High-compatibility self-calibration lower limb exoskeleton rehabilitation robot

Abstract

The invention discloses a high-compatibility self-calibration lower limb exoskeleton rehabilitation robot which comprises a first lower limb rehabilitation device, a second lower limb rehabilitation device and a hip joint adjusting device. The hip joint exoskeleton assembly comprises three active driving units, and the active driving units with the rotating surfaces corresponding to the horizontal plane are aligned with the rotating center of the hip joint through the remote motion center mechanism with the virtual axis. According to the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot, rotation of a horizontal plane, a coronal plane and a sagittal plane can be completed at the position corresponding to the hip joint of a user, three degrees of freedom of forward flexion / backward extension, adduction / abduction and inward rotation / outward rotation of the hip joint of the human body are achieved respectively, and the exoskeleton robot is aligned to the rotation center of the hip joint of the human body; therefore, the rehabilitation effect of the high-compatibility self-calibration lower limb exoskeleton rehabilitation robot can be improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots and relates to a highly compatible self-calibrating lower limb exoskeleton rehabilitation robot. Background Art

[0002] In recent years, due to the increasing aging of the population and other issues, the number of users suffering from cerebrovascular diseases such as stroke and Parkinson's syndrome or neurodegenerative diseases has increased. These diseases often affect the user's lower limb motor function, which in turn seriously affects the user's quality of life. For these users, timely and effective rehabilitation intervention is extremely important.

[0003] Traditional physical rehabilitation therapy is typically performed by rehabilitation therapists, who assist users through massage, passive limb flexion, and the use of rehabilitation equipment. However, the effectiveness of traditional rehabilitation training largely depends on the experience of the rehabilitation trainer. Currently, the number of rehabilitation therapists is limited, and only a few hospitals can provide high-quality rehabilitation training. Furthermore, traditional manual rehabilitation models lack personalized and precise design for different users, limiting rehabilitation efficiency.

[0004] With technological advancements, highly compatible, self-calibrating lower-limb exoskeleton rehabilitation robots are poised to address the shortcomings of traditional physical rehabilitation treatments. These robots can provide highly precise, personalized rehabilitation training for diverse users, more effectively assisting them in restoring lower-limb function. Currently, numerous research institutions and technology companies are developing various types of highly compatible, self-calibrating lower-limb exoskeleton rehabilitation robots.

[0005] However, due to high technical requirements, existing highly compatible, self-calibrating lower-limb exoskeleton rehabilitation robots have significant limitations. For example, some exoskeletons have limited degrees of freedom, and their movement posture differs from a person's actual gait. As a result, exoskeleton training can only provide limited assistance in improving the user's gait. Another example is that some exoskeletons are large and complex to wear, requiring professional assistance. This makes it difficult for users to use the exoskeleton independently, which is inconvenient. Furthermore, existing exoskeletons only provide active degrees of freedom in the sagittal plane and cannot help users complete daily activities such as turning.

[0006] In summary, most of the existing highly compatible and self-calibrated lower limb exoskeleton rehabilitation robots only provide power drive in the sagittal plane, have limited degrees of freedom, and only help users complete the single process of walking, without considering the rich movement states and functions of the human lower limbs in daily life. Summary of the Invention

[0007] The present invention proposes a highly compatible and self-calibrating lower limb exoskeleton rehabilitation robot to expand the degree of freedom of the lower limb exoskeleton rehabilitation machine and improve the rehabilitation effect of the user.

[0008] In order to achieve the above object, the present invention provides the following technical solutions: The present application provides a highly compatible self-calibrating lower limb exoskeleton rehabilitation robot, comprising a first lower limb rehabilitation device, a second lower limb rehabilitation device, and a hip joint adjustment device; The hip joint adjustment device is connected to the first lower limb rehabilitation device and the second lower limb rehabilitation device, and the first lower limb rehabilitation device and the second lower limb rehabilitation device are symmetrically arranged with respect to the sagittal plane; The first lower limb rehabilitation device and the second lower limb rehabilitation device each include a hip joint exoskeleton component, a thigh component, a knee joint exoskeleton component, a calf component and an ankle joint exoskeleton component connected in sequence; The hip joint exoskeleton component includes three active drive units. The rotation planes of the three active drive units correspond to the horizontal plane, coronal plane and sagittal plane respectively. The active drive units whose rotation planes correspond to the coronal plane and sagittal plane are aligned with the rotation center of the hip joint. The active drive unit whose rotation plane corresponds to the horizontal plane is aligned with the rotation center of the hip joint with a virtual axis through a remote motion center mechanism. The three active drive units can drive the hip joint to rotate in the horizontal plane, coronal plane and sagittal plane respectively, and the horizontal plane, coronal plane and sagittal plane are perpendicular to each other.

[0009] In some embodiments, the hip joint adjustment device can axially adjust the length between the first lower limb rehabilitation device and the second lower limb rehabilitation device.

[0010] In some embodiments, the hip joint adjustment device includes two first ball screws symmetrically arranged facing each other, two first driven bevel gears, a first driving bevel gear, a first rotating shaft, a first slide rail, and a first fixing member; One end of the screw rod portion of the two first ball screws is fixedly mounted to the corresponding first driven bevel gear; The two first driven bevel gears are both engaged with the first driving bevel gear and are positioned on the first fixing member. The first rotating shaft is fixedly connected to the first driving bevel gear to drive the first driving bevel gear to rotate. The first slide rails are fixed on both sides of the first fixing member, and the nut ends of the first ball screws are slidably arranged on the first slide rails to adjust the extension lengths of the screw rod parts of the two first ball screws.

[0011] In some embodiments, the hip exoskeleton assembly is placed in front of the body; One of the three active drive units is a hip exoskeleton sagittal plane drive unit; One of the three active drive units is a hip exoskeleton coronal plane drive unit; One of the three active drive units is a hip joint exoskeleton horizontal plane drive unit.

[0012] In some embodiments, the hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit, and the hip joint exoskeleton transverse plane driving unit are connected through a hip joint transmission rod.

[0013] In some embodiments, a hip exoskeleton sagittal plane drive unit includes a first power module, a first drive output end cap, a first fixing seat, and an output thigh connector; The rotation center of the first power module is directly aligned with the rotation center of the hip joint to perform flexion / extension movement in the sagittal plane; the first drive output end cover is fixed to the output of the harmonic reducer of the first power module, and the output thigh connector is fixed to the first drive output end cover and connected to the thigh assembly to transmit the motor output to the leg of the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot; the fixed seat positions the first power module.

[0014] In some embodiments, the hip joint exoskeleton coronal plane drive unit includes a second power module, a second drive output end cover, a second fixing seat, and a hip joint screw fixing member; The rotation center of the second power module is directly aligned with the rotation center of the hip joint to perform adduction / abduction movement in the coronal plane; the second drive output end cover is fixed to the output of the harmonic reducer of the second power module; the second fixing seat is used to position and fix the second power module; the hip joint screw fixing piece is fixed on the second fixing seat and is connected and fixed to the hip joint adjustment device.

[0015] In some embodiments, the hip joint exoskeleton horizontal plane drive unit includes a third power module, a third drive output end cover, an upper fixing seat, and a lower fixing seat; The third drive output end cover is fixed to the output of the harmonic reducer of the third power module; the upper fixing seat and the lower fixing seat are respectively fixed to the upper and lower ends of the third power module.

[0016] In some embodiments, the hip joint transmission rod includes a first bearing seat, a second bearing seat, a first hip transmission rod and a remote motion center mechanism. The first bearing seat is drivingly connected to the first drive output end cover; The second bearing seat is transmission-connected to the second drive output end cover; One end of the first hip transmission rod is hinged to the third drive output end cover, and the other end is hinged to the remote motion center mechanism; The remote motion center mechanism is transmission-connected to the first drive output end cover and the second drive output end cover, and the first bearing seat and the second bearing seat are transmission-connected to each other.

[0017] In some embodiments, the remote center of motion mechanism includes an upper remote center of motion mechanism and a lower remote center of motion mechanism, and the upper remote center of motion mechanism and the lower remote center of motion mechanism are symmetrical with respect to a horizontal plane.

[0018] In some embodiments, the upper remote motion center mechanism includes a second upper hip transmission rod, a third upper hip transmission rod, a fourth upper hip transmission rod and a fifth upper hip transmission rod, one end of the first upper hip transmission rod is hinged to the third drive output end cover, and the other end is hinged to the second upper hip transmission rod, one end of the second upper hip transmission rod is hinged to the upper end of the second bearing seat, and the other end is hinged to one end of the fourth upper hip transmission rod; the other end of the fourth upper hip transmission rod is hinged to the outer side of the upper end of the first fixed seat; one end of the third upper hip transmission rod is hinged to the upper end of the second drive output end cover, and the other end is hinged to the fourth upper hip transmission rod; one end of the fifth upper hip transmission rod is hinged to the third upper hip transmission rod, and the other end is hinged to the inner side of the upper end of the first fixed seat; The lower remote motion center mechanism includes a second lower hip transmission rod, a third lower hip transmission rod, a fourth lower hip transmission rod and a fifth lower hip transmission rod. One end of the second lower hip transmission rod is hinged to the lower end of the second bearing seat, and the other end is hinged to one end of the fourth lower hip transmission rod; the other end of the fourth lower hip transmission rod is hinged to the outer side of the lower end of the first fixed seat; one end of the third lower hip transmission rod is hinged to the lower end of the second drive output end cover, and the other end is hinged to the fourth lower hip transmission rod; one end of the fifth lower hip transmission rod is hinged to the third lower hip transmission rod, and the other end is hinged to the inner side of the lower end of the first fixed seat.

[0019] In some embodiments, the upper remote motion center mechanism and the lower remote motion center mechanism are connected and fixed via a support rod; The horizontal plane drive unit of the hip joint exoskeleton is driven by a remote motion center mechanism, forming a virtual rotation center at the user's hip joint rotation center to achieve aligned hip joint internal rotation / external rotation movement.

[0020] In some embodiments, the thigh assembly includes a second ball screw, a second driving bevel gear, a second driven bevel gear, a second rotating shaft, a second fixing member, a first knee joint screw connector and a second slide rail; the screw portion of the second ball screw is fixed to the second driven bevel gear, and the second driving bevel gear is fixed to the second rotating shaft, and the second driving bevel gear and the second driven bevel gear are positioned by the second fixing member so that the second driving bevel gear and the second driven bevel gear are engaged for transmission; the nut end of the second ball screw slides on the second slide rail; the first knee joint screw connector and the second ball screw are hinged through bearings and fixed to the knee joint exoskeleton assembly; by rotating the second rotating shaft, the second driving bevel gear and the second driven bevel gear are engaged for transmission, causing the second ball screw to move axially to adjust the thigh length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot.

[0021] In some embodiments, the knee exoskeleton assembly includes a fourth power module, a fourth drive output end cover, a fourth fixing seat, a knee thigh connector and a knee calf connector; the fourth drive output end cover is fixed to the output of the harmonic reducer of the fourth power module; the fourth fixing seat is fixed to the fourth power module, and the fourth fixing seat is also fixed to the knee thigh connector; the knee thigh connector is connected to the thigh assembly; the fourth drive output end cover is fixed to the knee calf connector, and the knee calf connector is connected to the calf assembly.

[0022] In some embodiments, the calf assembly includes a third ball screw, a third active bevel gear, a third driven bevel gear, a third rotating shaft, a third fixing member, a second knee joint screw connector and a third slide rail; the third ball screw is fixed to the third driven bevel gear, and the third active bevel gear is fixed to the third rotating shaft, and the third active bevel gear and the third driven bevel gear are positioned by the third fixing member so that the third active bevel gear and the third driven bevel gear are engaged for transmission; the third ball screw nut slides on the third slide rail; the second knee joint screw connector and the third ball screw are hinged through bearings and fixed to the knee joint exoskeleton assembly; by rotating the third rotating shaft, the third active bevel gear and the third driven bevel gear are engaged for transmission, causing the third ball screw to move axially to adjust the calf length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot component.

[0023] In some embodiments, the ankle exoskeleton assembly has degrees of freedom, providing active degrees of freedom in the frontal plane, active degrees of freedom in the sagittal plane, and passive degrees of freedom in the transverse plane.

[0024] In some embodiments, an ankle exoskeleton assembly includes an ankle exoskeleton sagittal plane drive unit, including a fifth power module, a fifth drive output end cover, a fifth fixing seat, and a calf screw fixing member; the rotation center of the fifth power module is aligned with the rotation center of the ankle joint sagittal plane to drive the user to perform ankle flexion / extension movement; the fifth drive output end cover is fixed to the fifth power module harmonic reducer and fixedly connected to the ankle joint coronal plane drive fifth fixing seat; the fifth fixing seat is fixed to the fifth power module; the calf screw fixing member is fixed to the upper end of the fifth fixing seat and connected to the lower end of the calf assembly; When the fifth power module is working, it transmits power through the fifth drive output end cover to perform ankle flexion / extension movement; In some embodiments, an ankle exoskeleton assembly includes an ankle exoskeleton coronal plane drive unit, including a sixth power module, a sixth drive output end cap, and a sixth fixing seat; the rotation center of the sixth power module is aligned with the rotation center of the ankle coronal plane to perform ankle adduction / abduction movement; the sixth drive output end cap is fixed to the sixth power module harmonic reducer and connected to the rear plate in the horizontal plane drive unit; the sixth fixing seat is used to fix the sixth power module; When the sixth power module is working, the sixth drive output end cover is used to transmit power to perform ankle adduction / abduction movement; In some embodiments, the ankle exoskeleton assembly includes an ankle exoskeleton horizontal plane drive unit, including a first sole plate, a second sole plate, a spiral spring and a back plate; the spiral spring is installed between the first sole plate and the second sole plate and aligned with the ankle joint horizontal plane rotation center; the back plate is fixed to the second sole plate and fixedly connected to the sixth drive output end cover; so that the ankle joint can perform internal rotation / external rotation movement.

[0025] In some embodiments, the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot also includes a length calibration device, which can drive the hip joint adjustment device, thigh component, and calf component to adjust to the target length according to the user's body parameters.

[0026] It can be seen from the above technical solution that the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot of the present application is applied to the rehabilitation training of the lower limbs. After the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot is worn on the user's lower limbs, the hip joint exoskeleton component corresponds to the user's hip joint, the thigh component corresponds to the user's thigh, the knee joint exoskeleton component corresponds to the user's knee joint, the calf component corresponds to the user's calf, and the ankle joint exoskeleton component corresponds to the user's ankle joint. Since the hip joint exoskeleton component of the present application includes three active drive units, and the active drive units whose rotation surfaces correspond to the horizontal plane are aligned with the hip joint rotation center with a virtual axis through a remote motion center mechanism, the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot can complete the rotation of the horizontal plane, the coronal plane, and the sagittal plane at the position corresponding to the user's hip joint, respectively realizing the three degrees of freedom of the human hip joint: flexion / extension, adduction / abduction, and internal rotation / external rotation, and aligning the exoskeleton robot with the human hip joint rotation center, thereby improving the rehabilitation effect of the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some examples or embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without inventive work, and the present invention can also be applied to other similar scenarios based on the provided drawings. Unless otherwise apparent from the language context or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0028] Figure 1 Schematic diagrams of the coronal, sagittal, and horizontal planes provided for this application; Figures 2 to 7A schematic diagram of a highly compatible, self-calibrating lower limb exoskeleton rehabilitation robot provided in an embodiment of the present application; Figures 8 to 13 A schematic diagram of multiple actions performed by a highly compatible, self-calibrating lower limb exoskeleton rehabilitation robot provided in an embodiment of the present application; Figure 14 A schematic diagram of a hip joint adjustment device provided in an embodiment of the present application; Figure 15 and Figure 16 A schematic diagram of a hip joint exoskeleton assembly provided in an embodiment of the present application; Figure 17 A schematic diagram of a thigh assembly provided in an embodiment of the present application; Figure 18 A schematic diagram of a knee joint exoskeleton assembly provided in an embodiment of the present application; Figure 19 A schematic diagram of a calf assembly provided in an embodiment of the present application; Figure 20 and Figure 21 A schematic diagram of an ankle exoskeleton assembly provided in an embodiment of the present application; Figure 22 and Figure 23 A schematic diagram of a length calibration device provided in an embodiment of the present application.

[0029] In the figure, 1-first lower limb rehabilitation device; 2-second lower limb rehabilitation device; 3-hip joint adjustment device; 4-length calibration device; 11- Hip joint exoskeleton assembly; 12- Thigh assembly; 13- Knee joint exoskeleton assembly; 14- Calf assembly; 15- Ankle joint exoskeleton assembly; 21- Hip joint exoskeleton assembly; 22- Thigh assembly; 23- Knee joint exoskeleton assembly; 24- Calf assembly; 25- Ankle joint exoskeleton assembly; 31 - first ball screw, 32 - first driven bevel gear; 33 - first driving bevel gear; 34 - first rotating shaft; 35 - first slide rail; 36 - first fixing member; 111 - hip joint exoskeleton sagittal plane drive unit; 112 - hip joint exoskeleton coronal plane drive unit; 113 - hip joint exoskeleton horizontal plane drive unit; 114 - hip joint transmission rod connection; 1111-first power module; 1112-first drive output end cover; 1113-first fixing seat; 1114-output thigh connector; 1121 - second power module; 1122 - second drive output end cover; 1123 - second fixing seat; 1124 - hip joint screw fixing piece; 1131 - third power module; 1132 - third drive output end cover; 1133 - upper fixing seat; 1134 - lower fixing seat; 1141 - first bearing seat; 1142 - second bearing seat; 1143 - first hip transmission rod; 1144 - remote motion center mechanism; 11441-upper remote motion center mechanism; 11442-lower remote motion center mechanism; 11443-support rod; 11441a - second upper hip transmission rod; 11441b - third upper hip transmission rod; 11441c - fourth upper hip transmission rod; 11441d - fifth upper hip transmission rod; 11442a - second lower hip transmission rod; 11442b - third lower hip transmission rod; 11442c - fourth lower hip transmission rod; 11442d - fifth lower hip transmission rod; 121 - second ball screw; 122 - second driving bevel gear; 123 - second driven bevel gear; 124 - second rotating shaft; 125 - second fixing member; 126 - first knee joint screw connecting member; 131 - fourth power module; 132 - fourth drive output end cover; 133 - fourth fixing seat; 134 - knee-thigh connecting piece; 135 - knee-calf connecting piece; 136 - knee-thigh connecting rod; 137 - knee-calf connecting rod; 141 - third ball screw; 142 - third driving bevel gear; 143 - third driven bevel gear; 144 - third rotating shaft; 145 - third fixing member; 146 - second knee joint screw connecting member; 151-ankle joint exoskeleton sagittal plane drive unit; 152-ankle joint exoskeleton coronal plane drive unit; 153-ankle joint exoskeleton horizontal plane drive unit; 1511-fifth power module; 1512-fifth drive output end cover; 1513-fifth fixing seat; 1514-calf screw fixing piece; 1521-sixth power module; 1522-sixth drive output end cover; 1523-sixth fixing seat; 1531-first foot plate; 1532-second foot plate; 1533-volute spring; 1534-rear plate; 41-seventh power module; 42-seventh drive output end cover; 43-human-machine interaction component; 44-housing. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] In order to facilitate the understanding of the technical solutions subsequently introduced in this application, the following is an explanation of the coronal plane, sagittal plane, and horizontal plane: like Figure 1 As shown, the standard anatomical planes of the human body are based on the upright human body, with mutually perpendicular vertical axes (z-axis, consistent with the direction of gravity), coronal axis (x-axis, parallel to the ground from right to left), and sagittal axis (y-axis, parallel to the ground from front to back), thereby constructing three mutually perpendicular planes: a cross-section parallel to the horizontal plane C and perpendicular to the vertical axis (usually the cross-section is understood as the horizontal plane), which can show a certain height horizontal structure; a coronal plane B (frontal plane) that passes through the coronal axis and is perpendicular to the horizontal plane C, dividing the human body into front and back, and is used to observe the front and back layers; a sagittal plane A that passes through the sagittal axis and is perpendicular to the other two planes, dividing the human body into left and right, is convenient for understanding the left and right distribution. These three planes constitute the basis for the division of anatomical space orientation.

[0032] See also Figures 2 to 7 The present application provides a highly compatible self-calibrated lower limb exoskeleton rehabilitation robot, comprising a first lower limb rehabilitation device 1, a second lower limb rehabilitation device 2 and a hip joint adjustment device 3; the hip joint adjustment device 3 connects the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2, and the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2 are arranged symmetrically about the sagittal plane; the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2 each comprise a hip joint exoskeleton component 11, a thigh component 12, a knee joint exoskeleton component 13, a calf component 14 and an ankle joint component connected in sequence. The hip joint exoskeleton component 15; the hip joint exoskeleton component 11 includes three active drive units, the rotation planes of the three active drive units correspond to the horizontal plane, the coronal plane and the sagittal plane respectively, the active drive units whose rotation planes correspond to the coronal plane and the sagittal plane are aligned with the rotation center of the hip joint, and the active drive unit whose rotation plane corresponds to the horizontal plane is aligned with the rotation center of the hip joint with a virtual axis through the remote motion center mechanism 1144. The three active drive units can drive the hip joint to rotate in the horizontal plane, the coronal plane and the sagittal plane respectively, wherein the horizontal plane, the coronal plane and the sagittal plane are perpendicular to each other.

[0033] The highly compatible and self-calibrating lower limb exoskeleton rehabilitation robot of the present application is used for rehabilitation training of the lower limbs. After the highly compatible and self-calibrating lower limb exoskeleton rehabilitation robot is worn on the user's lower limbs, the hip joint exoskeleton component 11 corresponds to the user's hip joint, the thigh component 12 corresponds to the user's thigh, the knee joint exoskeleton component 13 corresponds to the user's knee joint, the calf component 14 corresponds to the user's calf, and the ankle joint exoskeleton component 15 corresponds to the user's ankle joint.

[0034] Since the hip joint exoskeleton assembly 11 of the present application includes three active drive units, and the active drive unit of the rotation plane corresponding to the horizontal plane is aligned with the hip joint rotation center with a virtual axis through the remote motion center mechanism 1144, the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot can respectively complete the rotation of the horizontal plane, the coronal plane and the sagittal plane at the position corresponding to the user's hip joint, respectively realizing the flexion / extension of the human hip joint (such as Figure 8 as shown), adduction / abduction (as shown Figure 9 as shown), internal rotation / external rotation (as shown Figure 10 The robot has 3 degrees of freedom (as shown) and aligns the exoskeleton robot with the center of rotation of the human hip joint, thereby improving the rehabilitation effect of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot.

[0035] Combine Figure 1 , see Figure 14 To accommodate users of different body shapes, the hip joint adjustment device 3 can axially adjust the length between the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2. Adjusting the hip joint adjustment device 3 can adjust the length between the first lower limb rehabilitation device 1 and the second lower limb rehabilitation device 2, which is equivalent to adjusting the length between the hip joint adjustment components, which correspond to the hip joints, thereby adapting to users with different hip joints.

[0036] Specifically, the hip joint adjustment device 3 includes two first ball screws 31 arranged symmetrically facing each other, two first driven bevel gears 32, a first driving bevel gear 33, a first rotating shaft 34, a first slide rail 35 and a first fixing member 36; one end of the screw rod portion of the two first ball screws 31 is fixed to the corresponding first driven bevel gear 32; the two first driven bevel gears 32 are both engaged with the first driving bevel gear 33 and positioned on the first fixing member 36, and the first rotating shaft 34 is fixedly connected to the first driving bevel gear 33 to drive the first driving bevel gear 33 to rotate; the first slide rail 35 is fixed to both sides of the first fixing member 36, and the nut end of the first ball screw 31 is slidably set on the first slide rail 35 to adjust the extension length of the screw rod portion of the two first ball screws 31.

[0037] Driving the first rotating shaft 34 to rotate can drive the first driving bevel gear 33 to rotate, and the first driving bevel gear 33 drives the first driven bevel gear 32 to rotate, ultimately achieving the synchronous extension or contraction of the screw rod parts of the two first ball screws 31, so as to achieve the purpose of adjusting the length between the two hip joint adjustment components.

[0038] The hip joint exoskeleton component 11 can be placed in front of or behind the body. In some examples of this application, the example of placing it in front is used for introduction.

[0039] Combine Figures 1 to 5 , see Figure 15 and Figure 16 The hip joint exoskeleton component 11 is used to realize the flexion / extension of the human hip joint (such as Figure 8 as shown), adduction / abduction (as shown Figure 9 as shown), internal rotation / external rotation (as shown Figure 10 ) core structure with 3 degrees of freedom of rotation.

[0040] One of the three active drive units is the hip joint exoskeleton sagittal plane drive unit 111, which mainly realizes the flexion / extension of the human hip joint (such as Figure 8 As shown); One of the three active drive units is the hip joint exoskeleton coronal plane drive unit 112, which mainly realizes the adduction / abduction of the human hip joint (as shown in FIG. Figure 9 As shown); One of the three active drive units is the hip joint exoskeleton horizontal plane drive unit 113, which mainly realizes the internal rotation / external rotation of the human hip joint (as shown in FIG. Figure 10 shown).

[0041] The hip joint exoskeleton sagittal plane drive unit 111, the hip joint exoskeleton coronal plane drive unit 112, and the hip joint exoskeleton horizontal plane drive unit 113 are connected via a hip joint transmission rod 114. The hip joint transmission rod 114 allows the active drive units whose rotational planes correspond to the horizontal planes to align with the hip joint rotation center via a virtual axis via a remote motion center mechanism 1144.

[0042] The hip joint exoskeleton sagittal plane drive unit 111 includes a first power module 1111, a first drive output end cover 1112, a first fixed seat 1113 and an output thigh connector 1114; the rotation center of the first power module 1111 is directly aligned with the rotation center of the hip joint to perform flexion / extension movements in the sagittal plane; the first drive output end cover 1112 is fixed to the output of the harmonic reducer of the first power module 1111, and the output thigh connector 1114 is fixed to the first drive output end cover 1112 and connected to the thigh assembly 12 to transmit the output of the first power module 1111 to the leg of a highly compatible self-calibrated lower limb exoskeleton rehabilitation robot; the first fixed seat 1113 positions the first power module 1111.

[0043] When the first power module 1111 is running, the first drive output end cover 1112 rotates, thereby driving the output thigh connection member 1114 to rotate in the sagittal plane, thereby achieving flexion / extension of the human hip joint. Figure 8 shown.

[0044] The hip exoskeleton coronal plane drive unit 112 includes a second power module 1121, a second drive output end cover 1122, a second fixing seat 1123 and a hip joint screw fixing member 1124; the rotation center of the second power module 1121 is directly aligned with the rotation center of the hip joint to perform adduction / abduction movement in the coronal plane; the second drive output end cover 1122 is fixed to the harmonic reducer output of the second power module 1121; the second fixing seat 1123 is used to position and fix the second power module 1121; the hip joint screw fixing member 1124 is fixed on the second fixing seat 1123 and is connected and fixed to the hip joint adjustment device 3.

[0045] When the second power module 1121 is running, the second drive output end cover 1122 rotates, thereby driving the hip joint screw fixing member 1124 to rotate in the coronal plane, thereby achieving the adduction / abduction of the human hip joint. Figure 9 shown.

[0046] The hip joint exoskeleton horizontal plane drive unit 113 includes a third power module 1131, a third drive output end cover 1132, an upper fixing seat 1133 and a lower fixing seat 1134; the third drive output end cover 1132 is fixed to the harmonic reducer output of the third power module 1131; the upper fixing seat 1133 and the lower fixing seat 1134 are respectively fixed to the upper and lower ends of the third power module 1131.

[0047] When the third power module 1131 is running, the third drive output end cover 1132 rotates, thereby driving the upper fixing seat 1133 and the lower fixing seat 1134 of the hip joint to rotate in the horizontal plane, thereby realizing the internal rotation / external rotation of the human hip joint. Figure 10 shown.

[0048] By connecting with the hip joint transmission rod 114 , the active drive unit can realize that the rotation surface corresponds to the horizontal plane and aligns the virtual axis with the hip joint rotation center through the remote motion center mechanism 1144 .

[0049] The hip joint transmission rod 114 includes a first bearing seat 1141, a second bearing seat 1142, a first hip transmission rod 1143 and a remote motion center mechanism 1144. The first bearing seat 1141 is transmission connected to the first drive output end cover 1112; the second bearing seat 1142 is transmission connected to the second drive output end cover 1122; one end of the first hip transmission rod 1143 is hinged to the third drive output end cover 1132, and the other end is hinged to the remote motion center mechanism 1144; the remote motion center mechanism 1144 is transmission connected to the first drive output end cover 1112 and the second drive output end cover 1122, as well as the first bearing seat 1141 and the second bearing seat 1142.

[0050] The remote motion center mechanism 1144 may include an upper remote motion center mechanism 11441 and / or a lower remote motion center mechanism 11442. When the remote motion center mechanism 1144 includes the upper remote motion center mechanism 11441 and the lower remote motion center mechanism 11442, the upper remote motion center mechanism 11441 and the lower remote motion center mechanism 11442 are symmetrical about the horizontal plane. The provision of the upper remote motion center mechanism 11441 and the lower remote motion center mechanism 11442 can improve the transmission stability of the hip exoskeleton sagittal plane drive unit 111, the hip exoskeleton coronal plane drive unit 112, and the hip exoskeleton transverse plane drive unit 113.

[0051] The upper remote motion center mechanism 11441 includes a second upper hip transmission rod 11441a, a third upper hip transmission rod 11441b, a fourth upper hip transmission rod 11441c and a fifth upper hip transmission rod 11441d. One end of the first hip transmission rod 1143 is hinged to the third drive output end cover 1132, and the other end is hinged to the second upper hip transmission rod 11441a. One end of the second upper hip transmission rod 11441a is hinged to the upper end of the second bearing seat 1142, and the other end is hinged to the upper end of the second bearing seat 1142. At one end of the fourth upper hip transmission rod 11441c; the other end of the fourth upper hip transmission rod 11441c is hinged to the outer side of the upper end of the first fixed seat 1113; one end of the third upper hip transmission rod 11441b is hinged to the upper end of the second drive output end cover 1122, and the other end is hinged to the fourth upper hip transmission rod 11441c; one end of the fifth upper hip transmission rod 11441d is hinged to the third upper hip transmission rod 11441b, and the other end is hinged to the inner side of the upper end of the first fixed seat 1113.

[0052] The lower remote motion center mechanism 11442 includes a second lower hip transmission rod 11442a, a third lower hip transmission rod 11442b, a fourth lower hip transmission rod 11442c and a fifth lower hip transmission rod 11442d. One end of the second lower hip transmission rod 11442a is hinged to the lower end of the second bearing seat 1142, and the other end is hinged to one end of the fourth lower hip transmission rod 11442c; the other end of the fourth lower hip transmission rod 11442c is hinged to the outer side of the lower end of the first fixed seat 1113; one end of the third lower hip transmission rod 11442b is hinged to the lower end of the second drive output end cover 1122, and the other end is hinged to the fourth lower hip transmission rod 11442c; one end of the fifth lower hip transmission rod 11442d is hinged to the third lower hip transmission rod 11442b, and the other end is hinged to the inner side of the lower end of the first fixed seat 1113.

[0053] Furthermore, in order to further improve the transmission stability of the hip joint exoskeleton sagittal plane drive unit 111, the hip joint exoskeleton coronal plane drive unit 112, and the hip joint exoskeleton horizontal plane drive unit 113, the upper remote motion center mechanism 11441 and the lower remote motion center mechanism 11442 are connected and fixed via a support rod 11443; the hip joint exoskeleton horizontal plane drive unit 113 is driven by the remote motion center mechanism 1144, forming a virtual rotation center at the user's hip joint rotation center, thereby achieving aligned hip joint internal rotation / external rotation movement. The upper remote center of motion mechanism 11441, the lower remote center of motion mechanism 11442 and the hip joint horizontal plane drive motor form a remote center of motion mechanism 1144 (RCM). When the third power module 1131 rotates, it will output through the third drive output end cover 1132, and through the first hip transmission rod 1143, drive the second upper hip transmission rod 11441a, the third upper hip transmission rod 11441b, the fourth upper hip transmission rod 11441c, the fifth upper hip transmission rod 11441d and the second lower hip transmission rod 11442a, the third lower hip transmission rod 11442b, the fourth lower hip transmission rod 11442c, and the fifth lower hip transmission rod 11442d to rotate. When the hip joint exoskeleton assembly 11 is worn properly, the hip joint exoskeleton assembly 11 will perform internal rotation / external rotation movement around the human hip joint through the virtual axis. The third power module 1131 drives the human hip joint to rotate externally when rotating clockwise, and drives the human hip joint to rotate internally when rotating counterclockwise. The left side is just the opposite.

[0054] For example, a support rod 11443 is provided between the second upper hip transmission rod 11441a and the second lower hip transmission rod 11442a, a support rod 11443 is provided between the third upper hip transmission rod 11441b and the third lower hip transmission rod 11442b, a support rod 11443 is provided between the fourth upper hip transmission rod 11441c and the fourth lower hip transmission rod 11442c, and a support rod 11443 is provided between the fifth upper hip transmission rod 11441d and the fifth lower hip transmission rod 11442d. The aforementioned support rods 11443 are all parallel to each other.

[0055] See also Figure 17 The thigh component 12 corresponds to the human thigh, and the length of the thigh component 12 is adjustable or not. In order to improve the applicability of the device in this application, the length of the thigh component 12 is adjustable. Specifically, the thigh component 12 includes a second ball screw 121, a second active bevel gear 122, a second driven bevel gear 123, a second rotating shaft 124, a second fixing member 125, a first knee joint screw connector 126 and a second slide rail; the screw portion of the second ball screw 121 is fixed to the second driven bevel gear 123, and the second active bevel gear 122 is fixed to the second rotating shaft 124. The second active bevel gear 122 and the second driven bevel gear 123 are positioned by the second fixing member 125 so that the second active bevel gear 121 is fixed to the second rotating shaft 124. The bevel gear 122 engages with the second driven bevel gear 123 for transmission; the nut end of the second ball screw 121 slides on the second slide rail; the first knee joint screw connector 126 is hinged to the second ball screw 121 through a bearing and is fixed to the knee joint exoskeleton component 13; by rotating the second rotating shaft 124, the second active bevel gear 122 engages with the second driven bevel gear 123 for transmission, causing the second ball screw 121 to move axially to adjust the thigh length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot.

[0056] Driving the second rotating shaft 124 to rotate can drive the second active bevel gear 122 and the second driven bevel gear 123 to rotate, and finally the screw portion of the second ball screw 121 is extended or shortened, thereby adjusting the length of the thigh component 12.

[0057] See also Figure 18The knee exoskeleton assembly 13 can align with the human knee joint to drive the knee joint to rotate and realize knee flexion / extension movement. Specifically, the knee exoskeleton assembly 13 includes a fourth power module 131, a fourth drive output end cover 132, a fourth fixing seat 133, a knee thigh connector 134 and a knee shank connector 135; the fourth drive output end cover 132 is fixed to the harmonic reducer output of the fourth power module 131; the fourth fixing seat 133 is fixed to the fourth power module 131, and the fourth fixing seat 133 is also fixed to the knee thigh connector 134; the knee thigh connector 134 is connected to the thigh assembly 12 through the knee thigh connecting rod 136; the fourth drive output end cover 132 is fixed to the knee shank connector 135, and the knee shank connector 135 is connected to the shank assembly 14 through the knee shank connecting rod 137.

[0058] The operation of the fourth power module 131 can drive the fourth drive output end cover 132 to rotate, thereby driving the fourth fixing seat 133 to rotate, further realizing the rotation of the knee joint calf connector 135 relative to the knee joint thigh connector 134, realizing the flexion / extension movement of the knee joint here, such as Figure 11 shown.

[0059] See also Figure 19 The calf assembly 14 corresponds to the human calf, and the length of the calf assembly 14 is adjustable or non-adjustable. The length of the calf assembly 14 is adjustable. Specifically, the calf assembly 14 includes a third ball screw 141, a third driving bevel gear 142, a third driven bevel gear 143, a third rotating shaft 144, a third fixing member 145, a second knee joint screw connector 146 and a third slide rail; the third ball screw 141 is fixed to the third driven bevel gear 143, and the third driving bevel gear 142 is fixed to the third rotating shaft 144. The third fixing member 145 is used to position the third driving bevel gear 142 and the third driven bevel gear 143 so that the third ball screw 141 is fixed to the third driven bevel gear 143. The third active bevel gear 142 is engaged with the third driven bevel gear 143 for transmission; the nut of the third ball screw 141 slides on the third slide rail; the second knee joint screw connector 146 is hinged to the third ball screw 141 through a bearing and is fixed to the knee joint exoskeleton component 13; by rotating the third rotating shaft 144, the third active bevel gear 142 is engaged with the third driven bevel gear 143 for transmission, causing the third ball screw 141 to move axially to adjust the calf length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot.

[0060] See also Figure 20 and Figure 21 The ankle exoskeleton component 15 corresponds to the ankle joint. In order to improve the rehabilitation effect of the robot, the ankle exoskeleton component 15 has three degrees of freedom, providing active freedom in the coronal plane, active freedom in the sagittal plane, and passive freedom in the horizontal plane.

[0061] The ankle exoskeleton assembly 15 includes an ankle exoskeleton sagittal plane drive unit 151, including a fifth power module 1511, a fifth drive output end cover 1512, a fifth fixing seat 1513 and a calf screw fixing piece 1514; the rotation center of the fifth power module 1511 is aligned with the rotation center of the ankle sagittal plane to drive the user to perform ankle flexion / extension movements; the fifth drive output end cover 1512 is fixed to the fifth power module 1511 harmonic reducer and is fixedly connected to the ankle coronal plane drive fifth fixing seat 1513; the fifth fixing seat 1513 is fixed to the fifth power module 1511 to fix and position the fifth power module 1511; the calf screw fixing piece 1514 is fixed to the upper end of the fifth fixing seat 1513 and is connected to the lower end of the calf assembly 14; when the fifth power module 1511 is working, it is transmitted through the fifth drive output end cover 1512 to perform ankle flexion / extension movements. When the fifth power module 1511 rotates, the fifth power module 1511 and the foot sole assembly rotate together in the sagittal plane through the fifth drive output end cover 1512. The fifth power module 1511 rotates, and the foot sole assembly is driven to perform flexion / extension movement through the fifth output end cover. Figure 13 shown.

[0062] The ankle exoskeleton assembly 15 includes an ankle exoskeleton coronal plane drive unit 152, including a sixth power module 1521, a sixth drive output end cover 1522 and a sixth fixing seat 1523; the rotation center of the sixth power module 1521 is aligned with the rotation center of the ankle coronal plane to perform ankle adduction / abduction movement; the sixth drive output end cover 1522 is fixed to the sixth power module 1521 harmonic reducer and is connected to the rear plate 1534 in the horizontal plane drive unit; the sixth fixing seat 1523 is used to fix the sixth power module 1521; when the sixth power module 1521 is working, the sixth drive output end cover 1522 is used to transmit the power to perform ankle adduction / abduction movement, such as Figure 12 shown.

[0063] The ankle exoskeleton assembly 15 includes an ankle exoskeleton horizontal plane drive unit 153, comprising a first sole plate 1531, a second sole plate 1532, a scroll spring 1533, and a rear plate 1534. The scroll spring 1533 is mounted between the first sole plate 1531 and the second sole plate 1532, aligned with the ankle's horizontal plane rotation center. The rear plate 1534 is fixed to the second sole plate 1532 and fixedly connected to the sixth drive output end cap 1522, enabling the ankle to perform internal and external rotation movements. The user's foot is fixed to the first sole plate 1531. If the user needs to actively internally or externally rotate the ankle while walking, the scroll spring 1533 provides cushioning and protection.

[0064] See also Figure 22 and Figure 23The highly compatible and self-calibrating lower limb exoskeleton rehabilitation robot also includes a length calibration device 4, which can drive the hip joint adjustment device 3, the thigh component 12, and the calf component 14 to adjust to the target length according to the user's body parameters.

[0065] The length calibration device 4 may include a seventh power module 41, a single-chip microcomputer, a seventh drive output end cap 42, a human-machine interface component 43, and a housing 44. During use, the jacks of the seventh drive output end cap 42 of the length calibration device 4 are inserted into the shafts of the hip joint adjustment device 3, thigh component 12, and calf component 14, respectively. The user's body parameters are input through the human-machine interface component 43, and the length calibration device automatically rotates the shafts to adjust the corresponding parts to the desired length.

[0066] This application has been disclosed as above with preferred implementation cases, but it is not intended to limit this application. Any technician familiar with this profession can make slight changes or modifications to the above-disclosed structures and technical contents without departing from the scope of the technical solution of this application, and the equivalent implementation cases with equivalent changes are still within the scope of the technical solution of this application.

[0067] The above description is merely an illustration of preferred embodiments of the present invention and the technical principles employed, and is not intended to limit the present invention. Persons skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. The scope of the invention is not limited to technical solutions formed by a specific combination of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the aforementioned inventive concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features having similar functions disclosed in this invention.

Claims

1. A highly compatible self-calibrating lower limb exoskeleton rehabilitation robot, characterized in that: It includes a first lower limb rehabilitation device, a second lower limb rehabilitation device and a hip joint adjustment device; The hip joint adjustment device is connected to the first lower limb rehabilitation device and the second lower limb rehabilitation device, and the first lower limb rehabilitation device and the second lower limb rehabilitation device are arranged symmetrically with respect to the sagittal plane; The first lower limb rehabilitation device and the second lower limb rehabilitation device each comprise a hip joint exoskeleton component, a thigh component, a knee joint exoskeleton component, a calf component and an ankle joint exoskeleton component connected in sequence; The hip joint exoskeleton component includes three active drive units, and the rotation planes of the three active drive units correspond to the horizontal plane, coronal plane and sagittal plane respectively. The active drive units whose rotation planes correspond to the coronal plane and sagittal plane are aligned with the rotation center of the hip joint, and the active drive unit whose rotation plane corresponds to the horizontal plane is aligned with the rotation center of the hip joint with a virtual axis through a remote motion center mechanism. The three active drive units can drive the hip joint to rotate in the horizontal plane, coronal plane and sagittal plane respectively, and the horizontal plane, the coronal plane and the sagittal plane are perpendicular to each other.

2. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The hip joint adjustment device can axially adjust the length between the first lower limb rehabilitation device and the second lower limb rehabilitation device.

3. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 2, characterized in that: The hip joint adjustment device includes two first ball screws arranged symmetrically and facing each other, two first driven bevel gears, a first driving bevel gear, a first rotating shaft, a first slide rail and a first fixing member; One end of the screw rod portion of the two first ball screws is fixedly mounted to the corresponding first driven bevel gear; The two first driven bevel gears are both engaged with the first driving bevel gear and positioned on the first fixing member. The first rotating shaft is fixedly connected to the first driving bevel gear to drive the first driving bevel gear to rotate. The first slide rails are fixed to both sides of the first fixing member, and the nut ends of the first ball screws are slidably disposed on the first slide rails to adjust the extension lengths of the screw rod portions of the two first ball screws.

4. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 1, characterized in that: The hip joint exoskeleton assembly is placed in front of the body; One of the three active drive units is a hip joint exoskeleton sagittal plane drive unit; One of the three active drive units is a hip joint exoskeleton coronal plane drive unit; One of the three active drive units is a hip joint exoskeleton horizontal plane drive unit.

5. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that: The hip joint exoskeleton sagittal plane driving unit, the hip joint exoskeleton coronal plane driving unit and the hip joint exoskeleton horizontal plane driving unit are connected through a hip joint transmission rod.

6. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 5, characterized in that: The hip joint exoskeleton sagittal plane drive unit includes a first power module, a first drive output end cover, a first fixing seat and an output thigh connector; The rotation center of the first power module is directly aligned with the rotation center of the hip joint to perform flexion / extension movement in the sagittal plane; the first drive output end cover is fixed to the output of the harmonic reducer of the first power module, and the output thigh connector is fixed to the first drive output end cover and connected to the thigh assembly to transmit the motor output to the leg of the highly compatible self-calibrating lower limb exoskeleton rehabilitation robot; the first fixing seat positions the first power module.

7. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 6, characterized in that: The hip joint exoskeleton coronal plane drive unit includes a second power module, a second drive output end cover, a second fixing seat and a hip joint screw fixing piece; The rotation center of the second power module is directly aligned with the rotation center of the hip joint to perform adduction / abduction movement in the coronal plane; the second drive output end cover is fixed to the output of the harmonic reducer of the second power module; the second fixing seat is used to position and fix the second power module; the hip joint screw fixing piece is fixed on the second fixing seat and is connected and fixed to the hip joint adjustment device.

8. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 7, characterized in that: The hip joint exoskeleton horizontal plane drive unit includes a third power module, a third drive output end cover, an upper fixing seat and a lower fixing seat; The third drive output end cover is fixed to the output of the harmonic reducer of the third power module; the upper fixing seat and the lower fixing seat are respectively fixed to the upper and lower ends of the third power module.

9. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 8, characterized in that: The hip joint transmission rod includes a first bearing seat, a second bearing seat, a first hip transmission rod and a remote motion center mechanism. The first bearing seat is transmission-connected to the first drive output end cover; The second bearing seat is transmission-connected to the second drive output end cover; One end of the first hip transmission rod is hinged to the third drive output end cover, and the other end is hinged to the remote motion center mechanism; The remote motion center mechanism is transmission-connected to the first drive output end cover and the second drive output end cover, and the first bearing seat and the second bearing seat.

10. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 9, characterized in that: The remote motion center mechanism includes an upper remote motion center mechanism and a lower remote motion center mechanism, and the upper remote motion center mechanism and the lower remote motion center mechanism are symmetrical with respect to a horizontal plane.

11. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 10, characterized in that: The upper remote motion center mechanism includes a second upper hip transmission rod, a third upper hip transmission rod, a fourth upper hip transmission rod and a fifth upper hip transmission rod. One end of the first upper hip transmission rod is hinged to the third drive output end cover, and the other end is hinged to the second upper hip transmission rod. One end of the second upper hip transmission rod is hinged to the upper end of the second bearing seat, and the other end is hinged to one end of the fourth upper hip transmission rod; the other end of the fourth upper hip transmission rod is hinged to the outer side of the upper end of the first fixed seat; one end of the third upper hip transmission rod is hinged to the upper end of the second drive output end cover, and the other end is hinged to the fourth upper hip transmission rod; one end of the fifth upper hip transmission rod is hinged to the third upper hip transmission rod, and the other end is hinged to the inner side of the upper end of the first fixed seat; The lower remote motion center mechanism includes a second lower hip transmission rod, a third lower hip transmission rod, a fourth lower hip transmission rod and a fifth lower hip transmission rod. One end of the second lower hip transmission rod is hinged to the lower end of the second bearing seat, and the other end is hinged to one end of the fourth lower hip transmission rod; the other end of the fourth lower hip transmission rod is hinged to the outer side of the lower end of the first fixed seat; one end of the third lower hip transmission rod is hinged to the lower end of the second drive output end cover, and the other end is hinged to the fourth lower hip transmission rod; one end of the fifth lower hip transmission rod is hinged to the third lower hip transmission rod, and the other end is hinged to the inner side of the lower end of the first fixed seat.

12. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 11, characterized in that: The upper remote motion center mechanism and the lower remote motion center mechanism are connected and fixed by a support rod; The hip joint exoskeleton horizontal plane drive unit is driven by the remote motion center mechanism to form a virtual rotation center at the user's hip joint rotation center, thereby achieving aligned hip joint internal rotation / external rotation movement.

13. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that: The thigh assembly includes a second ball screw, a second active bevel gear, a second driven bevel gear, a second rotating shaft, a second fixing piece, a first knee joint screw connector and a second slide rail; the screw part of the second ball screw is fixed to the second driven bevel gear, and the second active bevel gear is fixed to the second rotating shaft, and the second active bevel gear and the second driven bevel gear are positioned by the second fixing piece so that the second active bevel gear and the second driven bevel gear are engaged for transmission; the nut end of the second ball screw slides on the second slide rail; the first knee joint screw connector and the second ball screw are hinged through a bearing and fixed to the knee joint exoskeleton assembly; by rotating the second rotating shaft, the second active bevel gear and the second driven bevel gear are engaged for transmission, causing the second ball screw to move axially to adjust the thigh length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot.

14. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that: The knee joint exoskeleton assembly includes a fourth power module, a fourth drive output end cover, a fourth fixing seat, a knee joint thigh connector and a knee joint calf connector; the fourth drive output end cover is fixed to the output of the harmonic reducer of the fourth power module; the fourth fixing seat is fixed to the fourth power module, and the fourth fixing seat is also fixed to the knee joint thigh connector; the knee joint thigh connector is connected to the thigh assembly; the fourth drive output end cover is fixed to the knee joint calf connector, and the knee joint calf connector is connected to the calf assembly.

15. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that: The calf assembly includes a third ball screw, a third active bevel gear, a third driven bevel gear, a third rotating shaft, a third fixing piece, a second knee joint screw connector and a third slide rail; the third ball screw is fixed to the third driven bevel gear, and the third active bevel gear is fixed to the third rotating shaft, and the third active bevel gear and the third driven bevel gear are positioned by the third fixing piece so that the third active bevel gear and the third driven bevel gear are engaged for transmission; the third ball screw nut slides on the third slide rail; the second knee joint screw connector is hinged to the third ball screw through a bearing and is fixed to the knee joint exoskeleton assembly; by rotating the third rotating shaft, the third active bevel gear and the third driven bevel gear are engaged for transmission, causing the third ball screw to move axially to adjust the calf length of the highly compatible self-calibrated lower limb exoskeleton rehabilitation robot component.

16. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 4, characterized in that: The ankle exoskeleton component has three degrees of freedom, providing active freedom in the coronal plane, active freedom in the sagittal plane, and passive freedom in the transverse plane.

17. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 16, characterized in that: The ankle exoskeleton assembly includes an ankle exoskeleton sagittal plane drive unit, including a fifth power module, a fifth drive output end cover, a fifth fixing seat, and a calf screw fixing piece; the rotation center of the fifth power module is aligned with the rotation center of the ankle joint sagittal plane to drive the user to perform ankle flexion / extension movements; the fifth drive output end cover is fixed to the fifth power module harmonic reducer and fixedly connected to the fifth fixing seat for the ankle joint coronal plane drive; the fifth fixing seat is fixed to the fifth power module; the calf screw fixing piece is fixed to the upper end of the fifth fixing seat and connected to the lower end of the calf assembly; When the fifth power module is in operation, power is transmitted through the fifth drive output end cover to perform ankle flexion / extension movement.

18. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 16, characterized in that: The ankle exoskeleton assembly includes an ankle exoskeleton coronal plane drive unit, including a sixth power module, a sixth drive output end cover, and a sixth fixing seat; the rotation center of the sixth power module is aligned with the rotation center of the ankle coronal plane to perform ankle adduction / abduction movement; the sixth drive output end cover is fixed to the sixth power module harmonic reducer and connected to the rear plate in the horizontal plane drive unit; the sixth fixing seat is used to fix the sixth power module; When the sixth power module is working, the sixth drive output end cover is used to transmit power to perform ankle adduction / abduction movement.

19. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to claim 16, characterized in that: The ankle exoskeleton assembly includes an ankle exoskeleton horizontal plane drive unit, including a first sole plate, a second sole plate, a spiral spring and a back plate; the spiral spring is installed between the first sole plate and the second sole plate and aligned with the ankle joint horizontal plane rotation center; the back plate is fixed under the sole of the foot and fixedly connected to the sixth drive output end cover; so that the ankle joint can perform internal rotation / external rotation movement.

20. The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot according to any one of claims 2 to 19, characterized in that: The highly compatible self-calibrating lower limb exoskeleton rehabilitation robot also includes a length calibration device, which can drive the hip joint adjustment device, the thigh component, and the calf component to adjust to the target length according to the user's body parameters.

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