CN110623817A

CN110623817A - Unpowered hip joint energy storage walking aid exoskeleton

Info

Publication number: CN110623817A
Application number: CN201810647269.7A
Authority: CN
Inventors: 陈宏伟; 季林红; 关鑫宇
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2019-12-31

Abstract

The invention discloses an unpowered hip joint energy storage walking aid exoskeleton which comprises a shank support, a small leg, a knee joint, a large leg, a leg assembly, a pelvis support assembly and a back plate assembly, wherein the small leg is fixed on the shank support and is connected with the large leg through the knee joint, the upper end of the large leg is connected with the leg assembly, the upper end of the leg assembly is hinged with a pelvis support assembly, the pelvis support assembly is fixedly connected with the back plate assembly, and an energy storage element is arranged on the leg assembly. The energy storage element is arranged in the hip joint end cover connecting the pelvis support and the large supporting leg, energy generated by extension of the pelvis and the hip joint of the patient with different injury conditions is stored by adjusting the pretightening force of the energy storage element, and the energy is released during the flexion motion, so that the energy consumption of forward movement of the gravity center of the patient is reduced.

Description

Unpowered hip joint energy storage walking aid exoskeleton

Technical Field

The invention relates to an artificial skeleton, in particular to an unpowered hip joint energy storage walking aid exoskeleton.

Background

The walking assisting exoskeleton originates from the military field, is used for enhancing the walking and load bearing capacity of soldiers, is gradually turned into civil use later, and aims to assist paraplegics in reconstructing walking function and provide walking assistance for old people with weakened lower limb movement function. Paraplegic patients lose standing and walking functions, and have complications such as muscular atrophy, spasm, osteoporosis, etc., while the walking function is the basic condition for maintaining the functions of muscles, bones and heart and lung. Therefore, the exoskeleton is used for helping the patient to stand and walk again, and has important significance for physical and psychological rehabilitation and complication prevention.

Currently, the unpowered exoskeletons that are widely used clinically mainly include Knee-ankle-foot orthoses (KAFO), Medial connecting orthoses (MLO), and Reciprocating walking orthoses (RGO) and their modified forms.

The KAFO is composed of a shank support, a shank branch, a thigh support, a thigh branch and a knee joint lock. The knee joint lock is connected with the thigh and the shank brace, and is in a locking state when walking, so that accidents such as falling down of a patient due to knee joint buckling are prevented. The design concept of KAFO is very simple, namely increasing the stiffness of the joints of the lower limbs of the human body when walking and providing external support for the joints. Because the left and right side structures are independent and no constraint of the pelvis and the hip joint supporting structure exists, when a patient walks, the gravity center of the patient is firstly laterally transferred to the lower limb on one side with the supporting function, the body balance is kept through the crutch or the walking aid frame, and then the body muscle group (and the residual hip bending muscle group) is utilized to 'throw' the opposite lower limb in the early stage of swinging.

The MLO is characterized in that on the basis of KAFO, different types of hinges (such as herringbone hinges, arc sliding hinges with rolling bearings, gear hinges and the like) are adopted to connect the left side and the right side at the root parts of the inner sides of thighs to form interactive unpowered exoskeletons such as Walkabout, Moorong MLO, Araz MLO and the like, and the purpose is to transmit torque generated by hip joints when supporting one lower limb to kick the ground during walking to the opposite hip joints and help the opposite hip joints to complete the flexion movement. However, clinical studies have shown that: the way hip joint moments are transmitted through the hinge does not help the patient to reduce energy consumption while walking compared to KAFO.

In the 60's of the 20 th century, motioch proposed the concept of using torso extension to drive lower limb movement. Based on the concept, an LSU-RGO, an improved reciprocating paraplegia orthosis (ARGO) and an iso-center compound paraplegia orthosis (IRGO) are formed in sequence, and the left hip joint and the right hip joint are connected by a steel rope or a rocker. When the patient walks, the gravity center of the body is firstly transferred to the lower limb on one side of the support, then the trunk is stretched to enable the hip joint on the same side to do hyperextension movement, and the steel cable or the rocker drives the hip joint on the opposite side to do flexion movement, so that the purpose of utilizing the extension of the trunk on the sagittal plane to form interactive walking is realized. The three reciprocating unpowered exoskeletons limit the patient's walking motion to the sagittal plane. These three unpowered exoskeletons only increase the injury plane for patients compared to KAFO and do not reduce energy consumption when walking for patients with similar injury conditions.

After that, the bionic energy storage type paraplegia walking assisting exoskeleton comes out, the energy storage element is utilized by the exoskeleton to simulate the human body ilium and psoas muscle to store the energy generated by hip joint extension in the walking process of the paraplegia patient, and the energy is released in the buckling motion to help the patient to complete leg swinging. Compared with KAFO and RGO, the bionic energy storage type paraplegia walking aid exoskeleton reduces walking energy consumption of a patient to a certain extent, but the exoskeleton only recovers energy of the sagittal plane of the patient and neglects the problem of energy recycling in the process of transferring the human body center of gravity of the coronal plane.

The KAFO and MLO series exoskeletons lack hip joint and pelvis support structures in design, and for patients who lose the hip joint flexor capability or have weak hip joint flexor capability, it is very difficult to complete the hip bending and leg swinging actions through the transmission of the acting force and the reacting force between the internal body joints to the hip joints only by means of the inertia generated by the movement of the trunk, the pelvis and the like during walking. The pelvic and hip joint support structures of RGO (including ARGO and IRGO) limit patient motion to the sagittal plane. The research on the RGO walking mechanism from the aspects of kinematics and dynamics finds that: when most patients walk by using the RGO, the trunk always keeps a forward-leaning posture, and the acting force of the hip joint in the state enables the trunk to generate a bending moment to prevent the trunk of the patient from extending and driving the hip joint to bend in a single-support period so as to swing the lower limbs, so that more energy needs to be consumed in the walking process by using the RGO, and the requirement on the cardio-pulmonary function of the patient is higher. The bionic energy storage type paraplegia walking assisting exoskeleton has the problem that the energy of a user is not fully utilized, and the energy of a coronal plane is not fully utilized.

Disclosure of Invention

The invention aims to overcome the defects of the unpowered paraplegia walking assisting exoskeletons KAFO, MLO and RGO which are widely used clinically in the prior art, and designs the unpowered energy storage exoskeletons which can respectively recycle and reuse energy generated by the motion of the pelvis and hip joints in the sagittal plane and the coronal plane when the center of gravity of a patient is transferred in the walking process aiming at paraplegia patients with certain waist control capability, thereby reducing the physical consumption of the patient when the patient walks by using the unpowered paraplegia walking assisting exoskeletons.

The technical scheme of the invention is as follows: the unpowered hip joint energy storage walking assisting exoskeleton comprises a lower leg support, a small leg, a knee joint, a large leg, a leg assembly, a pelvis support assembly and a back plate assembly, wherein the small leg is fixed on the lower leg support, the small leg is connected with the large leg through the knee joint, the upper end of the large leg is connected with the leg assembly, the upper end of the leg assembly is hinged with the pelvis support assembly, the pelvis support assembly is fixedly connected with the back plate assembly, and an energy storage element is arranged on the leg assembly.

The energy storage element of the landing leg assembly is a transverse self-adaptive screw and a pressure spring, the transverse self-adaptive screw is in threaded connection with the landing leg assembly, and the pressure spring is arranged between the landing leg assembly and the transverse self-adaptive screw and sleeved on the self-adaptive screw. The transverse self-adaptive screw rod is adjusted to change the pretightening force of the pressure spring, the energy generated by the motion of the pelvis and the hip joint on the coronal plane in the gravity center transfer process of a user is stored in the pressure spring connected with the transverse self-adaptive screw rod, the energy is released in the swinging period, and the ground clearance of the feet of the swinging legs is improved.

The landing leg assembly comprises an outer hinge support and an inner hinge support, and the outer hinge support and the inner hinge support are connected through a hinge shaft.

The transverse self-adaptive screw is in threaded connection with the outer hinge bracket.

The energy storage element is arranged on the pelvis support assembly and comprises a first torsion spring and a second torsion spring, one end of the first torsion spring and one end of the second torsion spring are fixed on the pelvis support assembly, and when the exoskeleton is in a walking state, the first torsion spring and the second torsion spring deform around the center of the pelvis support assembly. In a walking state, the first torsion spring and the second torsion spring deform around the central shaft, energy generated by extension of the pelvis and hip joints of a user is stored and released during flexion movement, and the functions of energy storage and release of the sagittal plane of the exoskeleton of the unpowered hip joint energy storage walking aid are realized.

The pelvis support assembly comprises a rotary table, a central shaft, a pelvis support, 2 screws, 2 screw seats and 2 nut seats, the rotary table is sleeved on the central shaft, the central shaft is fixed on the pelvis support, and the pelvis support is fixed with the back plate assembly; the inner hinge support passes through the central shaft, 2 screw seats are respectively fixed on the inner hinge support, 2 screws are respectively inserted into the screw seats, the lower ends of the screws are respectively bolted with the nut seats, and the 2 nut seats are not fixed with the inner hinge support.

A torsional spring stop dog is fixed on the rotary table, one end of the first torsional spring and one end of the second torsional spring are fixed on the torsional spring stop dog, and the other ends of the first torsional spring and the second torsional spring are respectively fixed on the 2 nut seats.

The outer hinge support is connected with the rotary table through the large supporting leg lock, the outer hinge support and the rotary table can respectively rotate around the central shaft when the large supporting leg lock is unlocked, and the outer hinge support and the rotary table are locked and simultaneously rotate around the central shaft when the large supporting leg lock is locked.

The large landing leg lock comprises a large landing leg lock fixing part, a large landing leg lock shaft, a handle and a large landing leg lock position conversion part, the large landing leg lock fixing part is fixedly connected with the inner hinge support through threads, the handle is fixedly connected with the large landing leg lock shaft, the large landing leg lock position conversion part is fixedly connected with the large landing leg shaft, a groove is formed in the large landing leg lock fixing part, and a protrusion matched with the groove is formed in the large landing leg lock position conversion part. When the exoskeleton walks, the handle is rotated by 90 degrees to drive the position conversion piece of the large supporting leg lock to rotate, the bulge of the position conversion piece is embedded into the groove of the fixing piece, so that the locking shaft of the large supporting leg lock moves along the left and right directions of the exoskeleton to the inner side of a human body, and at the moment, the inner hinge frame is locked with the turntable; when the walking is converted into the sitting posture, the handle is rotated in the opposite direction for 90 degrees to drive the large supporting leg lock position conversion piece to rotate in the opposite direction, the protruding part of the position conversion piece slides out of the groove of the fixing piece, so that the large supporting leg lock shaft moves towards the outer side of the human body along the left and right directions of the exoskeleton, and at the moment, the outer hinge support is separated from the turntable.

The rotary table is connected with the pelvis support through a pelvis lock, the pelvis lock is fixed on the pelvis support, the rotary table and the pelvis support are fixed by the pelvis lock when the patient stands, and the rotary table does not rotate any more; when walking, the pelvis lock is unlocked, the rotating disc is separated from the pelvis support, and the rotating disc can rotate.

The pelvis lock comprises a pelvis lock wrench, a pelvis lock shaft, a pelvis lock bottom plate and a pelvis lock shell, the pelvis lock wrench is sleeved on the pelvis lock shaft and drives the pelvis lock shaft to slide back and forth, the pelvis lock bottom plate is fixed on the pelvis support through screws, and the pelvis lock shell is fixed on the pelvis lock bottom plate. The pelvis lock wrench can move back and forth along the pelvis lock shaft direction, moves to the front side of the body to be in a locked state, and moves to the rear side of the body to be in an unlocked state. When standing, the pelvis lock can be locked to prevent the rotating disc from rotating.

The pelvic support assembly further comprises an end cover, and the end cover is fixed to the outer side of the inner hinge support.

The end cover is fixed on the inner hinge bracket through screws.

The end cover is provided with 2 screw adjusting holes, and the 2 screw adjusting holes are respectively opposite to the 2 screws. The screw rod is rotated from the screw rod adjusting hole on the end cover through the screwdriver, and the pre-tightening force of the first torsion spring and the second torsion spring can be adjusted.

The backboard component comprises a first board, a second board and a third board, wherein the first board and the second board are identical in structure and are respectively fixed on the left and right pelvic supports, the third board is fixedly connected with the first board and the second board, the end parts of the first board and the second board and the third board are provided with a plurality of rows of positioning holes, and bolts penetrate through the positioning holes in the first board, the second board and the third board to fixedly connect the first board, the second board and the third board. The positioning holes on the three plates are adjusted to the proper position according to the waist width of the user.

The structure of the knee joint is the same as that of the knee joint in the prior unpowered exoskeleton technology, and the details are not repeated.

As described above, in order to fully utilize the energy generated by the extension of the pelvis and the hip joint in the sagittal plane during the walking process of the paraplegia patient, the energy storage element is arranged in the hip joint end cover connecting the pelvis support and the large supporting leg, the energy generated by the extension of the pelvis and the hip joint of the patient with different damage conditions is stored by adjusting the pretightening force of the energy storage element, and the energy is released during the flexion motion, so that the energy consumption of the forward movement of the gravity center of the patient is reduced; in order to fully utilize the energy generated by the movement of the pelvis and the hip joint on the coronal plane in the walking process of the paraplegia patient, the energy storage element is arranged at the lower part of the supporting leg assembly, the energy generated by the center of gravity of the patient in the transfer process of the left leg and the right leg in the supporting period is stored through the deformation of the energy storage element, the energy is released in the swinging period, the ground clearance of the feet of the swinging legs is improved, and the energy consumption in the walking process is reduced.

Drawings

FIG. 1 is an isometric view of an unpowered hip joint energy storage walking aid exoskeleton;

FIG. 2 is an isometric view of an unpowered hip joint energy storage walking aid exoskeleton hip joint standing state;

FIG. 3 is an isometric view of the internal structure of the exoskeleton hip joint in a standing state for unpowered hip joint energy storage walking aid;

FIG. 4 is a side view of the unpowered hip joint energy storage walking aid exoskeleton hip joint sitting posture;

FIG. 5 is an isometric view of an unpowered hip joint energy storage walking aid exoskeleton pelvis lock;

FIG. 6 is an axonometric view of a lock for a large leg of an exoskeleton capable of storing energy and assisting walking by using unpowered hip joints.

FIG. 7 is an axonometric view of the outer and inner hinge brackets of the exoskeleton for the energy-storing walking aid of the unpowered hip joint

Description of reference numerals:

1 shank support 2 little leg 3 knee joint

4 big landing leg 5 landing leg subassembly 6 pelvis support subassembly

7 backboard component

51 transverse self-adaptive screw rod 52 pressure spring

61 end cap 62 turntable 63A outer hinge support 63B inner hinge support

64 hinge axis

65 Pelvis lock 65A Pelvis lock wrench 65B Pelvis lock shaft 65C Pelvis lock base plate

65D pelvis lock shell

Central shaft 68 locknut of 66 big supporting leg lock 67

69A screw rod seat I69B screw rod seat II

610A screw rod I610B screw rod II

611A torsion spring I611B torsion spring II

612A nut seat I612B nut seat II

613 torsion spring stop 614 pelvis support 615 positioning hole 616 screw rod adjusting hole

661 pressure spring 662 big leg lock fixing piece 663 big leg lock position conversion piece

664 big leg lock shaft 665 handle

71 one 72 two 73 three 74 holes

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

The core concept of the invention is that in order to fully utilize the energy generated by the pelvis and the hip joint of the paraplegic patient in the process of extending in the sagittal plane during the walking process, the energy storage element is arranged in the hip joint end cover which is connected with the pelvis support and the large supporting leg, the energy generated by the extension of the pelvis and the hip joint of the patient with different damage conditions is stored by adjusting the pretightening force of the energy storage element, and the energy is released during the flexion motion, so that the energy consumption of the forward movement of the gravity center of the patient is reduced.

The core concept of the invention is that in order to fully utilize the energy generated by the movement of the pelvis and the hip joint on the coronal plane in the walking process of the paraplegia patient, the energy storage element is arranged at the lower part of the supporting leg assembly, the energy generated by the center of gravity of the patient in the transfer process of the left leg and the right leg in the supporting period is stored through the deformation of the energy storage element, the energy is released in the swinging period, the ground clearance of the feet of the swinging legs is improved, and the energy consumption in the walking process is reduced.

The core concept of the invention is that in order to facilitate the independent completion of exoskeleton wearing by a patient, the exoskeleton suit adopts a left-right split design and is fixedly connected to the back waist of the patient through the back plate assembly.

Referring to fig. 1, an isometric view of an unpowered hip joint energy storing walking assist exoskeleton embodiment is shown. The unpowered hip joint energy storage walking aid exoskeleton is formed by connecting a lower leg support 1 for fixing feet, ankles and lower legs of paraplegia patients with the assistance of a small leg assembly 2, a knee joint 3, a large leg assembly 4, a leg assembly 5 and a pelvis support assembly 6 with a back plate assembly 7. The small supporting leg 2 is fixed on the lower leg support 1 through riveting, the small supporting leg 2 is connected with the large supporting leg 4 through the knee joint 3, the upper end of the large supporting leg 4 is connected with the supporting leg component 5 through a bolt, the upper end of the supporting leg component 5 is hinged with the pelvis support component 6, the supporting leg component 5 can rotate around the hip joint, and the pelvis support component 6 is fixedly connected with the backboard component 7 through a bolt. The middle and small supporting legs 2 and the large supporting legs 4 play supporting and connecting roles, the knee joint 3 and part of the hip joint assembly 6 are opened when the user sits, the knee joint 3 and the hip joint assembly 6 are bent, the knee joint 3 and part of the hip joint assembly 6 are locked when the user stands or walks, the knee joint can be automatically locked by means of gravity when the user stands, the knee joint can be manually unlocked when the user stands to change the sitting posture, the knee joint lock is of the same structure as traditional RGO, KAFO and other unpowered exoskeletons, and the knee joint 3 cannot be bent.

Referring to fig. 2, there is shown an isometric view of an embodiment of the pelvic support assembly 6 and leg assembly 5 in a standing position of the unpowered hip joint energy storage walker exoskeleton. The pelvis lock 65 is fixedly connected with the pelvis support 614 through a pelvis lock base plate 65C, and the pelvis lock 65 locks the pelvis support 614 and the turntable 62 in the unpowered hip joint energy storage walking assisting exoskeleton standing state. The central axis 67 is coaxial with the greater trochanter of the human body and the pelvic support assembly 6 and leg assembly 5 rotate about the central axis 67. The end cover 61 is fixed on the outer side of the pelvic support assembly 6 through the locking nut 67, the packaging effect is achieved, and the use safety of the exoskeleton is improved. When the self-adaptive compression spring is used for the first time, a screwdriver is used for adjusting the first screw 610A and the second screw 610B through the screw adjusting hole 616 in the end cover 61, so that the user feels moderate elasticity when the user feels that the large supporting leg 4 is driven to swing through a pelvis and a hip joint, the transverse self-adaptive screw 51 is adjusted to change the pretightening force of the compression spring 52, the principle that the pretightening force is changed from large to small is followed, and the moderate elasticity is felt by the user in the process that the center of gravity of the user is transferred on the left. When the user walks, the large leg lock 66 is unlocked, the outer hinge support 63A slightly rotates around the hinge shaft 64, energy generated by movement of the pelvis and the hip joint on the coronal plane in the gravity center transfer process of the user is stored in the pressure spring 52 connected with the transverse self-adaptive screw 51, the energy is released in the swinging period, the ground clearance of the feet of the swinging legs is improved, and the energy consumption during walking is reduced.

Referring to fig. 3, there is shown an isometric view of an embodiment of the internal structure of the pelvic support assembly 6 in a standing position of the unpowered hip joint energy storage walker exoskeleton. The first screw seat 69A and the second screw seat 69B are respectively inserted into the inner hinge support 63B and fixed through screws, the first screw 610A is inserted into the first screw seat 69A, the second screw 610B is inserted into the second screw seat 69B, the lower end of the first screw 610A is bolted with the first nut seat 612A, the second screw 610B is bolted with the second nut seat 612B, and the first nut seat 612A and the second nut seat 612B are not fixed on the inner hinge support 63B. One end of the first torsion spring 611A and one end of the second torsion spring 611B are respectively fixed to the first nut seat 612A and the second nut seat 612B, and the other end is simultaneously fixed to the torsion spring stopper 613. In a walking state, the first torsion spring 611A and the second torsion spring 611B deform around the central shaft 68 to store energy generated by extension of the pelvis and hip joints of a user and release the energy during flexion, so that the functions of energy storage and release of the sagittal plane of the exoskeleton of the unpowered hip joint energy storage walking aid are realized. As shown in fig. 7, the leg assembly includes an outer hinge bracket 63A and an inner hinge bracket 63B, the outer hinge bracket 63A and the inner hinge bracket 63B are connected by a hinge shaft 64, the hinge shaft 64 is fixed to the inner hinge bracket 63B directly or by a screw, the outer hinge bracket 63A is fitted over the hinge shaft 64, and the outer hinge bracket 63A and the inner hinge bracket 63B have coaxial shaft holes. The outer hinge support 63A slightly rotates around the hinge shaft 64, so that the functions of storing and releasing energy of the coronal plane of the unpowered hip joint energy-storing walking-assisting exoskeleton are realized.

Referring to fig. 4 and 5, the pelvis lock 65 comprises a pelvis lock wrench 65A, a pelvis lock shaft 65B and a pelvis lock base plate 65C, when the standing state is converted into the sitting state, the pelvis lock wrench 65A is pushed upwards, the pelvis lock shaft 65B is pulled out from a positioning hole 615 between the rotary disc 62 and the pelvis support 614, the pelvis lock 65 is opened, the rotary disc 62 is separated from the pelvis support 614, the leg assembly 5 and the pelvis support 614 can rotate freely around the central shaft 68, and the unpowered hip joint energy storage walking exoskeleton realizes the conversion from the standing state to the sitting state.

Referring to fig. 6, the thigh lock 66 includes a thigh lock fixing part 662, a thigh lock position converting part 663, a thigh lock shaft 664, a pressure spring 661 and a handle 665, the thigh lock is fixed, 662 is fixedly connected with the outer hinge support 63A through threads, the handle 665 is fixedly connected with the thigh lock shaft 664 through screws, the thigh lock position converting part 663 is fixedly connected with the thigh lock shaft 664 through screws, a groove is provided on the thigh lock fixing part 662, a protrusion matching with the groove is provided on the thigh lock position converting part 663, when the thigh lock 66 is locked, the thigh lock shaft 664 passes through the outer hinge support 63A and the rotary plate 62 to fix the outer hinge support 63A and the rotary plate 62, when the thigh lock 66 is unlocked, the thigh lock shaft 664 is separated from the rotary plate 62, and the outer hinge support 63A is separated from the rotary plate 62. The large supporting leg lock shaft 664 is sleeved with a pressure spring 661, and when the large supporting leg lock is unlocked, the pressure spring 661 fixes the large supporting leg lock shaft, so that the large supporting leg lock shaft is prevented from moving along the axial direction, and the unlocking state is kept.

Referring to fig. 1, the backboard assembly 7 comprises a first plate 71, a second plate 72 and a third plate 73, wherein the first plate 71 and the second plate 72 are identically structured and are respectively fixed on the left and right pelvic supports 614, and the third plate 73 is used for fixing the first plate 71 and the second plate 72. The ends of the first plate 71 and the second plate 72 and the third plate 73 are provided with a plurality of rows of holes 74, and bolts penetrate through the holes 74 on the first plate 71, the second plate 72 and the third plate 73 to fixedly connect the first plate, the second plate and the third plate. The holes on the three plates are adjusted to the proper position according to the waist width of the user.

The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also belong to the scope of the invention, and the scope of the invention is defined by the claims.

Claims

1. The unpowered hip joint energy storage walking assisting exoskeleton is characterized by comprising a shank support, a small leg, a knee joint, a large leg, a leg assembly, a pelvis support assembly and a back plate assembly, wherein the small leg is fixed on the shank support and is connected with the large leg through the knee joint, the upper end of the large leg is connected with the leg assembly, the upper end of the leg assembly is hinged with a pelvis support assembly, the pelvis support assembly is fixedly connected with the back plate assembly, and an energy storage element is arranged on the leg assembly.

2. The unpowered hip joint energy storage walking aid exoskeleton of claim 1, wherein the energy storage elements of the leg assembly are a transverse adaptive screw and a compression spring, the transverse adaptive screw is screwed on the leg assembly, and the compression spring is arranged between the leg assembly and the transverse adaptive screw and sleeved on the adaptive screw.

3. The unpowered hip energy storing walking assist exoskeleton of claim 2, wherein the leg assembly comprises an outer hinge bracket and an inner hinge bracket, the outer hinge bracket and the inner hinge bracket connected by a hinge shaft.

4. The unpowered hip joint energy storage walking assisting exoskeleton of claim 1, wherein an energy storage element is arranged on the pelvis support assembly and comprises a first torsion spring and a second torsion spring, one ends of the first torsion spring and the second torsion spring are fixed on the pelvis support assembly, and when the exoskeleton is in a walking state, the first torsion spring and the second torsion spring deform around the center of the pelvis support assembly.

5. The unpowered hip joint energy storage walking aid exoskeleton of claim 4, wherein the pelvis support assembly comprises a turntable, a central shaft, a pelvis support, 2 screws, 2 screw seats and 2 nut seats, wherein the turntable is sleeved on the central shaft, the central shaft is fixed on the pelvis support, and the pelvis support is fixed with the back plate assembly; the inner hinge support penetrates through the central shaft, 2 screw rod seats are respectively fixed on the inner hinge support, 2 screw rods are respectively inserted into the screw rod seats, the lower ends of the screw rods are respectively bolted with the nut seats, and the 2 nut seats are not fixed with the inner hinge support.

6. The unpowered hip joint energy storage walking aid exoskeleton of claim 5, wherein a torsion spring stop is fixed on the turntable, one end of the first torsion spring and one end of the second torsion spring are fixed on the torsion spring stop, and the other ends of the first torsion spring and the second torsion spring are respectively fixed on the 2 nut seats.

7. The unpowered hip joint energy storage walking aid exoskeleton of claim 3, wherein the outer hinge support and the turntable are connected through a large support leg lock, the outer hinge support and the turntable can respectively rotate around the central shaft when the large support leg lock is unlocked, and the outer hinge support and the turntable can simultaneously rotate around the central shaft when the large support leg lock is locked.

8. The unpowered hip joint energy-storing walking-assisting exoskeleton of claim 7, wherein the large leg lock comprises a large leg lock fixing piece, a large leg lock shaft, a handle and a large leg lock position conversion piece, the large leg lock fixing piece is fixedly connected with the inner hinge support through threads, the handle is fixedly connected with the large leg lock shaft, the large leg lock position conversion piece is fixedly connected with the large leg shaft, a groove is formed in the large leg lock fixing piece, and a protrusion matched with the groove is formed in the large leg lock position conversion piece.

9. The unpowered hip joint energy storage walking aid exoskeleton as claimed in claim 7, wherein the turntable is connected with the pelvis support through a pelvis lock, the pelvis lock is fixed on the pelvis support, the turntable and the pelvis support are fixed by the pelvis lock when the person stands, and the turntable does not rotate any more; when walking, the pelvis lock is unlocked, the rotating disc is separated from the pelvis support, and the rotating disc can rotate.

10. The unpowered hip joint energy storage walking aid exoskeleton of claim 1, wherein the pelvis lock comprises a pelvis lock wrench, a pelvis lock shaft, a pelvis lock base plate and a pelvis lock shell, the pelvis lock wrench is sleeved on the pelvis lock shaft to drive the pelvis lock shaft to slide back and forth, the pelvis lock base plate is fixed on the pelvis support through screws, and the pelvis lock shell is fixed on the pelvis lock base plate.

11. The unpowered hip joint energy storage walking aid exoskeleton of claim 1, wherein the back plate assembly comprises a first plate, a second plate and a third plate, the first plate and the second plate are structurally identical and are respectively fixed on the left and right pelvic supports, the third plate is fixedly connected with the first plate and the second plate, a plurality of rows of holes are formed in the end portions of the first plate, the second plate and the third plate, and bolts penetrate through the holes in the first plate, the second plate and the third plate to fix the first plate, the second plate and the third plate.