closed end of the U-shaped connector 12, and the rotation axis is in the direction of the sagittal axis, matching the adduction and abduction of the hip joint Degree of freedom: Copper sleeve I14 is installed in the hip joint rotation part 17, and the protruding end of the copper sleeve I14 is fitted with an annular ring I13. The outer side of the T-shaped pin I15 restricts its axial movement through the pin stopper I16, and the two ends of the hip joint rotating part 17 contact the U-shaped connector 12 through the copper sleeve I14 annular flash and the annular ring I13 respectively, and the U-shaped connector 12 has a U-shaped opening The end is connected with the hip joint rotating part 17 in rotation, and the rotation axis is in the direction of the coronal axis, matching the degree of freedom of flexion and extension of the human hip joint; two deep groove bearings 19 are installed at the lower end of the hip joint rotating part 17 and pass through the rotation limit block 18 and the length of the thigh The cylindrical groove at the upper end of the adjustment part 20 is rotationally connected, and the installation of the deep groove bearing 19 can reduce the frictional resistance between the structural parts. There is a protrusion, which cooperates with the rotation limit block 18 to limit the position, and the limit angle is 60 degrees for the left and right; the rotation limit block 18 is fixed on the upper end of the thigh length adjustment part 20 by bolts. The lower end of the thigh length adjusting member 20 is connected to the thigh bearing structure 2 by bolts. The adjustment range of the thigh length adjustment member 20 is 120 mm, which can be adapted to wearers of different height ranges.

The thigh supporting structure 2 is an integrated structure, including a special-shaped curved panel and two claw arcs, one end of the special-shaped curved panel is fixedly connected with the thigh length adjustment member 20, and the other end is integrated with the closed end of the two claw arcs. The open ends of the two claw arc parts are provided with an arc plate, and the arc plate matches the shape of the knee joint.

As shown in Figure 4, the calf assembly includes a calf bearing structure 3, a calf strap 35, a calf side transfer structure 21, a calf side support plate 22, a calf length adjustment plate 23, a Y-shaped connector 28, and an ankle joint height adjustment block 29 And the ankle joint base 32; the length adjustment range of the calf length adjustment plate 23 is 80mm, which can be adapted to wearers of different heights. The adjustment range of the ankle joint height adjustment block 29 is 20mm, mainly to match the height difference of different human body ankle joint heights and different shoe types.

As shown in Figure 6, one end of the calf load-bearing structure 3 is an arc-shaped plate structure, which is rotationally connected with the opening end of the two claw arc-shaped parts of the thigh load-bearing structure 2. The shape is matched, and the other end of the calf carrying structure 3 is fixedly connected to the calf side transfer structure 21; the calf strap 35 is fixed on the calf carrying structure 3, and is used to bind the exoskeleton robot on the calf; the calf side transfer structure 21 is connected to the calf side The calf side support plate 22 is fixedly connected, and the calf side support plate 22 is fixedly connected with the calf length adjustment plate; the calf length adjustment plate 23 is equipped with a copper sleeve II 26, and the protruding end of the copper sleeve II 26 is fitted with an annular ring II 27, and the calf length adjustment plate 23 is inserted into the Y The opening end of the type connector 28 is fixed by the T-shaped pin II 25, and the outer side of the T-shaped pin II 25 is restricted by the pin stopper II 24 to limit its axial movement; II 27 is in contact with Y-shaped connector 28 . The calf length adjustment plate 23 is rotationally connected with the open end of the Y-shaped connector 28, and the rotation axis is in the direction of the coronal axis, matching the plantar flexion and dorsiflexion degrees of freedom of the human ankle joint; the Y-shaped connector 28 is connected to the ankle joint through the ankle joint height adjustment block 29 The joint base 32 is rotatably connected, and the rotation axis is in the direction of the coronal axis, matching the degree of freedom of varus and varus of the ankle joint. A copper sleeve III 30 is installed in the coronal axis direction cylindrical groove at the lower end of the ankle joint height adjustment block 29, and is fixed on the ankle joint base 32 by the axial pin 31.

Between the thigh length adjustment part 20 and the thigh load-bearing structure 2, between the calf length adjustment plate 23 and the calf side support plate 22, between the ankle joint height adjustment part and the Y-shaped connector 28, bolts are used to adjust the thigh of the lower limb of the exoskeleton. Component length and calf component length, and exoskeleton ankle height.

As shown in FIG. 5 , the shoe sole assembly includes a shoe-shaped rigid structural bottom plate 34 and a mounting seat 33 , and the mounting seat 33 is fixed on the side of the shoe-shaped rigid structural bottom plate 34 for fixed connection with the calf assembly. The mounting seat 33 is a square, which can make the contact between the exoskeleton and the ground more stable.

Taking a gait cycle as an example, the passive exoskeleton robot overcomes the backward tilting moment formed by the load on the upper body of the human body through the design of the front thigh strap 1 during the movement of the human body. The starting point of a gait cycle is that the heel of the human body touches the bottom. For example, the heel of the left leg touches the ground first, and the right leg is in the late stage of support. It is in a stretched state, so there is contraction tension on the drawstring 1 , for the drawstring hanger 5 , its tension direction is downward along the drawstring 1 , and for the thigh supporting structure 2 , its tension direction is upward along the drawstring 1 . The tension acting on the drawstring pendant 5 forms a clockwise moment with the hip joint as the fulcrum of the exoskeleton, and balances with the counterclockwise moment of the load with the hip joint as the fulcrum, so as to reduce the upper body needs to overcome. The backward tilting moment formed by the load at the center of the hip joint; the tensile force acting on the thigh bearing structure 2 forms a counterclockwise moment with the center of the hip joint as the fulcrum, assisting the lower limb structure of the exoskeleton to swing forward with the human body. When the left leg moves forward, it is similar to the inverted pendulum mode in the support state, and the right leg swings forward. When the right leg moves past the hip joint angle to 0, the drawstring 1 returns to the natural state, and this When the left leg moves to the upright state, and then when the left leg continues to move forward, the left leg strap 1 is in a stretched state. At this time, the backward tilt formed by the load overcome by the strap 1 of the right leg The torque is converted into the clockwise pulling torque generated by the left leg strap 1 to overcome. When the left leg is in the late stage of support, the power mode of the aforementioned right leg is repeated. That is, in the process of exchanging the left and right legs back and forth, one side of the drawstring 1 is always in a stretched state. On the one hand, it overcomes the backward tilting moment formed by the load; The process provides motion assistance.

To sum up, the above are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (7)

1. A passive exoskeleton robot for enhancing load transportation capability of a human body, which is characterized by comprising a waist supporting plate component, a thigh component, a shank component, a sole component and a drawstring;

the waist supporting plate component is of an unsealed annular structure, and the thigh component, the shank component, the sole component and the drawstring are all two groups and are symmetrically arranged in the vertical axis direction;

the waist supporting plate component is fixed on the waist of a human body, the unsealed side is positioned on the front surface of the human body, and the back side of the human body is used for placing a load; taking one side as an example, the thigh component is fixedly connected with the waist supporting plate component from the outer side of the hip joint upwards, and simultaneously the thigh component is downwards turned to the front side of the thigh and is rotationally connected with the shank component at the knee joint; the lower leg component turns from the front side of the lower leg to the outer side of the lower leg, and extends downwards to be rotationally connected with the sole component; the thigh component can be matched with the flexion and extension freedom degree, the adduction and abduction freedom degree and the rotation freedom degree of the hip joint; the lower leg assembly is capable of matching plantarflexion and dorsiflexion degrees of freedom of the ankle joint; the pull belt is positioned on the front of the human body, and two ends of the pull belt are fixedly connected with the waist supporting plate component and the thigh component respectively and used for balancing backward tilting moment formed by the load and providing assistance for thigh swing;

the waist support plate assembly comprises a waist support plate, a support plate right-angle support piece, a support plate support piece fixing piece, a folding hinge, a waist backboard, a waist side plate and a drawstring pendant;

both sides of the waist backboard are fixedly connected with the waist side plates, and the two waist side plates are fixedly connected with the drawstring hanging pieces to form an unsealed annular structure; the waist supporting plate is rotationally connected with the waist backboard through a folding hinge; the supporting plate right angle supporting piece is fixed at the bottom of the waist supporting plate through the supporting plate supporting piece fixing piece, and the waist backboard is pressed to be horizontal by load when in use, and at the moment, the right angle side of the supporting plate right angle supporting piece is in contact limit with the waist backboard.

2. The passive exoskeleton robot for enhancing body load transport capacity of claim 1 wherein the thigh assembly comprises an L-shaped connector, a U-shaped connector, a hip rotation member, a thigh length adjustment member, a rotation stopper, and a thigh carrying structure;

one end of the L-shaped connecting piece is fixedly connected with the waist supporting plate component, the other end of the L-shaped connecting piece is rotationally connected with the closed end of the U-shaped connecting piece, and the rotating axis is in the sagittal axis direction and matches with the adduction and abduction degrees of freedom of the hip joint; the U-shaped opening end of the U-shaped connecting piece is rotationally connected with the hip joint rotating piece, the rotating axis is in the direction of a coronal axis, and the U-shaped opening end of the U-shaped connecting piece is matched with the bending and stretching degrees of freedom of the hip joint of a human body; the hip joint rotating piece is rotationally connected with the thigh length adjusting piece, the rotating axis is in the vertical axis direction and matches with the internal and external rotation degrees of freedom of the human hip joint, meanwhile, the hip joint rotating piece is limited by a rotating limiting block, and the limiting angle is 60 degrees respectively from left to right;

the thigh bearing structure is an integrated structure and comprises a special-shaped curved plate and two claw arc-shaped pieces, one end of the special-shaped curved plate is fixedly connected with the thigh length adjusting piece, and the other end of the special-shaped curved plate is integrated with the closed ends of the two claw arc-shaped pieces; the open ends of the two claw arc-shaped pieces are provided with arc-shaped plates, and the arc-shaped plates are matched with the shape of the knee joint.

3. The passive exoskeleton robot for enhancing load transportation capacity of a human body according to claim 2, wherein a copper sleeve is installed in the hip joint rotating member, an annular ring is sleeved at the extending end of the copper sleeve, the hip joint rotating member is inserted into the U-shaped opening end of the U-shaped connecting member and fixed through a T-shaped pin, and two end faces of the hip joint rotating member are respectively contacted with the U-shaped connecting member through annular burrs of the copper sleeve and the annular ring.

4. The passive exoskeleton robot for enhancing load carrying capacity of a person of claim 2 wherein the hip rotation member is rotatably coupled to the thigh length adjustment member by a deep groove bearing.

5. The passive exoskeleton robot for enhancing load transportation capacity of a person of claim 1 wherein the calf assembly comprises a calf load carrying structure, straps, a calf side adapter structure, a calf side support plate, a calf length adjustment plate, a Y-connector, an ankle height adjustment block, and an ankle foot;

one end of the shank bearing structure is of an arc-shaped plate structure, is rotationally connected with the thigh bearing structure, forms mechanical limit when standing upright, is matched with the shape of the knee joint, and the other end of the shank bearing structure is fixedly connected with the shank side switching structure; the binding band is fixed on the shank carrying structure; the shank side switching structure is fixedly connected with a shank side support plate, and the shank side support plate is fixedly connected with a shank length adjusting plate; the shank length adjusting plate is rotationally connected with the opening end of the Y-shaped connecting piece, the rotation axis is in the coronal axis direction, and the plantar flexion and dorsiflexion degrees of freedom of the ankle joint of a human body are matched; the Y-shaped connecting piece is rotationally connected with the ankle joint base through the ankle joint height adjusting block, the rotation axis is in the coronal axis direction, and the Y-shaped connecting piece matches with the varus and valgus degree of freedom of the ankle joint.

6. The passive exoskeleton robot for enhancing load transportation capacity of a human body according to claim 5, wherein a copper sleeve is installed in the lower leg length adjusting plate, an annular ring is sleeved at the extending end of the copper sleeve, the lower leg length adjusting plate is inserted into the opening end of the Y-shaped connecting piece and fixed through a T-shaped pin, and two end faces of the lower leg length adjusting plate are respectively contacted with the Y-shaped connecting piece through annular flash edges of the copper sleeve and the annular ring.

7. The passive exoskeleton robot for enhancing load transportation of the person of claim 1 wherein the sole assembly comprises a shoe-type rigid structural floor and a mount secured to a side of the shoe-type rigid structural floor for secure connection with the calf assembly.