Novel modularized passive lower limb exoskeleton structure

The invention relates to a novel modularized passive lower limb exoskeleton structure which comprises a waist module, hip joint modules, thigh length adjusting modules, knee joint modules, shank length adjusting modules, ankle joint power assisting modules and detachable power assisting modules. The detachable power assisting module is arranged on the hip joint module or the knee joint module. The power assisting device has the advantages that the detachable power assisting module is arranged and can be selectively installed at the corresponding position of the hip joint or the knee joint according to needs, and different power assisting requirements are met; the dimension of the waist ring and the mounting position of the lower limbs can be adjusted, and the adaptability of the exoskeleton structure to the length of the lower limbs of the wearer can be further improved through the thigh length adjusting module and the shank length adjusting module; hinges are arranged at the knee joints, the hip joints and t