Passive flexible knee-ankle joint power-assisted exoskeleton robot

The invention relates to the technical field of power-assisted robots, in particular to a passive flexible knee-ankle joint power-assisted exoskeleton robot. Comprising an exoskeleton support and a pair of energy recovery and release devices. Each energy recovery and release device comprises an input clutch mechanism, an energy storage mechanism and an output mechanism; in a knee joint bending stage, a first flexible cable or a second flexible cable pulls a corresponding input transmission pulley to rotate, so that an input transmission gear and a transmission inner gear ring are in meshed transmission, and energy storage of an energy storage spring is realized; in an ankle joint power assisting stage, a steering engine gear is in gear meshing transmission with a transmission rack, so that a clutch gear is meshed with an output transmission gear and an output transmission pulley at the same time, an energy storage spring releases stored energy, and a third flexible cable is stretched to pull a foot plate upwa