Lower limb rehabilitation auxiliary robot

Abstract

The invention discloses a lower limb rehabilitation auxiliary robot, which relates to the technical field of rehabilitation medical instruments and comprises a waist structure, a crotch structure, a leg structure, a knee joint structure, an ankle structure and a foot structure. The leg structure is provided with an upper plate, a lower plate and a leg limiting structure, the upper plate and the lower plate are arranged up and down, an inserting groove is formed in the lower end of the upper plate, the upper end of the lower plate is inserted into the inserting groove in a sliding fit mode, a clamping groove penetrating into the inserting groove is further formed in the upper plate, and the leg limiting structure is installed at the clamping groove and used for limiting relative sliding of the upper plate and the lower plate during locking. The leg structures and the waist structure have the functions of flexibly adjusting and locking the length and the width respectively, and SEA series elastic actuators in the knee joint structures provide an elastic receding interval within a certain range for a patient on the included angle parameters of the thigh structures and the shank structures. Full-parameter adaptation, safe elastic driving and efficient rehabilitation training of the body type of the patient can be achieved, and the device is suitable for full-process rehabilitation treatment of different dyskinesia patients.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation medical device technology, specifically to an assistive robot for lower limb rehabilitation treatment. Background Technology

[0002] Lower limb rehabilitation robots are important assistive tools in the rehabilitation training process for patients with motor dysfunction, helping them to conduct rehabilitation training and restore walking ability. However, existing lower limb rehabilitation robots still have some shortcomings. For example, they are difficult to adapt to the differences in body shape among different patients, especially the lack of flexibility and adaptability in adjusting key parameters such as waist width and leg length, which leads to patient discomfort and even affects the treatment effect. Another example is the fixed design of the foot structure, which cannot dynamically and adaptively adjust according to the patient's gait, limiting the naturalness of rehabilitation training and the recovery effect of joint range of motion.

[0003] Based on existing technology searches, the following known technical solutions exist: Prior Art 1: Application number: CN202510245635.6, application date: 2025.03.04, publication (announcement) date: 2025.07.11.

[0004] Prior art 1 discloses a lower limb rehabilitation training robot, belonging to the field of medical device technology, including: a weight-reducing suspension system, a width adjustment system, a weight-reducing drive system, and a motion control system; the weight-reducing suspension system provides auxiliary support for patients, the width adjustment mechanism and height adjustment mechanism realize shape adjustment to adapt to patients and usage scenarios, the motion control system is composed of omnidirectional wheels and multiple shock absorption modules to adapt to different road conditions, and is used for posture following training of patients' daily walking during the rehabilitation period or for weight reduction assistance in fixed scenarios (such as treadmills), and the modular interface realizes the switching and installation of different functional modules.

[0005] However, existing technology 1 uses a rigid support structure, which cannot dynamically adjust the support angle according to the patient's body shape. It also occupies a large space and has insufficient adaptability to different scenarios, failing to meet the rehabilitation needs of patients in complex outdoor environments, such as staircases.

[0006] Prior art 2: Application number: CN202411303839.2, application date: 2024.09.19, publication (announcement) date: 2024.12.13.

[0007] Prior art 2 discloses a flexible, self-aligning knee joint rehabilitation device, relating to the field of exoskeleton robot technology. The device includes a fixed platform assembly, a branch chain assembly, and a drive main assembly. The fixed platform assembly includes a thigh support. The branch chain assembly includes two first branches and a second branch. The two first branches are located on the left and right sides of the corresponding human leg, and the first branches can extend or shorten. The second branch is located on the front side of the corresponding human leg, and a flexible telescopic element is provided at the knee position. The drive main assembly includes a calf support and a driver. The lower ends of both the first and second branches are hinged to the calf support, allowing them to swing back and forth on the calf support. The driver is integrated into the calf support. This invention ensures the stability and continuity of rehabilitation training, enabling rehabilitation training to be integrated into daily walking activities.

[0008] However, the drive system of the existing technology 2 relies on direct transmission of stepper motors, which lacks elastic buffering and is prone to motor overload damage due to patient movement errors, while also resulting in insufficient patient comfort.

[0009] Existing technology 3: Application number: CN202411633400.6, application date: 2025.01.08, publication (announcement) date: CN202411633400.6.

[0010] Prior art 3 relates to the field of rehabilitation medical device technology, and in particular to a self-adjusting lower limb rehabilitation training robot. It includes a base, with two sets of cylinders mounted on one side wall of the base. The output ends of the two sets of cylinders are driven to a slide, and an electric turntable is mounted on the slide. An auxiliary component is provided on the electric turntable, and the auxiliary component includes a housing. A first motor is mounted on the housing, and a through groove is formed in the housing. A lead screw is rotatably connected within the through groove, and a first internally threaded block is threaded onto the lead screw. A seat is fixedly connected to one side wall of the first internally threaded block, and a protective mechanism is fixedly connected to the other side wall of the first internally threaded block. The first motor drives the lead screw to rotate, causing the first internally threaded block to move the seat up and down to a suitable height. Then, the electric turntable rotates the seat to the other side, helping the patient to board the robot.

[0011] However, the adjustment process in existing technologies relies heavily on manual operation, resulting in low efficiency and significantly insufficient precision. The knee joint area often employs rigid gear or linkage mechanisms, lacking tolerance for motion errors, leading to increased mechanical wear or a higher risk of training interruption. Simultaneously, traditional lumbar support mechanisms use fixed buckle designs, making it difficult to adapt to the different lumbar curves of patients, easily causing localized pressure or slippage, affecting stability. Summary of the Invention

[0012] To avoid the shortcomings of the prior art, the present invention provides a lower limb rehabilitation assistive robot.

[0013] To solve the technical problem, the present invention adopts the following technical solution: a lower limb rehabilitation assistive robot, comprising a waist structure, a hip structure, a leg structure, a knee joint structure, an ankle structure, and a foot structure. The two pairs of leg structures serve as a pair of thigh structures and a pair of calf structures, respectively. The hip structure, thigh structure, knee joint structure, calf structure, ankle structure, and foot structure are arranged symmetrically in pairs below the waist structure from top to bottom and are installed and connected sequentially. The leg structure includes an upper plate and a lower plate arranged vertically, as well as a leg limiting structure; The upper plate has a slot at its lower end, and the upper end of the lower plate is inserted into the slot. A sliding pair of legs is formed between the upper plate and the lower plate to support the extension or shortening of their total length. The upper plate also has a slot that extends through the insertion slot from the side of the insertion slot, parallel to the sliding pair of the leg. At least one side of the slot has a strip-shaped serrated structure. The leg limiting structure is located at the slot and includes a mounting plate, a return spring, a limiting rotating block, a limiter, a limiting slide rail, a connecting rod, a pressure plate, a limiter mounting shaft, and a limiting spring. The mounting plate is fixedly mounted on the upper part of the lower plate; one end of the limiting rotating block is the distal end, and the other end is the proximal end. The distal end is engaged in one tooth of the strip-shaped sawtooth structure, and one side of the proximal end is rotatably connected to the mounting plate, so that a limiting rotating block rotation pair is formed between the limiting rotating block and the mounting plate to support the limiting rotating block to flip up or down to disengage from the sawtooth; the two ends of the return spring are respectively hooked to the mounting plate and the limiting rotating block, and its elastic force tends to keep the limiting rotating block engaged with the slot; The mounting plate has a mounting plate groove, and the pressure plate slide rod fixed on the pressure plate is slidably installed into the mounting plate groove, so that a pressure plate sliding pair is formed between the mounting plate and the pressure plate to support the pressure plate to slide closer to or slide away from the limiting rotation block; The limiting slide rail has a columnar structure with limiting teeth on its outer periphery. It is installed and fixed to the pressure plate by the connecting rod. A limiting slide rail central hole is opened at one end facing the limiting rotating block. A limiting slide rail opening communicating with the limiting slide rail central hole is opened along the entire length of the column surface, and planar sides are formed on both sides of the limiting slide rail opening. The limiting slide rail also has a limiting slide rail arc groove with an arc-shaped groove structure that communicates with the limiting slide rail central hole and the limiting slide rail opening along the circumference. The limiting slide rail is slidably installed in the corresponding rotating block slide rail groove on the other side of the proximal end. The inner end face of the rotating block slide rail groove is fixedly connected to the limiting device mounting shaft, and the limiting device is formed by radially outward protrusion on the limiting device mounting shaft. The limiter mounting shaft is inserted into the central hole of the limiter slide rail, allowing the limiter to slide axially relative to the limiter slide rail. When the limiter slides axially to face the arc groove of the limiter slide rail, a mounting shaft rotation pair is formed between the limiter slide rail and the limiter mounting shaft with their common axis as the axis of rotation, allowing the limiter to swing about a fixed axis within the arc groove of the limiter slide rail. When the limiter slides axially away from the arc groove of the limiter slide rail, the limiter presses against the planar sides on both sides, restricting the relative rotation between the limiter mounting shaft and the limiter slide rail. The limiting spring is sleeved outside the connecting rod and pressed between the pressure plate and the limiting rotating block. Its elastic force tends to cause the limiter to deviate from the limiting slide rail groove.

[0014] Furthermore, the leg structure also includes a leg locking structure comprising a locking block and a locking rod; The locking block is fixed in the cavity inside the pressure plate, and a travel groove, a locking groove and a return groove are formed on the same surface on it. The locking rod passes through the vertically opened pressure plate through hole on the pressure plate. Its front end is bent toward the locking block to form a front end that is locked into the travel groove, the locking groove or the return groove. Its rear end is bent toward the mounting plate to form a rear end that is rotatably installed into the corresponding positioning hole on the mounting plate, so that the locking rod can rotate around the rear end as a pivot. The travel groove is inclined from bottom to top along the direction away from the limiting slide rail, the locking groove has a V-shaped groove structure that bends toward the limiting slide rail, and the return groove is inclined from top to bottom along the direction away from the limiting slide rail. The travel groove, the locking groove, and the return groove are connected end to end in sequence, and the rear end of the return groove is connected to the middle of the travel groove. When the front end is engaged at the inflection point of the V-shaped groove structure, the locking spring is compressed, so that the limiter is kept facing the arc groove of the limiting slide rail. When the front end is engaged at the front end of the travel groove, the limiter is kept away from the arc groove of the limiting slide rail under the elastic force of the locking spring.

[0015] Furthermore, the reset spring is located above the limiting rotating block, and the serrations have an asymmetrical structure with the upper edge having a much smaller angle with the horizontal direction than the lower edge having a smaller angle with the horizontal direction.

[0016] Furthermore, the leg limiting structure and the leg locking structure are arranged symmetrically in pairs about the slot, and the paired leg limiting structure and the leg locking structure share the mounting plate and the locking block.

[0017] Furthermore, the ankle structure includes an ankle fixation plate and an ankle base plate arranged vertically, as well as an ankle spring; The upper end of the ankle base plate is rotatably connected to the lower end of the ankle fixation plate, forming an ankle rotation pair that supports the ankle base plate to swing forward or backward. The front sides of the ankle fixation plate and the ankle base plate are respectively provided with a protruding upper spring mounting part and a lower spring mounting part, and the two ends of the ankle spring are respectively hooked to the upper spring mounting part and the lower spring mounting part.

[0018] Furthermore, the foot structure includes a forefoot, midfoot, heel, foot protector, and foot connection structure. The heel is installed and connected to the ankle structure, and a foot protector that fits to the back of the foot is fixed on its top. The forefoot, midfoot, and rearfoot are arranged sequentially from front to back and are rotatably connected by foot connecting pins. The midfoot forms parallel rotating joints with the forefoot and rearfoot, respectively, which support the forefoot and rearfoot to flip up or down. The foot connection structure includes a foot spring, a foot link, and a foot outer cylinder. The foot link and the foot outer cylinder are fitted together, forming a sliding pair that supports the foot link extending outward or retracting inward. A limiting platform is provided on the foot link, and the foot spring is sleeved on the outside of the foot link, with its two ends pressing against the limiting platform and the end face of the foot outer cylinder, respectively. The elastic force of the foot spring tends to cause the foot link to extend outward from the foot outer cylinder. Two pairs of foot connection structures are symmetrically arranged on both sides of the rear sole. In one pair of foot connection structures, the front end of the foot outer cylinder and the rear end of the foot connecting rod are rotatably connected to the foot protector and the forefoot through bearings, and two foot connection rotating pairs are formed between the foot protector and the forefoot, with their rotating shafts parallel to the rear sole rotating pair. In the other pair of foot connection structures, the front end of the foot outer cylinder and the rear end of the foot connecting rod are rotatably connected to the foot protector and the midsole through bearings, and two foot connection rotating pairs are formed between the foot protector and the midsole, with their rotating shafts parallel to the rear sole rotating pair.

[0019] Furthermore, the knee joint structure includes a knee joint motor, an SEA series elastic actuator, a knee joint worm gear, a knee joint turbine, a knee joint connecting plate, a knee joint guard plate, a knee joint outer plate, and a knee joint turbine outer plate; The knee joint turbine is rotatably mounted inside the knee joint guard plate via the outer plate of the knee joint turbine. The fixed ends of the knee joint motor and the SEA series elastic actuator are fixed to the knee joint guard plate. The output end of the knee joint motor is connected to the input end of the SEA series elastic actuator, and the output end is connected to the knee joint worm shaft. The knee joint worm is located inside the knee joint guard plate and meshes with the knee joint turbine. The knee joint connecting plate is arranged in a position along the radial direction of the knee joint turbine in the length direction. Its front end is fixed to the knee joint turbine, and its rear end extends out of the knee joint shield from the opening at the back side to the bottom of the knee joint shield. The opening on the front side of the knee joint guard plate is detachably fitted to cover the outer knee joint plate; The knee joint guard plate is installed and connected to the thigh structure, and the lower end of the knee joint connecting plate is installed and connected to the lower leg structure.

[0020] Furthermore, the crotch structure includes a crotch guard plate, a crotch stepper motor, a crotch worm gear, a crotch turbine, a crotch connecting plate, and a crotch outer plate; The hip turbine is rotatably mounted inside the hip guard plate; the fixed end of the hip stepper motor is fixedly mounted to the hip guard plate, and the output end is connected to the hip worm shaft; the hip worm is located inside the hip guard plate and meshes with the hip turbine. The crotch connecting plate is arranged in a position along the radial direction of the crotch turbine in the length direction. Its front end is fixed to the crotch turbine, and its rear end extends out of the crotch guard plate from the opening at the bottom of the crotch guard plate. The opening on the front side of the hip guard plate is detachably fitted with the outer hip plate; The hip guard is installed and connected to the waist structure, and the lower end of the hip connecting plate is installed and connected to the thigh structure.

[0021] Furthermore, the waist structure includes a waist belt, a support plate, a waist fixing end, a waist moving end, a pressure plate, a waist return spring, an adjustment structure, and a limit buckle; The waist belt and the support plate are arranged symmetrically in pairs. The support plate has an arc-shaped plate structure. The waist belt is attached to the inner side of the support plate, with its front end extending forward towards the support plate and its front end tapering inward. The waist fixed end and the waist moving end are slidably fitted together and respectively installed and fixed to the rear ends of the pair of support plates. The waist fixed end and the waist moving end form only a waist sliding pair that supports the pair of support plates sliding closer to each other or sliding further apart. The pressure plate is connected to the front side of the waist moving end via the waist return spring; the waist fixed end and the waist moving end respectively have a fixed end cavity and a moving end cavity, and the fixed end cavity has a row of limiting grooves arranged along the direction of the waist sliding pair; the adjustment structure and the limiting buckle are located in the fixed end cavity and the moving end cavity; The input and output ends of the adjustment structure are respectively connected to the pressure plate and the limiting buckle. When the pressure plate is pressed down, the adjustment structure can drive the limiting buckle to engage in the limiting groove, thereby restricting the relative sliding between the waist fixed end and the waist moving end.

[0022] Furthermore, the adjustment structure includes a fixed frame, a fixed shaft, a drive rack, an adjusting gear, an adjusting rack, and a push block; The fixed shaft is fixedly connected to the moving end of the waist with its axis parallel to the sliding pair of the waist. The adjusting gear is fixedly mounted on the fixed shaft. The driving rack and the adjusting rack are both meshed with the adjusting gear. The driving rack is fixedly connected to the pressure plate. The adjusting rack is slidably mounted on the fixed frame fixedly connected to the moving end of the waist. The limiting grooves are provided in pairs, one above the other; the limiting buckle is a U-shaped elastic buckle, the front of which is fixed to the fixing frame, the middle to the rear of which expands outwards vertically, and the two rear ends protrude outwards upwards and downwards respectively to form buckle ends that can be engaged and snapped into a pair of the limiting grooves. The front end of the adjusting rack is fixedly connected to the push block located in the middle to rear part of the limiting buckle.

[0023] This invention provides a lower limb rehabilitation assistive robot, which has the following beneficial effects: The leg and waist structures of this invention have flexible adjustment and locking functions for length and width, which can better adapt to the rehabilitation needs of patients with different leg lengths and waist sizes. The SEA series elastic actuator in the knee joint structure provides a certain range of elastic clearance for the patient in terms of the angle parameters between the thigh and lower leg structures, allowing the patient to perform active knee flexion and extension movements within a certain range, while avoiding damage to the knee joint motor due to errors in the angle parameters. This invention can achieve full parameter adaptation to the patient's body shape, safe elastic drive, and efficient rehabilitation training, and is suitable for the whole process of rehabilitation treatment for patients with different motor dysfunctions. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the leg structure of the present invention; Figure 3 This is a schematic diagram of the leg limiting structure and the leg locking structure of the present invention; Figure 4 This is a partial structural diagram of the leg limiting structure and the leg locking structure of the present invention; Figure 5 This is a schematic diagram of the structure of the limiting rotating block, the limiter, and the limiter mounting shaft of the present invention; Figure 6 This is a schematic diagram of the structure of the limiting slide rail, connecting rod, and pressure plate of the present invention; Figure 7 This is a schematic diagram of the structure of the limiting slide rail of the present invention; Figure 8 This is a schematic diagram of the locking rod of the present invention; Figure 9 This is a schematic diagram showing the relative positions of the locking rod, the travel groove, the locking groove, and the return groove when the leg locking structure of the present invention is in the locked state; Figure 10 This is a schematic diagram showing the relative positions of the locking rod, the travel groove, the locking groove, and the return groove when the leg locking structure of the present invention is in the unlocked state; Figure 11 This is a schematic diagram of the ankle structure of the present invention; Figure 12 This is a schematic diagram of the foot structure of the present invention; Figure 13 This is a schematic diagram of the knee joint structure of the present invention; Figure 14 This is a schematic diagram of the hip structure of the present invention; Figure 15 This is a schematic diagram of the waist structure of the present invention; Figure 16 This is a partial structural diagram of the waist structure of the present invention; Figure 17 This is a partial half-section side view of the waist structure of the present invention.

[0025] In the picture: 1. Waist structure; 11. Waist belt; 12. Support plate; 13. Waist fixing end; 131. Limiting groove; 14. Waist moving end; 15. Pressure plate; 16. Waist return spring; 17. Adjustment structure; 171. Fixing frame; 172. Fixing shaft; 173. Drive rack; 174. Adjusting gear; 175. Adjusting rack; 176. Push block; 18. Limiting buckle; 181. Buckle end; 4. Hip structure; 41. 42. Hip guard plate; 43. Hip stepper motor; 6. Hip outer plate; 6. Leg structure; 61. Upper plate; 62. Lower plate; 63. Leg limiting structure; 631. Mounting plate; 6311. Mounting plate groove; 6312. Positioning hole; 632. Return spring; 633. Limiting rotating block; 6331. Rotating block slide rail groove; 634. Limiter; 635. Limiting slide rail; 6351. Limiting slide rail center hole; 6352. Limiting slide rail arc. 6353, 6354, 6355, 636, 637, 638, 6359, 6350, 6351, 637, 637, 637, 637, 637, 637, 638, 639, 64, 65, 6 ... 6622. Rear end; 7. Knee joint structure; 71. SEA series elastic actuator; 72. Knee joint worm gear; 73. Knee joint guard plate; 74. Knee joint turbine outer plate; 8. Ankle structure; 81. Ankle fixation plate; 82. Ankle sole plate; 83. Ankle spring; 9. Foot structure; 91. Forefoot; 92. Midsole; 93. Rearfoot; 94. Foot guard plate; 95. Foot spring; 96. Foot linkage; 97. Foot outer cylinder. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] A lower limb rehabilitation assistive robot, such as Figures 1-17 As shown, its structural relationship is as follows: it includes waist structure 1, hip structure 4, leg structure 6, knee joint structure 7, ankle structure 8 and foot structure 9. The two pairs of leg structures 6 serve as a pair of thigh structures and a pair of calf structures, respectively. The hip structure 4, thigh structure, knee joint structure 7, calf structure, ankle structure 8 and foot structure 9 are arranged in pairs symmetrically below the waist structure 1 from top to bottom and are installed and connected in sequence. The leg structure 6 includes an upper plate 61 and a lower plate 62 arranged vertically, as well as a leg limiting structure 63. In the thigh structure, the upper end of the upper plate 61 is connected to the hip structure 4, and the lower end of the lower plate 62 is connected to the knee joint structure 7; in the calf structure, the upper end of the upper plate 61 is connected to the knee joint structure 7, and the lower end of the lower plate 62 is connected to the ankle structure 8. The lower end of the upper plate 61 is provided with a insertion groove 64, and the upper end of the lower plate 62 is inserted into the insertion groove 64. A leg sliding pair is formed between the upper plate 61 and the lower plate 62 to support the extension or shortening of the total length of the two. The upper plate 61 also has a slot 65 that extends through the insertion slot 64 and is parallel to the leg sliding pair. At least one side of the slot 65 has a strip-shaped sawtooth structure. The leg limiting structure 63 is located in the slot 65 and includes a mounting plate 631, a return spring 632, a limiting rotating block 633, a limiter 634, a limiting slide rail 635, a connecting rod 636, a pressure plate 637, a limiter mounting shaft 638, and a limiting spring 639. Mounting plate 631 is fixedly mounted to the upper part of lower plate 62; one end of limiting rotating block 633 is the distal end and the other end is the proximal end. The distal end is engaged in one tooth of the strip-shaped sawtooth structure, and one side of the proximal end is rotatably connected to mounting plate 631, so that limiting rotating block 633 and mounting plate 631 form a limiting rotating block rotating pair that supports limiting rotating block 633 to flip up or down to disengage from the sawtooth; the two ends of return spring 632 are respectively hooked to mounting plate 631 and limiting rotating block 633, and its elastic force tends to keep limiting rotating block 633 engaged with slot 65; Mounting plate 631 has mounting plate groove 6311, and pressure plate slide rod 6371 fixed on pressure plate 637 is slidably installed into mounting plate groove 6311, so that mounting plate 631 and pressure plate 637 form a pressure plate sliding pair that supports pressure plate 637 sliding closer to or sliding further away from limit rotating block 633. The limiting slide rail 635 has a columnar structure with limiting teeth 6353 on its outer periphery. It is installed and fixed to the pressure plate 637 by the connecting rod 636. A limiting slide rail central hole 6351 is opened at one end facing the limiting rotating block 633. The cylindrical surface has a limiting slide rail opening that communicates with the limiting slide rail central hole 6351 along its entire length. Planar sides 6354 are formed on both sides of the limiting slide rail opening. The limiting slide rail opening preferably covers one-quarter of the circumference, that is, the limiting teeth 6353 cover the remaining three-quarters of the axial direction. The limiting slide rail 635 also has a limiting slide rail arc groove 6352 with an arc-shaped groove structure that communicates with the limiting slide rail central hole 6351 and the limiting slide rail opening along its circumference. The limiting slide rail arc groove 6352 preferably extends 90° circumferentially from the planar side 6354, so that the limit angle of the limiting rotating block 633 flipping up or down is 90°. The limiting slide rail 635 is slidably installed in the corresponding rotating block slide rail groove 6331 on the other side of the near end. The inner end face of the rotating block slide rail groove 6331 is fixedly connected to the limiter mounting shaft 638, and the limiter mounting shaft 638 is radially protruding to form a limiter 634. The limiter mounting shaft 638 is inserted into the central hole 6351 of the limit slide rail, allowing the limiter 634 to slide axially relative to the limit slide rail 635. When the limiter 634 slides axially to face the arc groove 6352 of the limit slide rail, a mounting shaft rotation pair is formed between the limit slide rail 635 and the limiter mounting shaft 638 with their common axis as the axis of rotation. This allows the limiter 634 to swing about a fixed axis within the arc groove 6352 of the limit slide rail, that is, it allows the limiter rotating block 633 to flip up or down. The upper plate 61 and the lower plate 62 are disengaged from the sawtooth engagement state to support relative sliding between them, allowing their total length to be extended or shortened. When the limiter 634 slides axially to deviate from the limiter slide rail groove 6352, the limiter 634 presses against the flat sides 6354 on both sides, restricting the relative rotation between the limiter mounting shaft 638 and the limiter slide rail 635, that is, restricting the rotation of the limiter rotating block 633, locking the upper plate 61 and the lower plate 62, and locking the total length of the upper plate 61 and the lower plate 62. The limiting spring 639 is sleeved outside the connecting rod 636 and pressed between the pressure plate 637 and the limiting rotating block 633. Its elastic force tends to cause the limiter 634 to deviate from the limiting slide rail arc groove 6352.

[0028] Preferably, the leg structure 6 is further provided with a leg locking structure 66 including a locking block 661 and a locking rod 662; The locking block 661 is fixed in the cavity inside the pressure plate 637, and a travel groove 6611, a locking groove 6612 and a return groove 6613 are formed on the same surface on it. The locking rod 662 passes through the pressure plate through hole 6372 vertically opened on the pressure plate 637. Its front end is bent toward the locking block 661 to form a front end 6621 that is locked into the travel groove 6611, the locking groove 6612 or the return groove 6613. Its rear end is bent toward the mounting plate 631 to form a rear end 6622 that is rotatably installed into the corresponding positioning hole 6312 opened on the mounting plate 631, so that the locking rod 662 can rotate with the rear end 6622 as the pivot. The travel groove 6611 is inclined from bottom to top along the direction away from the limiting slide rail 635, and the angle between the travel groove 6611 and the horizontal direction is preferably 47°; the locking groove 6612 has a V-shaped groove structure that bends toward the limiting slide rail 635, and the return groove 6613 is inclined from top to bottom along the direction away from the limiting slide rail 635. The travel groove 6611, the locking groove 6612 and the return groove 6613 are connected end to end in sequence, and the rear end of the return groove 6613 is connected to the middle of the travel groove 6611. When the front end 6621 is engaged at the inflection point of the V-shaped groove structure, the locking spring 639 is compressed, so that the limiter 634 is kept facing the limit slide rail arc groove 6352. When the front end 6621 is engaged at the front end of the travel groove 6611, the limiter 634 is kept away from the limit slide rail arc groove 6352 under the elastic force of the locking spring 639.

[0029] Under the force of the locking spring 639, the front end 6621 is usually locked at the front end of the travel groove 6611. At this time, the limiter 634 deviates from the limit slide rail arc groove 6352 and presses against the flat sides 6354 on both sides, restricting the rotation of the limit rotating block 633 and keeping the limit rotating block 633 engaged with the saw teeth, thus locking the upper plate 61 and the lower plate 62 relative to each other. When pressure is applied to the pressure plate 637 to overcome the elastic force of the locking spring 639, the pressure plate 637 and the locking block 661 fixed inside it move closer to the limiting slide rail 635, so that the front end 6621 slides along the travel groove 6611 into the locking groove 6612. At this time, even if the pressure applied to the pressure plate 637 is released, the front end 6621 can still be locked at the inflection point of the V-shaped groove structure, so that the locking spring 639 remains compressed. In this state, the limiter 634 is exactly aligned with the limiting slide rail arc groove 6352 and can rotate on a fixed axis within the limiting slide rail arc groove 6352, that is, the far end of the limiting rotating block 633 is allowed to flip up or down and disengage from the sawtooth. At this time, the upper plate 61 and the lower plate 62 can slide relative to each other, so that the total length of the upper plate 61 and the lower plate 62 can be extended or shortened, that is, the length of the thigh structure or the lower leg structure can be adjusted.

[0030] Preferably, the reset spring 632 is located above the limiting rotating block 633, and the saw teeth have an asymmetrical structure with the upper edge and the horizontal direction having an angle much smaller than the lower edge and the horizontal direction. This makes it easier for the far end of the limiting rotating block 633 to flip upward under the guidance of the lower edge of the saw teeth, which facilitates the upward adjustment of the upper plate 61. At the same time, the upper edge of the saw teeth has a certain degree of restriction on the downward flipping of the limiting rotating block 633, preventing the lower plate 62 and its rear end connected structure from sinking uncontrollably under the action of gravity.

[0031] Preferably, the leg limiting structure 63 and the leg locking structure 66 are arranged symmetrically in pairs about the slot 65, and the paired leg limiting structure 63 and leg locking structure 66 share the mounting plate 63 and the locking block 661.

[0032] Preferably, the ankle structure 8 includes an ankle fixing plate 81 and an ankle base plate 82 arranged vertically, as well as an ankle spring 83; the upper end of the ankle fixing plate 81 is installed and connected to the lower leg structure, and the lower end of the ankle base plate 82 is installed and connected to the foot structure 9. The upper end of the ankle base plate 82 is rotatably connected to the lower end of the ankle fixation plate 81, forming an ankle rotation pair that supports the ankle base plate 82 to swing forward or backward. Ankle fixation plate 81 and ankle base plate 82 are respectively provided with an upper spring mounting part and a lower spring mounting part on the front side, and the two ends of ankle spring 83 are respectively hooked to the upper spring mounting part and the lower spring mounting part.

[0033] The upper spring mounting part and the lower spring mounting part are preferably detachably mounted to the ankle fixing plate 81 and the ankle base plate 82, respectively, to improve the ease of disassembly and assembly of the ankle spring 83 and facilitate the maintenance and replacement of the ankle spring 83, which is a vulnerable component.

[0034] Preferably, the foot structure 9 includes a forefoot 91, a midfoot 92, a rearfoot 93, a foot protector 94, and a foot connection structure. The rearfoot 93 is installed and connected to the ankle structure 8, and the top of the rearfoot 93 is fixedly fitted to the rear side of the foot. The forefoot 91, midfoot 92 and rearfoot 93 are arranged sequentially from front to back and are rotatably connected by foot connecting pins. The midfoot 92 forms parallel front foot rotating pairs and rear foot rotating pairs with the forefoot 91 and rearfoot 93, respectively, which support the upward or downward flipping of the forefoot 91 and rearfoot 93. The foot connection structure includes a foot spring 95, a foot connecting rod 96, and a foot outer cylinder 97. The foot connecting rod 96 and the foot outer cylinder 97 are fitted together, forming a foot connecting rod sliding pair that supports the foot connecting rod 96 to extend outward or retract inward into the foot outer cylinder 97. A limiting platform is provided on the foot connecting rod 96, and the foot spring 95 is sleeved on the outside of the foot connecting rod 96, with its two ends pressed against the limiting platform and the end face of the foot outer cylinder 97, respectively. The elastic force of the foot spring 95 tends to cause the foot connecting rod 96 to extend outward into the foot outer cylinder 97. Two pairs of foot connection structures are symmetrically arranged on both sides of the rear sole 93. In one pair of foot connection structures, the front end of the foot outer cylinder 97 and the rear end of the foot connecting rod 96 are rotatably connected to the foot guard plate 94 and the forefoot 91 respectively through bearings, and form two foot connection rotating pairs with the foot guard plate 94 and the forefoot 91 with the rotating shaft parallel to the rear sole rotating pair respectively. In the other pair of foot connection structures, the front end of the foot outer cylinder 97 and the rear end of the foot connecting rod 96 are rotatably connected to the foot guard plate 94 and the midsole 92 respectively through bearings, and form two foot connection rotating pairs with the foot guard plate 94 and the midsole 92 with the rotating shaft parallel to the rear sole rotating pair respectively.

[0035] Preferably, the knee joint structure 7 includes a knee joint motor, an SEA series elastic actuator 71, a knee joint worm gear 72, a knee joint turbine, a knee joint connecting plate, a knee joint guard plate 73, a knee joint outer plate, and a knee joint turbine outer plate 74. The knee joint turbine is rotatably mounted inside the knee joint guard plate 73 via the knee joint turbine outer plate 74. The fixed ends of the knee joint motor and the SEA series elastic actuator 71 are fixed to the knee joint guard plate 73. The output end of the knee joint motor is connected to the input end of the SEA series elastic actuator 71, and the output end is shaft-connected to the knee joint worm gear 72. The knee joint worm gear 72 is located inside the knee joint guard plate 73 and meshes with the knee joint turbine. The knee joint plate is set in a position along the radial direction of the knee joint turbine in the length direction. Its front end is fixed to the knee joint turbine, and its rear end extends out of the knee joint plate 73 from the opening at the rear side to the bottom of the knee joint plate 73. The opening on the front side of the knee joint guard plate 73 is detachably covered by the outer knee joint plate. When the lower limb rehabilitation assistive robot is working, the knee joint guard plate 73 is covered to shield the opening on the front side of the knee joint guard plate 73, so as to protect the knee joint turbine and knee joint worm gear 72 inside the knee joint guard plate 73. When the knee joint turbine and knee joint worm gear 72 need to be inspected, the outer knee joint plate is removed from the knee joint guard plate 73 to expose the opening on the front side of the knee joint guard plate 73, so as to facilitate the inspection work.

[0036] The knee joint plate 73 is installed and connected to the thigh structure, and the lower end of the knee joint connecting plate is installed and connected to the lower leg structure.

[0037] Preferably, the hip structure 4 includes a hip guard plate 41, a hip stepper motor 42, a hip worm gear, a hip turbine, a hip connecting plate, and a hip outer plate 43; The hip worm gear is rotatably installed inside the hip guard plate 41; the fixed end of the hip stepper motor 42 is fixedly installed to the hip guard plate 41, and the output end is connected to the hip worm shaft; the hip worm is located inside the hip guard plate 41 and meshes with the hip worm gear. The crotch connecting plate is set in a position along the radial direction of the crotch turbine in the length direction. Its front end is fixed to the crotch turbine, and its rear end extends out of the crotch guard plate 41 from the opening at the rear side to the bottom of the crotch guard plate 41. The opening on the front side of the hip guard plate 41 is detachably covered by the hip outer plate 43. When the lower limb rehabilitation assistive robot is working, the hip outer plate 43 covers and shields the opening on the front side of the hip guard plate 41 to protect the hip turbine and hip worm inside the hip guard plate 41. When the hip turbine and hip worm need to be repaired, the hip outer plate 43 is removed from the hip guard plate 41 to expose the opening on the front side of the hip guard plate 41 for maintenance.

[0038] The hip guard plate 41 is installed and connected to the waist structure 1, and the lower end of the hip connecting plate is installed and connected to the thigh structure.

[0039] Preferably, the waist structure 1 includes a waist belt 11, a support plate 12, a waist fixing end 13, a waist moving end 14, a pressure plate 15, a waist return spring 16, an adjustment structure 17, and a limit buckle 18. The waist belt 11 and the support plate 12 are arranged symmetrically in pairs. The support plate 12 has an arc-shaped plate structure and supports the side waist to the back waist. The waist belt 11 is attached to the inside of the support plate 12, with its front end extending forward towards the support plate 12 and the front end tapering inward. The waist belt 11 has a certain elasticity and wraps around and supports both sides of the waist to improve the comfort of wearing the waist structure 2. It can also provide a certain amount of elasticity in the front and back directions to adapt to the wearing needs of patients with different body sizes. The waist fixed end 13 and the waist moving end 14 are slidably fitted together and respectively installed and fixed to the rear ends of a pair of support plates 12. The waist fixed end 13 and the waist moving end 14 form only a waist sliding pair that supports the pair of support plates 12 to slide closer to each other or slide further away from each other. The pressure plate 15 is connected to the front side of the waist moving end 14 via the waist return spring 16; the elastic force of the waist return spring 16 tends to cause the pressure plate 15 to extend forward of the waist moving end 14; the waist fixed end 13 and the waist moving end 14 respectively have a fixed end cavity and a moving end cavity, and the fixed end cavity has a row of limiting grooves 131 arranged along the direction of the waist sliding pair; the adjustment structure 17 and the limiting buckle 18 are located in the fixed end cavity and the moving end cavity; The input and output ends of the adjustment structure 17 are connected to the pressure plate 15 and the limit buckle 18, respectively. When the pressure plate 15 is pressed down, the adjustment structure 17 can drive the limit buckle 18 to engage in the limit groove 131, thereby limiting the relative sliding between the waist fixed end 13 and the waist moving end 14.

[0040] Before the lumbar structure 1 is worn, the fixed end 13 and the movable end 14 of the lumbar region can slide relative to each other to adjust the width of the lumbar structure 1. After the patient wears the lumbar structure 1, the pressure plate 15 is pressed down by the lower back. The adjustment structure 17 drives the limiting buckle 18 to engage with the limiting groove 131, which restricts the relative sliding of the fixed end 13 and the movable end 14 of the lumbar region, so as to ensure the structural stability of the lumbar structure 1 and the wearing reliability of the lumbar structure 1.

[0041] Preferably, the adjustment structure 17 includes a fixed frame 171, a fixed shaft 172, a drive rack 173, an adjustment gear 174, an adjustment rack 175, and a push block 176; The fixed shaft 172 is fixedly connected to the waist moving end 14 with its axis parallel to the waist sliding pair. The adjusting gear 174 is fixedly mounted on the fixed shaft 172. The drive rack 173 and the adjusting rack 175 are both meshed with the adjusting gear 174. The drive rack 173 is fixedly connected to the pressure plate 15. The adjusting rack 175 is slidably mounted on the fixed frame 171 fixedly connected to the waist moving end 14. The limiting grooves 131 are opened in pairs, one above the other; the limiting buckle 18 is a U-shaped elastic buckle, the front part of which is installed and fixed to the fixing frame 171, the middle part to the rear part expands outwards vertically, and the two rear ends protrude outwards upwards and downwards respectively to form buckle ends 181 that can be engaged and locked into a pair of limiting grooves 131. The front end of the adjusting rack 175 is fixedly connected to the push block 176 located in the middle to rear part of the limit buckle 18.

[0042] When the pressure plate 15 is pressed back by the spring force of the waist return spring 16, it drives the drive rack 173 to move backward, causing the adjusting gear 174 to rotate and drive the adjusting rack 175 to slide forward. The push block 176 fixed to the front end of the adjusting rack 175 moves towards the front end of the limiting buckle 18 within the limiting buckle 18. As the limiting buckle 18 retracts from back to front, the push block 176 gradually approaches and contacts the limiting buckle 18 until it pushes the limiting buckle 18 to unfold up and down, so that the buckle end 181 is engaged in the limiting groove 131, restricting the relative sliding between the waist fixed end 13 and the waist moving end 14. When the pressure plate 15 extends forward to reset under the elastic force of the waist reset spring 15, the drive rack 173 moves forward with the pressure plate 15, causing the adjusting gear 174 to rotate in the opposite direction and drive the adjusting rack 175 to slide backward. The push block 176 moves towards the rear end of the limiting buckle 18 with the adjusting rack 175, disengaging from the limiting buckle 18. Subsequently, the limiting buckle 18 retracts up and down under its own elastic force, causing the buckle end 181 to disengage from the limiting groove 131, releasing the restriction of relative sliding between the waist fixed end 13 and the waist moving end 14.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0044] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lower extremity rehabilitation therapy assisting robot comprising a waist structure (1), a crotch structure (4), a leg structure (6), a knee joint structure (7), an ankle structure (8), and a foot structure (9), characterized in that: Two pairs of the leg structures (6) are respectively a pair of thigh structures and a pair of calf structures, the crotch structure (4), the thigh structures, the knee joint structures (7), the calf structures, the ankle structures (8) and the foot structures (9) are sequentially and symmetrically arranged in pairs from top to bottom below the waist structure (1) and are sequentially and fixedly connected; The leg structure (6) comprises upper and lower plates (61) and (62) and a leg limiting structure (63); The lower end of the upper plate (61) is provided with a plug-in groove (64), the upper end of the lower plate (62) is plugged into the plug-in groove (64), and the upper plate (61) and the lower plate (62) form a leg sliding pair supporting the total length elongation or shortening of the two; The upper plate (61) is further provided with a clamping groove (65) penetrating into the plug-in groove (64) from the side surface of the plug-in groove (64) and parallel to the leg sliding pair, and at least one side edge of the clamping groove (65) is in a strip sawtooth structure; The leg limiting structure (63) is located at the clamping groove (65) and comprises a mounting plate (631), a reset spring (632), a limiting rotating block (633), a limiting device (634), a limiting sliding rail (635), a connecting rod (636), a pressing plate (637), a limiting device mounting shaft (638) and a limiting spring (639); One end of the limiting rotating block (633) is a distal end, the other end is a proximal end, the distal end is clamped in one sawtooth of the strip sawtooth structure, and one side of the proximal end is rotationally connected with the mounting plate (631), so that the limiting rotating block (633) and the mounting plate (631) form a limiting rotating block rotating pair supporting the upward or downward flipping of the limiting rotating block (633) to escape from the clamping state with the sawtooth; the two ends of the reset spring (632) are respectively hung with the mounting plate (631) and the limiting rotating block (633), and the elastic force of the reset spring (632) tends to keep the limiting rotating block (633) in the clamping state with the clamping groove (65); The mounting plate (631) is provided with a mounting plate sliding groove (6311), a pressing plate sliding rod (6371) fixed on the pressing plate (637) is slidingly and fittingly installed into the mounting plate sliding groove (6311), so that the mounting plate (631) and the pressing plate (637) form a pressing plate sliding pair supporting the sliding of the pressing plate (637) close to or away from the limiting rotating block (633); The limiting slide rail (635) is in a columnar structure with limiting teeth (6353) on the outer periphery, is fixedly installed with the connecting rod (636) and the pressing plate (637), has a limiting slide rail middle hole (6351) at one end facing the limiting rotating block (633), has limiting slide rail openings communicated with the limiting slide rail middle hole (6351) and longitudinally and circumferentially arranged on the columnar surface, and has flat sides (6354) formed on both sides of the limiting slide rail openings; The limiting slide rail (635) is slidingly and fitly installed in the rotating block slide rail groove (6331) correspondingly arranged on the other side of the proximal end, the inner end surface of the rotating block slide rail groove (6331) is fixedly connected with the limiter mounting shaft (638), and the limiter mounting shaft (638) has the limiter (634) radially and outwardly protruding therefrom; The limiter mounting shaft (638) is fitly inserted into the limiting slide rail middle hole (6351), so that the limiter (634) can axially slide relative to the limiting slide rail (635); when the limiter (634) axially slides to be opposite to the limiting slide rail arc groove (6352), the limiting slide rail (635) and the limiter mounting shaft (638) form a mounting shaft rotating pair with the common axis as the rotating shaft, so that the limiter (634) can pivotally swing in the limiting slide rail arc groove (6352); when the limiter (634) axially slides to deviate from the limiting slide rail arc groove (6352), the limiter (634) is pressed against the flat sides (6354) on both sides thereof, so as to limit the relative rotation between the limiter mounting shaft (638) and the limiting slide rail (635); The limiting spring (639) is sleeved outside the connecting rod (636), is pressed between the pressing plate (637) and the limiting rotating block (633), and tends to deviate the limiter (634) from the limiting slide rail arc groove (6352).

2. The lower extremity rehabilitation therapy auxiliary robot according to claim 1, characterized in that: The leg structure (6) is further provided with a leg locking structure (66) comprising a locking block (661) and a locking rod (662); The locking block (661) is fixedly arranged in a cavity in the interior of the pressing plate (637), and has a travel groove (6611), a locking groove (6612) and a return groove (6613) coplanarly arranged thereon; The locking rod (662) is arranged through a pressing plate through hole (6372) vertically arranged on the pressing plate (637), has a front end portion (6621) bent towards the locking block (661) and clamped into the travel groove (6611), the locking groove (6612) or the return groove (6613), and has a rear end portion (6622) bent towards the mounting plate (631) and pivotally mounted into a positioning hole (6312) correspondingly arranged on the mounting plate (631), so that the locking rod (662) can pivot about the rear end portion (6622); The advancing groove (6611) is inclined from bottom to top in a direction away from the limiting slide rail (635), the locking groove (6612) is a V-shaped groove structure bent towards the limiting slide rail (635), and the return groove (6613) is inclined from top to bottom in a direction away from the limiting slide rail (635); The advancing groove (6611), the locking groove (6612) and the return groove (6613) are sequentially connected in a head-to-tail manner, and the rear end of the return groove (6613) is connected to the middle part of the advancing groove (6611); When the front end part (6621) is clamped at the inflection point of the V-shaped groove structure, the locking spring (639) is compressed, so that the limiter (634) is kept opposite to the limiting slide rail arc groove (6352), and when the front end part (6621) is clamped at the front end of the advancing groove (6611), the limiter (634) is kept deviated from the limiting slide rail arc groove (6352) under the elastic force of the locking spring (639).

3. The lower limb rehabilitation therapy auxiliary robot according to claim 1 or 2, characterized in that: The reset spring (632) is located above the limiting rotating block (633), and the sawtooth is an asymmetric structure with the upper edge and the horizontal direction forming a smaller angle and the lower edge and the horizontal direction forming a larger angle.

4. The lower limb rehabilitation therapy auxiliary robot according to claim 3, characterized in that: The leg limiting structure (63) and the leg locking structure (66) are symmetrically arranged in pairs about the clamping groove (65), and the pair of leg limiting structures (63) and the pair of leg locking structures (66) share the mounting plate (63) and the locking block (661).

5. The lower limb rehabilitation therapy auxiliary robot according to claim 1, characterized in that: The ankle structure (8) comprises an ankle fixing plate (81) and an ankle bottom plate (82) arranged in a top-down manner, and an ankle spring (83). The upper end of the ankle bottom plate (82) is rotationally connected to the lower end of the ankle fixing plate (81), and an ankle rotating pair supporting the ankle bottom plate (82) to swing forward or backward is formed between the two. The front side of the ankle fixing plate (81) and the ankle bottom plate (82) is respectively provided with a front convex upper spring mounting part and a lower spring mounting part, and the two ends of the ankle spring (83) are respectively hung with the upper spring mounting part and the lower spring mounting part.

6. The lower limb rehabilitation therapy auxiliary robot according to claim 1, characterized in that: The foot structure (9) comprises a front bottom (91), a middle bottom (92), a rear bottom (93), a foot protection plate (94) and a foot connecting structure, the rear bottom (93) is connected to the ankle structure (8), and the top of the rear bottom (93) is fixedly provided with a foot protection plate (94) fitted to the rear side of the foot; The front bottom (91), the middle bottom (92) and the rear bottom (93) are sequentially arranged from front to rear and are rotationally connected by a foot connecting pin, and the middle bottom (92) and the front bottom (91) and the rear bottom (93) form a front bottom rotating pair and a rear bottom rotating pair parallel to each other, which support the front bottom (91) and the rear bottom (93) to turn up or down, respectively. The foot connecting structure comprises a foot spring (95), a foot connecting rod (96) and a foot outer cylinder (97); the foot connecting rod (96) is sleeved with the foot outer cylinder (97) in cooperation, and a foot connecting rod sliding pair supporting the foot connecting rod (96) to extend out of the foot outer cylinder (97) or to retract into the foot outer cylinder (97) is formed between the two; a limiting table is arranged on the foot connecting rod (96), and the foot spring (95) is sleeved outside the foot connecting rod (96), and the two ends of the foot spring (95) are pressed on the limiting table and the end face of the foot outer cylinder (97) respectively; the elastic force of the foot spring (95) tends to make the foot connecting rod (96) extend out of the foot outer cylinder (97); Two pairs of the foot connecting structure are symmetrically arranged on both sides of the rear bottom (93); in one pair of the foot connecting structure, the front end of the foot outer cylinder (97) and the rear end of the foot connecting rod (96) are rotatably connected with the foot guard plate (94) and the front bottom (91) through bearings respectively, and two rotation axes are formed between the foot guard plate (94) and the front bottom (91) and the foot connecting structure respectively, and the two rotation axes are parallel to the rear bottom rotating pair; in the other pair of the foot connecting structure, the front end of the foot outer cylinder (97) and the rear end of the foot connecting rod (96) are rotatably connected with the foot guard plate (94) and the midsole (92) through bearings respectively, and two rotation axes are formed between the foot guard plate (94) and the midsole (92) and the foot connecting structure respectively, and the two rotation axes are parallel to the rear bottom rotating pair.

7. The lower limb rehabilitation therapy auxiliary robot according to claim 1, characterized in that: The knee joint structure (7) comprises a knee joint motor, a SEA series elastic actuator (71), a knee joint worm (72), a knee joint turbine, a knee joint connecting plate, a knee joint guard plate (73), a knee joint outer plate and a knee joint turbine outer plate (74); The knee joint turbine is rotatably installed in the knee joint guard plate (73) through the knee joint turbine outer plate (74), the knee joint motor and the fixed end of the SEA series elastic actuator (71) are fixedly installed with the knee joint guard plate (73), the output end of the knee joint motor is connected with the input end of the SEA series elastic actuator (71), and the output end is connected with the shaft of the knee joint worm (72); the knee joint worm (72) is located in the knee joint guard plate (73) and is engaged with the knee joint turbine; The knee joint connecting plate is arranged in a posture along the length direction of the knee joint turbine, the front end of the knee joint connecting plate is fixedly installed with the knee joint turbine, and the rear end of the knee joint connecting plate extends out of the knee joint guard plate (73) through the opening from the rear side to the bottom of the knee joint guard plate (73); The opening of the front side of the knee joint guard plate (73) is provided with the knee joint outer plate; The knee joint guard plate (73) is fixedly installed with the thigh structure, and the lower end of the knee joint connecting plate is fixedly installed with the lower leg structure.

8. The lower limb rehabilitation therapy auxiliary robot according to claim 1, characterized in that: The hip structure (4) comprises a hip guard plate (41), a hip stepping motor (42), a hip worm, a hip turbine, a hip connecting plate and a hip outer plate (43); The crotch turbine is rotatably mounted in the crotch guard plate (41); the fixed end of the crotch stepping motor (42) is fixedly mounted with the crotch guard plate (41), and the output end is connected with the crotch worm shaft; the crotch worm is located in the crotch guard plate (41) and is engaged with the crotch turbine; The crotch connecting plate is arranged in a length direction along the radial direction of the crotch turbine, the front end of the crotch connecting plate is fixedly mounted with the crotch turbine, and the rear end of the crotch connecting plate is extended out of the crotch guard plate (41) through the opening from the rear side to the bottom of the crotch guard plate (41); The opening of the front side of the crotch guard plate (41) is detachably matched with the crotch outer plate (43); The crotch guard plate (41) is mounted and connected with the waist structure (1), and the lower end of the crotch connecting plate is mounted and connected with the thigh structure.

9. The lower limb rehabilitation therapy auxiliary robot according to claim 1, characterized in that: The waist structure (1) comprises a waist belt (11), a support plate (12), a waist fixed end (13), a waist moving end (14), a pressure plate (15), a waist reset spring (16), an adjusting structure (17) and a limiting buckle (18); The waist belt (11) and the support plate (12) are arranged in pairs and symmetrically, the support plate (12) is in an arc plate structure, the waist belt (11) is attached to the inner side of the support plate (12), the front end of the waist belt (11) extends to the front of the support plate (12) and is inwardly recessed at the front end portion; The waist fixed end (13) and the waist moving end (14) are slidably mounted and fixedly mounted with the rear end portions of a pair of support plates (12) respectively, and only a waist sliding pair supporting the pair of support plates (12) to slide towards each other or away from each other is formed between the waist fixed end (13) and the waist moving end (14); The pressure plate (15) is connected to the front side of the waist moving end (14) through the waist reset spring (16); the waist fixed end (13) and the waist moving end (14) respectively have a fixed end cavity and a moving end cavity therein, a plurality of limiting grooves (131) are arranged in the fixed end cavity in the direction of the waist sliding pair; the adjusting structure (17) and the limiting buckle (18) are located in the fixed end cavity and the moving end cavity; The input end and the output end of the adjusting structure (17) are connected with the pressure plate (15) and the limiting buckle (18) respectively, the adjusting structure (17) can drive the limiting buckle (18) to be matched and clamped into the limiting groove (131) when the pressure plate (15) is pressed from behind, so as to limit the relative sliding of the waist fixed end (13) and the waist moving end (14).

10. The lower limb rehabilitation therapy auxiliary robot according to claim 9, characterized in that: The adjusting structure (17) comprises a fixed frame (171), a fixed shaft (172), a driving rack (173), an adjusting gear (174), an adjusting rack (175) and a push block (176). The fixed shaft (172) is fixedly connected with the waist moving end (14) in a posture with an axis parallel to the waist sliding pair, and the adjusting gear (174) is fixedly arranged on the fixed shaft (172); the driving rack (173) and the adjusting rack (175) are engaged with the adjusting gear (174), and the driving rack (173) is fixedly connected with the pressure plate (15), and the adjusting rack (175) is slidingly and fitly arranged on the fixed frame (171) fixedly connected with the waist moving end (14); The limiting grooves (131) are arranged in pairs in up and down directions; the limiting buckle (18) is a U-shaped elastic buckle, the front part of which is fixedly arranged on the fixed frame (171), the middle part to the rear part of which is outwardly expanded in up and down directions, and the two rear ends of which are respectively outwardly protruded upward and downward to form buckle ends (181) capable of being buckled into a pair of the limiting grooves (131); The front end of the adjusting rack (175) is fixedly connected with the push block (176) located in the middle part to the rear part of the limiting buckle (18).

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