CN106983638B - Passive weight-supporting exoskeleton device based on gait phase self-unlocking - Google Patents

Abstract

The utility model provides a passive weight support exoskeleton device based on gait phase self-unlocking, including seat mechanism and the supporting mechanism who sets up in seat mechanism both sides, this supporting mechanism includes thigh mechanism, knee joint mechanism and shank mechanism, seat mechanism includes curved seat, the slider board, thigh connecting rod, the pulley, spacing hook and pull ring, the spacing hook is installed in the seat bottom surface, be equipped with the guide rail groove in the seat, pulley and slider board fixed mounting through the screw rod, the pulley activity clamps in the guide rail inslot of seat, the pull ring activity is established in slider board side, thigh connecting rod upper portion and slider board swivelling joint; the thigh mechanism is fixedly connected with the thigh connecting rod, and the pull ring is connected with the thigh mechanism through a steel wire; the lower part of the thigh mechanism is fixedly connected with the upper part of the knee joint mechanism, and the lower part of the knee joint mechanism is fixedly connected with the shank mechanism. The invention can automatically complete the self-unlocking of the knee joint according to the gait phase without manual operation.

Description

A passive body weight supporting exoskeleton device based on gait phase self-unlocking

technical field

The invention belongs to the fields of medical auxiliary equipment and sports equipment, and in particular relates to a passive weight-supporting exoskeleton device based on gait phase self-unlocking.

Background technique

Due to the accelerated aging of the population, the increase of obese patients, joint sports injuries, joint congenital abnormalities, joint deformities and many other factors, degenerative arthritis of the knee joint has attracted more and more attention from the society, and patients have an urgent need for normal walking. However, as a degenerative disease of knee osteoarthritis, the existing technical means do not have a good quick cure method. In addition to taking medicine to relieve symptoms, the main rehabilitation physiotherapy method is to reduce the load on the joints, in order to delay The course of the disease. The traditional method is to use crutches or walking sticks in order to reduce the burden on the joints. However, this requires the patient to use both hands to assist walking, which is not conducive to normal walking and productive labor.

Contents of the invention

The technical problem to be solved by the present invention is to provide a passive weight-supporting exoskeleton device based on gait phase self-unlocking, which can relieve knee joint pain when walking in patients with degenerative arthritis of the knee joint, and the patient can automatically adjust according to the gait without hands. The phase completes the self-unlocking of the knee joint.

In order to solve the above technical problems, the present invention takes the following technical solutions:

A passive body weight support exoskeleton device based on gait phase self-unlocking, comprising a seat mechanism and support mechanisms arranged on both sides of the seat mechanism, the support mechanism includes a thigh mechanism, a knee joint mechanism and a calf mechanism, the seat The mechanism includes an arc-shaped seat, a slider plate, a thigh connecting rod, a pulley, a limit hook and a pull ring. The limit hook is installed on the bottom surface of the seat, and there is a guide rail groove in the seat. The pulley is fixed to the slider plate through a screw. Installation, the pulley is movable and clamped in the guide rail groove of the seat, the pull ring is movable on the side of the slider plate, and the upper part of the thigh connecting rod is connected to the slider plate in rotation, so that the thigh connecting rod is along the frontal direction of the human body relative to the slider plate Rotation; the thigh mechanism is tightly connected with the thigh connecting rod, and the pull ring is connected with the thigh mechanism through a steel wire; the lower part of the thigh mechanism is tightly connected with the upper part of the knee joint mechanism, and the lower part of the knee joint mechanism is tightly connected with the calf mechanism, and the knee joint mechanism drives the calf The mechanism rotates along the sagittal plane direction of the human body relative to the thigh mechanism.

The seat includes an arc-shaped seat upper plate and a seat lower plate, the two ends of the seat lower plate are provided with seat support side plates, and the two ends of the seat upper plate are installed on the seat support side plates so that the seat A gap space is formed between the upper plate and the lower seat plate, and the guide rail groove is arranged on the lower seat plate.

A protruding fixing block is arranged on the slider plate, and a slot for placing a pull ring is arranged on the fixing block.

The thigh mechanism includes a thigh bar, a tension spring and an inverted T-bolt, the upper part of the thigh bar is tightly connected with the lower part of the thigh connecting rod, the inverted T-bolt is movably installed at the lower part of the thigh bar, and the bottom of the inverted T-bolt is connected The knee joint mechanism is snapped and connected, the tension spring is set in the thigh rod, the upper end of the tension spring is fixedly connected with the steel wire, the lower end is fixedly connected with the inverted T-bolt, the upper end of the steel wire passes through the thigh rod, and the thigh connecting rod is connected with the pull ring .

The lower part of the thigh connecting rod is inserted into the thigh rod for fastening connection, and the thigh connecting rod and the thigh rod are telescopic structures.

The knee joint mechanism includes a knee joint outer plate, a knee joint inner plate, a fixed shaft, a straight line groove, a moving shaft and a curved groove, and the upper part of the knee joint outer plate is provided with a limit step that is engaged with an inverted T-bolt. ,The curved groove is set on the lower part of the knee joint inner plate, the outer plate of the knee joint is provided with a mounting cavity, the linear groove is set on the outer plate of the knee joint, and the lower part of the knee joint inner plate is movably inserted into the installation cavity of the knee joint outer plate One end of the fixed shaft is fixedly installed on the inner plate of the knee joint, the other end is movably inserted in the linear groove, one end of the moving shaft is fixed on the outer plate of the knee joint, and the other end is movably inserted in the curved groove, the inner plate of the knee joint and the thigh The lower part of the rod is fastened and connected, and the outer plate of the knee joint rotates relative to the inner plate of the knee joint along the sagittal plane of the human body through the fixed axis and the moving axis.

A slot is arranged on the upper part of the inner plate of the knee joint, and the inverted T-bolt is movable in the slot.

The calf mechanism includes a calf outer rod, a calf elastic connector, a calf inner rod and a foot part, the upper part of the calf outer rod is tightly connected with the knee joint outer plate, the upper part of the calf inner rod is inserted into the calf outer rod, and the calf is elastically connected The parts are installed in the outer bar of the calf, and the upper part of the elastic connecting part of the calf is flexibly connected with the outer bar of the calf, the lower part of the elastic connecting part of the calf is tightly connected with the inner bar of the calf, the lower part of the inner bar of the calf is tightly connected with the sole part, and the outer part of the calf An ankle joint strap is attached to the lower end of the bar.

The calf elastic connector includes an adjustment sleeve, a V-shaped spring, a support spring, a spring base and a moving pin. The V-shaped spring is embedded in the adjustment sleeve, and the side wall of the adjustment sleeve is provided with a through hole. There is a push button connected to the V-shaped spring, and a row of holes is provided on the outer rod of the calf. The push button is snapped into the row of holes, and the bottom surface of the adjustment sleeve is provided with a lower end shaft, which is movably inserted into the spring base. The side wall of the spring base is provided with a limit groove, one end of the moving pin is fixedly installed on the side wall of the lower end shaft, and the other end is movably inserted in the limit groove, the support spring is set on the lower end shaft, and the upper end of the support spring is against the adjustment sleeve The bottom surface and the lower end are against the upper end surface of the spring base, and the spring base is tightly connected with the calf inner rod.

The bottom surface of the sole member is arc-shaped, and the middle position of the bottom surface of the sole member is the highest position of the arc-shaped protrusion.

In the gait support phase, the knee joint is self-locking and supports the body weight, and in the gait swing phase, the knee joint is unlocked and followed by human body flexion. The knee joint self-locking and unlocking actions can be automatically switched according to the gait phase without manual control. Effectively relieve knee joint pain when walking in patients with degenerative arthritis of the knee joint.

Description of drawings

Accompanying drawing 1 is the three-dimensional structure schematic diagram of the present invention;

Accompanying drawing 2 is the three-dimensional structure schematic diagram of seat mechanism of the present invention;

Accompanying drawing 3 is the three-dimensional structural schematic diagram of the limit hook and the draw ring limit hook of the seat mechanism of the present invention;

Accompanying drawing 4 is the three-dimensional structure schematic diagram of thigh mechanism of the present invention;

Accompanying drawing 5 is the exploded structural representation of thigh mechanism of the present invention;

Accompanying drawing 6 is the three-dimensional structure schematic diagram when knee joint self-locking of the present invention;

Accompanying drawing 7 is the three-dimensional structure diagram when the knee joint of the present invention is unlocked;

Accompanying drawing 8 is the schematic diagram of the three-dimensional structure of the calf mechanism of the present invention;

Accompanying drawing 9 is the three-dimensional structure diagram of the calf elastic connector of the calf mechanism of the present invention;

Accompanying drawing 10 is the partially disassembled structure schematic diagram of the shank elastic connector of the shank mechanism of the present invention;

Accompanying drawing 11 is the schematic diagram of walking state of the present invention.

Detailed ways

In order to further understand the features, technical means, and specific objectives and functions achieved by the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1, 2, 3 and 11, the present invention discloses a passive body weight support exoskeleton device based on gait phase self-unlocking, including a seat mechanism 1 and support mechanisms arranged on both sides of the seat mechanism 1 , the support mechanism includes a thigh mechanism 2, a knee joint mechanism 3 and a calf mechanism 4, and the seat mechanism 1 includes an arc-shaped seat 101, a slider plate 102, a thigh connecting rod 104, a pulley 103, a limit hook 105 and Pull ring 106, limit hook is L-shaped, limit hook 105 is installed on seat 101 bottom surface, and seat 101 is provided with guide rail groove 1014, and pulley 103 is fixedly installed by screw rod and slide block plate 102, and pulley 103 movable card is installed in In the guide rail groove 1014 of the seat 101, the pull ring 106 is movably arranged on the side of the slider plate 102, and the upper part of the thigh connecting rod 104 is rotatably connected with the slider plate 102, so that the thigh connecting rod rotates relative to the slider plate along the direction of the coronal plane of the human body The thigh mechanism is tightly connected with the thigh connecting rod, and the pull ring 106 is connected with the thigh mechanism through the steel wire 202; the lower part of the thigh mechanism is tightly connected with the upper part of the knee joint mechanism, and the lower part of the knee joint mechanism is tightly connected with the calf mechanism, and the knee joint mechanism drives The calf mechanism rotates along the sagittal plane direction of the human body relative to the thigh mechanism. There are usually multiple pulleys to ensure stability when sliding. A protruding fixing block 107 is arranged on the slider plate, and a slot for placing a pull ring is arranged on the fixing block. By setting the position of the limit hook on the bottom surface of the arc-shaped seat, it is possible to flexibly adjust and install the critical angle of the self-angle lock. When the hip joint angle is greater than the self-unlocking critical angle, the pull ring 106 is separated from the limit hook 105, as shown in Figure 2; when the hip joint angle is less than the self-unlocking critical angle, the pull ring 106 is restricted and hooked by the limit hook 105, The pull ring is pushed out of its original initial position, as shown in Figure 3 .

The rotation center of the slider board 102 when sliding on the double-arc guide rail seat 101 is just the rotation center of the human hip joint, so as to realize the flexion/extension of the sagittal plane of the hip joint. The rotational connection between the thigh connecting rod and the sliding plate realizes the degree of freedom of hip joint abduction/adduction. The slider plate is provided with a card slot, and the upper part of the thigh connecting rod is clamped in the card slot and then rotated and connected by a pin to ensure that the thigh connecting rod rotates relative to the slider plate in the direction of the coronal plane of the human body. When a person sits on the seat mechanism, the two legs are tied tightly to the two calf mechanisms, so that when walking one after the other, the pulley rolls back and forth in the guide rail groove of the seat, driving the slider plate to move back and forth, thereby realizing The movement of the thigh mechanism and the calf mechanism in the direction of the sagittal plane of the human body.

The seat 101 includes an arc-shaped seat upper plate 1011 and a seat lower plate 1012, the two ends of the seat lower plate 1012 are provided with seat support side plates 1013, and the two ends of the seat upper plate 1011 are installed on the seat support. On the side plate 1013 , a gap space is formed between the seat upper plate 1011 and the seat lower plate 1012 , and the guide rail groove 1014 is arranged on the seat lower plate 1012 .

As shown in accompanying drawings 4 and 5, the thigh mechanism includes a thigh rod 201, a tension spring 203 and an inverted T-shaped bolt 204, the upper part of the thigh rod 201 is tightly connected with the lower part of the thigh connecting rod 104, and the inverted T-shaped bolt 204 is movable. It is located at the bottom of the thigh bar 201, and the bottom of the inverted T-shaped bolt 204 is engaged with the knee joint mechanism 3. The tension spring 203 is arranged in the thigh bar 201. The upper end of the tension spring 203 is fixedly connected with the steel wire 202, and the lower end is connected with the steel wire 202 The inverted T-bolt 204 is fixedly connected, and the upper end of the steel wire passes through the thigh rod, and the thigh connecting rod is connected with the pull ring. The inverted T-bolt utilizes its own gravity to fall and engage with the knee joint mechanism for installation. When the slider board is moving in the seat, when the limit hook hooks the pull ring, the steel wire is pulled up, and the tension spring and the inverted T-bolt are pulled at the same time, so that the inverted T-bolt moves upward to realize the inverted T shape. The hitch is unlocked with the knee joint. The bottom of the inverted T-bolt protrudes laterally from the thigh bar, ensuring that the inverted T-bolt will be eventually limited by the bottom end surface of the thigh bar 201 when it is pulled upwards.

In addition, the lower part of the thigh connecting rod 104 is inserted into the thigh rod 201 for fastening connection, and the thigh connecting rod and the thigh rod are telescopic structures. Several adjustment holes can be set on the side wall of the thigh connecting rod 104, and the form of adjusting balls can be used to form a connection with the thigh rod 201, so as to realize the telescopic adjustment between the thigh rod and the thigh connecting rod, realize the purpose of adjustable length, and expand the application scope.

As shown in accompanying drawing 6 and 7, described knee joint mechanism 3 comprises knee joint outer plate 301, knee joint inner plate 302, fixed shaft 303, linear groove 304, moving shaft 305 and curved groove 306, knee joint outer plate 301 top There is a limit step stop 307 that engages with the inverted T-shaped bolt 204, the curved groove 306 is set on the lower part of the knee joint inner plate 302, the knee joint outer plate 301 is provided with an installation cavity 308, and the linear groove 304 is set on the On the knee joint outer plate 301, the lower part of the knee joint inner plate 302 is movably inserted into the installation cavity 308 of the knee joint outer plate 301, one end of the fixed shaft 303 is fixedly installed on the knee joint inner plate 302, and the other end is movably inserted in the straight line. In the groove 304, the fixed shaft 303 can slide up and down in the linear groove 304 of the knee joint outer plate 301, one end of the moving shaft 305 is fixed on the knee joint outer plate 301, and the other end is movably inserted in the curved groove 306, so that the moving shaft 305 can move in the curved groove 306, so as to realize the relative rotation between the inner plate 302 of the knee joint and the outer plate 301 of the knee joint. The knee joint inner plate 302 is fastened to the lower part of the thigh bar 201, and the knee joint outer plate 301 rotates relative to the knee joint inner plate along the sagittal plane direction of the human body through the fixed axis and the moving axis. A slot is arranged on the top of the inner plate of the knee joint, and the inverted T-bolt is movable in the slot.

In the early stage of the gait support phase and the end stage of the swing phase, the knee joint of the human body is straightened, and the bottom of the inverted T-bolt 204 clamps the limiting step 307 of the outer plate 301 of the knee joint under its own gravity, and the knee joint mechanism is self-locking , the knee joint mechanism stably transmits the weight of the human body to the ground. At this time, the knee joint inner plate 302 and the knee joint outer plate 301 are locked to each other and cannot rotate relative to each other. At the end of the gait support phase and the initial swing phase, when the hip joint angle of the human body is less than the self-unlocking critical angle, the pull ring 106 is restricted and hooked by the limit hook 105, and the pull ring 106 pulls the steel wire 202, and the steel wire 202 pulls up and stretches Spring 203, tension spring 203 pulls up the inverted T-bolt 204, the bottom of the inverted T-bolt 204 is disengaged from the limiting step stop 307 of the knee joint outer plate 301, and is unlocked, relying on the sliding and locking of the fixed shaft in the linear groove. As the moving shaft slides in the curved groove, the outer plate 301 of the knee joint and the inner plate 302 of the knee joint can freely rotate, the knee joint flexes, and the lower limbs swing forward to complete the swing phase. Then periodically repeat the actions of self-locking at the initial stage of the gait support phase and unlocking at the initial stage of the swing phase.

As shown in accompanying drawings 8, 9 and 10, the calf mechanism 4 includes a calf outer rod 401, a calf elastic connector 402, a calf inner rod 403 and a sole member 404, and the upper part of the calf outer rod 401 is firmly connected with the knee joint outer plate 301 , the upper part of the calf inner rod 403 is inserted into the calf outer rod 401, the calf elastic connector 402 is installed in the calf outer rod 401, and the upper part of the calf elastic connector 402 is flexibly connected with the calf outer rod 401, and the calf elastic connector 402 The lower part is tightly connected with the calf inner rod 403 , the lower part of the calf inner rod 403 is tightly connected with the sole member 404 , and the lower end of the calf outer rod 401 is connected with an ankle strap 405 .

The calf elastic connector 402 includes an adjustment sleeve 406, a V-shaped spring 407, a support spring 408, a spring base 409 and a moving pin 410. The V-shaped spring 407 is embedded in the adjustment sleeve 406, and the side wall of the adjustment sleeve 406 is set There is a through hole 411, and the through hole 411 is provided with a pressing key 412 connected to the V-shaped spring 407. After the V-shaped spring is used to press the pressing key, the pressing key will be automatically reset by the return elastic force of the V-shaped spring, which is convenient adjust. The calf outer rod 401 is provided with row holes 413, the push button 412 is clamped in the row holes 413, the bottom surface of the adjustment sleeve 406 is provided with a lower end shaft 414, and the lower end shaft 414 is movably inserted into the spring base 409, and the spring base 409 The side wall is provided with a limiting groove 415, one end of the moving pin 410 is fixedly installed on the side wall of the lower end shaft 414, and the other end is movably inserted in the limiting groove 415, and the moving pin 410 can slide and shift in the limiting groove 415, supporting the spring 408 is sleeved on the lower end shaft 414, the upper end of the support spring 408 is against the bottom surface of the adjustment sleeve 406, and the lower end is against the upper end surface of the spring base 409, and the spring base 409 is tightly connected with the inner rod 403 of the calf. Through the elastic connecting piece, the telescopic adjustment between the outer rod of the calf and the inner rod of the lower leg can be realized, so as to achieve the purpose of adjustable length and expand the scope of application. The support spring 408 is used to press between the adjustment sleeve 406 and the spring base 409 to reduce the distance when the human body bears weight in the gait support phase, generate support force, and support the body weight. By setting a plurality of rows of holes on the calf outer rod 401 , it is convenient to adjust the relative height of the adjusting sleeve 406 and the calf outer rod 401 .

In addition, the bottom surface of the sole member is arc-shaped, and the middle position of the bottom surface of the sole member is the highest position of the arc-shaped protrusion. Making the sole part form a shape of "high convex in the middle and low heel" is conducive to generating the self-locking torque of the knee joint when the exoskeleton supports the body weight, and is conducive to the stable self-locking of the knee joint itself.

In the present invention, the human body sits on the seat in the seat mechanism, and the ankle joint straps can be fastened by Velcro, so that the ankle joints can be firmly fastened to the human body's ankle joints, and the soles of the feet are tightly attached to the soles of the feet. .

When in use, the entire device walks with the lower limbs of the human body, and periodically completes a complete gait, including the stance phase and the swing phase. The process of the gait support phase is: the hip joint swings forward, the knee joint straightens, the knee joint mechanism is locked, the knee joint inner plate and the knee joint outer plate in the knee joint are relatively fixed and cannot rotate, that is, the bottom of the inverted T-bolt It is clamped in the limiting step clamping position of the outer plate of the knee joint. The hip joints gradually swing back, the protruding arc-shaped soles press on the ground, and the support springs in the outer bar of the calf are compressed to generate support force to support the body weight. In this state, when the slider plate moves in the guide rail groove on the seat, the hip joint angle is greater than the self-unlocking critical angle, and the limit hook and the pull ring are separated from each other without contact.

Then enter the gait swing phase, the process is: the hip joint swings back, with the movement of the slider plate, the hip joint angle is less than the self-unlocking critical angle, the pull ring is hooked by the limit hook and limited, and as the slider plate moves Moving further, the pull ring pulls the steel wire, the steel wire pulls the tension spring upward, the tension spring pulls up the inverted T-bolt, the bottom of the inverted T-bolt is disengaged and unlocked from the limiting step of the knee joint outer plate, The knee joint mechanism is unlocked. At this time, the inner plate of the knee joint and the outer plate of the knee joint in the knee joint can rotate freely, the knee joint can flex freely, and the hip joint swings forward, ready to enter the stance phase of the next gait. The degree of freedom of hip joint abduction/adduction can be realized through the relative rotation of the thigh connecting rod and the slider plate.

It should be noted that the above description is not a limitation of the present invention, and any obvious replacements are within the protection scope of the present invention without departing from the inventive concept of the present invention.

Claims (8)

1. A passive weight-supporting exoskeleton device based on gait phase self-unlocking, comprising a seat mechanism and support mechanisms arranged on both sides of the seat mechanism, the support mechanism comprising a thigh mechanism, a knee joint mechanism and a shank mechanism, its characteristics That is, the seat mechanism includes an arc-shaped seat, a slider plate, a thigh connecting rod, a pulley, a limit hook and a pull ring, the limit hook is installed on the bottom surface of the seat, and a guide rail groove is arranged in the seat, and the pulley passes through the seat. The screw rod and the slider board are fixedly installed, the pulley is movable and clamped in the guide rail groove of the seat, the pull ring is movable on the side of the slider board, and the upper part of the thigh connecting rod is connected with the slider board in rotation, so that the thigh connecting rod is relative to the slider. The plate rotates along the direction of the coronal plane of the human body; the thigh mechanism is tightly connected with the thigh connecting rod, and the pull ring is connected with the thigh mechanism through a steel wire; the lower part of the thigh mechanism is tightly connected with the upper part of the knee joint mechanism, and the lower part of the knee joint mechanism is tightly connected with the calf mechanism , the knee joint mechanism drives the calf mechanism to rotate relative to the thigh mechanism along the sagittal plane of the human body; The thigh mechanism includes a thigh bar, a tension spring and an inverted T-bolt, the upper part of the thigh bar is tightly connected with the lower part of the thigh connecting rod, the inverted T-bolt is movably installed at the lower part of the thigh bar, and the bottom of the inverted T-bolt is connected The knee joint mechanism is snapped and connected, the tension spring is set in the thigh rod, the upper end of the tension spring is fixedly connected with the steel wire, the lower end is fixedly connected with the inverted T-bolt, the upper end of the steel wire passes through the thigh rod, and the thigh connecting rod is connected with the pull ring ; The knee joint mechanism includes a knee joint outer plate, a knee joint inner plate, a fixed shaft, a straight line groove, a moving shaft and a curved groove, and the upper part of the knee joint outer plate is provided with a limit step that is engaged with an inverted T-bolt. ,The curved groove is set on the lower part of the knee joint inner plate, the outer plate of the knee joint is provided with a mounting cavity, the linear groove is set on the outer plate of the knee joint, and the lower part of the knee joint inner plate is movably inserted into the installation cavity of the knee joint outer plate One end of the fixed shaft is fixedly installed on the inner plate of the knee joint, the other end is movably inserted in the linear groove, one end of the moving shaft is fixed on the outer plate of the knee joint, and the other end is movably inserted in the curved groove, the inner plate of the knee joint and the thigh The lower part of the rod is fastened and connected, and the outer plate of the knee joint rotates along the sagittal plane of the human body relative to the inner plate of the knee joint through the fixed axis and the moving axis; In the early stage of the gait support phase and the end stage of the swing phase, the knee joint of the human body is straightened, and the bottom of the inverted T-bolt clamps the limit step of the outer plate of the knee joint under its own gravity, and the knee joint mechanism is self-locking, and the knee joint The mechanism stably transmits the weight of the human body to the ground. At this time, the inner plate of the knee joint and the outer plate of the knee joint are locked to each other and cannot rotate relative to each other; Hooked by the limit hook, the pull ring pulls the steel wire, the steel wire pulls the tension spring upward, the tension spring pulls up the inverted T-bolt, and the bottom of the inverted T-bolt is disengaged from the limit step of the knee joint outer plate , unlocking, relying on the sliding of the fixed shaft in the linear groove and the sliding of the moving shaft in the curved groove, the outer plate of the knee joint and the inner plate of the knee joint can freely rotate, the knee joint flexes, and the lower limbs swing forward to complete the swing phase. 2. The passive body weight supporting exoskeleton device based on gait phase self-unlocking according to claim 1, wherein the seat comprises an arc-shaped seat upper board and a seat lower board, and the seat lower board two The end is provided with a seat support side plate, and the two ends of the seat upper plate are installed on the seat support side plate so that a gap space is formed between the seat upper plate and the seat lower plate, and the guide rail groove is arranged on the seat lower plate. 3. The passive body weight supporting exoskeleton device based on gait phase self-unlocking according to claim 2, wherein a protruding fixing block is provided on the slider plate, and a raised fixing block is provided on the fixing block for placing a puller. ring slot. 4. The passive body weight supporting exoskeleton device based on gait phase self-unlocking according to claim 3, wherein the lower part of the thigh connecting rod is inserted into the thigh rod for fastening connection, and the thigh connecting rod is connected to the thigh The rod is a telescopic structure. 5. The passive weight-supporting exoskeleton device based on gait phase self-unlocking according to claim 4, wherein a slot is arranged on the inner plate of the knee joint, and an inverted T-bolt is movable in the slot . 6. The passive weight-supporting exoskeleton device based on gait phase self-unlocking according to claim 5, characterized in that, the lower leg mechanism includes a lower leg outer rod, a lower leg elastic connector, a lower leg inner rod and a sole member, the lower leg The upper part of the outer rod is tightly connected with the outer plate of the knee joint, the upper part of the inner rod of the calf is inserted into the outer rod of the calf, the elastic connecting part of the calf is installed in the outer rod of the calf, and the upper part of the elastic connecting part of the calf is flexibly connected with the outer rod of the calf, The lower part of the calf elastic connector is tightly connected with the calf inner rod, the lower part of the calf inner rod is tightly connected with the sole part, and the lower end of the calf outer rod is connected with an ankle joint strap. 7. The passive body weight supporting exoskeleton device based on gait phase self-unlocking according to claim 6, characterized in that, the elastic connecting part of the calf comprises an adjustment sleeve, a V-shaped spring, a supporting spring, a spring base and a moving pin , the V-shaped spring is embedded in the adjustment sleeve, the side wall of the adjustment sleeve is provided with a through hole, the through hole is equipped with a push button connected with the V-shaped spring, and a row of holes is arranged on the outer rod of the calf. It is clamped in the row of holes, and the bottom surface of the adjusting sleeve is provided with a lower shaft, which is movably inserted into the spring base. The movable insert is installed in the limit groove, and the support spring is sleeved on the lower end shaft. The upper end of the support spring is against the bottom surface of the adjustment sleeve, and the lower end is against the upper end surface of the spring base, and the spring base is tightly connected with the calf inner rod. 8. The passive weight-supporting exoskeleton device based on gait phase self-unlocking according to claim 7, wherein the bottom surface of the sole member is set as an arc shape, and the middle position of the bottom surface of the sole member is an arc shape. The highest position of the convex shape.