Exoskeleton lower limb assistive robot

Abstract

The present invention provides an exoskeleton lower limb power-assist robot. The exoskeleton lower limb power-assist robot comprises: a hip support; a waist back plate, the waist back plate is fixedly mounted on the hip support; a backpack support, the backpack support is fixedly mounted on the hip support; two waist strap fixing frames, the two waist strap fixing frames are fixedly mounted on the hip support; an adjustable waist strap, the adjustable waist strap is fixed on the two waist strap fixing frames; four bone slide bar external plug-ins, the four bone slide bar external plug-ins are fixedly connected to the hip support; four bone slide bar internal plug-ins, the four bone slide bar internal plug-ins are respectively plugged with the four bone slide bar external plug-ins, and are tightened and connected by screws. The exoskeleton lower limb power-assist robot provided by the present invention has the advantages of being easy to use, simple to operate, and can assist patients to stand up again.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an exoskeleton lower limb power-assisting robot. Background Art

[0002] Exoskeleton lower limb assist robot technology is an important branch of robotics technology. It involves robotics, ergonomics, mechanization, computing science and communication technology, and is a hot technology currently being studied at home and abroad. With the increasing incidence of spinal cord injury in my country, lower limb paralysis caused by spinal cord injury has brought a heavy burden to families and society. This technology can help patients stand and walk with the help of rehabilitation equipment, which is not only conducive to improving the quality of life of patients themselves, but also can reduce the burden on families and society. Therefore, it has broad application prospects in the field of rehabilitation medicine. Exoskeleton robots have great potential to replace traditional rehabilitation robots in the subdivision of disabled assistance and late rehabilitation with their unique advantages. The rehabilitation medical industry in developed countries such as Europe and the United States is relatively developed, and rehabilitation robots started early. There are many manufacturers of traction / suspension robots suitable for rehabilitation institutions. After more than 10 years of development, the competitive landscape has become stable and the market has become saturated. The exoskeleton robots that have emerged this year have more outstanding effects in the late rehabilitation of patients and assistance for the disabled. The exoskeleton robots based on bionics and ergonomics have treatment effects and user experience that cannot be matched by terminal traction rehabilitation robots. They are not only suitable for institutional users such as rehabilitation centers, but also show great potential in the popularization of individual users.

[0003] Exoskeleton robot technology was once monopolized by the United States, Japan, Germany and other countries. The price of such robots imported into China is more than 500,000 yuan. However, if the exoskeleton robots independently developed in China are put on the commercial market, it is estimated that the high-end ones will only cost around 200,000 yuan, which is much cheaper than those abroad.

[0004] However, most of the reasonably priced exoskeleton robots on the market are driven by stepper motors and worm gears. Stepper motors are large in size, have low utilization rates, cannot output large torques, and generate noise when working at high speeds.

[0005] Therefore, it is necessary to provide an exoskeleton lower limb power-assist robot to solve the above technical problems. Summary of the invention

[0006] The technical problem solved by the present invention is to provide an exoskeleton lower limb assisting robot which is easy to use, simple to operate and can assist a patient to stand up again.

[0007] In order to solve the above technical problems, the exoskeleton lower limb power-assist robot provided by the present invention comprises: a hip support, a waist back plate, the waist back plate is fixedly mounted on the hip support; a backpack support, the backpack support is fixedly mounted on the hip support; two waist strap fixing frames, the two waist strap fixing frames are fixedly mounted on the hip support; an adjustable waist strap, the adjustable waist strap is fixed on the two waist strap fixing frames; four bone slide bar external plug-ins, the four bone slide bar external plug-ins are fixedly connected to the hip support; four bone slide bar internal plug-ins, the four bone slide bar internal plug-ins are respectively The four joint coaxial connecting rod driving mechanisms are respectively fixedly mounted on the four bone sliding rod external plug-ins; the four leg straps are respectively fixedly connected to the four bone sliding rod external plug-ins; the two damping ankles are fixedly mounted on two corresponding bone sliding rod internal plug-ins and fixedly connected; the two shoes are respectively fixedly mounted on the two damping ankles; the control component is fixedly mounted on the backpack bracket.

[0008] Preferably, the joint coaxial connecting rod driving mechanism includes: an adjustable leg sliding rod, a flange, a pressure plate, a deep groove ball bearing, a rotating shaft, a connecting plate, a servo motor, a planetary reducer and a right-angle reducer, the adjustable leg sliding rod is fixedly connected to the hip support, the flange is fixedly mounted on the adjustable leg sliding rod by screws, the pressure plate is fixedly connected to the flange, the deep groove ball bearing is located in the pressure plate and rotatably sleeved on the outside of the rotating shaft, the connecting plate is sleeved on the outside of the rotating shaft and fixedly connected to the pressure plate, the right-angle reducers are all sleeved on the outside of the rotating shaft, the planetary reducer is fixedly mounted on the right-angle reducer, and the servo motor is fixedly mounted on the planetary reducer.

[0009] Preferably, an angle sensor base is fixedly mounted on the right-angle reducer, an angle sensor is mounted on the angle sensor base, and an angle sensor protective cover fixedly connected to the angle sensor base is sleeved on the outer side of the angle sensor.

[0010] Preferably, the damping ankle comprises: an ankle inner shell, a rotating spindle, a first torsion spring, a first gasket, a second torsion spring, a sleeve, a second gasket, a first spring gasket, a second spring gasket, a sole plate, a hexagonal nut, an ankle outer shell and a hexagon socket screw.

[0011] Compared with the related art, the exoskeleton lower limb assist robot provided by the present invention has the following beneficial effects:

[0012] The present invention provides an exoskeleton lower limb power-assisting robot, which adopts a three-in-one drive for a joint coaxial connecting rod driving mechanism, uses a servo motor as a power source, and cooperates with a planetary reducer and a right-angle reducer to achieve double reduction and double effect, thereby increasing the torque. At the same time, a coaxial connection method is used, a concentric rotating axis and four longer screws are selected, and all the components are connected in series in sequence to avoid problems such as unsmooth operation due to angle deviation. At the same time, a flange and a connecting piece are used for connection to make the mechanical structure more stable and compact, thereby avoiding problems such as loosening and sliding of the mechanism due to long-term operation. The design of the angle sensor enables the entire mechanism to accurately return to the initial position before executing a command, thereby ensuring the accuracy of the transmission of the mechanical structure and being more convenient to wear. This reset design ensures that the user can stop in time if any problem is encountered during use, and does not need to be disassembled. After powering on again, it can be reset autonomously and accurately to execute the motion command again. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic structural diagram of a first embodiment of an exoskeleton lower limb power-assisting robot provided by the present invention;

[0014] Figure 2 for Figure 1 The exploded structural diagram of the joint coaxial connecting rod driving mechanism shown;

[0015] Figure 3 for Figure 1 The schematic diagram of the structure of the damping ankle is shown;

[0016] Figure 4 for Figure 1 A block diagram of the control components shown;

[0017] Figure 5 A modular flow chart is adopted for the procedure of the present invention;

[0018] Figure 6 It is a force diagram of the robot of the present invention;

[0019] Figure 7 A schematic diagram of a human gait cycle according to the present invention;

[0020] Figure 8 It is a transformation curve diagram of the angles and torques of each joint of the lower limbs in one gait cycle of the present invention;

[0021] Fig. 9 The lower limb plane coordinate system of the present invention;

[0022] Fig.10 This is a schematic diagram of a second embodiment of the exoskeleton lower limb power-assisting robot provided by the present invention.

[0023] Numbers in the figure: 1, waist back plate, 2, backpack bracket, 3, hip bracket, 4, joint coaxial connecting rod drive mechanism, 401, leg adjustable slide bar, 402, flange, 403, press plate, 404, deep groove ball bearing, 405, rotating shaft, 406, joint plate, 407, servo motor, 408, planetary reducer, 409, right angle reducer, 410, angle sensor base, 411, angle sensor, 412, angle sensor protection cover, 5, waist strap fixing frame, 6, adjustable waist strap, 7, bone slide Rod external plug-in, 8. Skeleton sliding rod internal plug-in, 9. Leg strap, 10. Shoe, 11. Damping ankle, 1101. Ankle inner shell, 1102. Rotating spindle, 1103. First torsion spring, 1104. First gasket, 1105. Second torsion spring, 1106. Bushing, 1107. Second gasket, 1108. First spring gasket, 1109. Second spring gasket, 1110. Foot sole, 1111. Hexagonal nut, 1112. Ankle outer shell, 1113. Hexagon socket screw, 12. Control component. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0025] First embodiment

[0026] Please refer to Figure 1-Figure 9 In the first embodiment of the present invention, the exoskeleton lower limb assist robot includes: a hip support 3; a waist backboard 1, the waist backboard 1 is fixedly mounted on the hip support 3; a backpack support 2, the backpack support 2 is fixedly mounted on the hip support 3; two waist strap fixing frames 5, the two waist strap fixing frames 5 are fixedly mounted on the hip support 3; an adjustable waist strap 6, the adjustable waist strap 6 is fixed on the two waist strap fixing frames 5; four bone slide bar external plug-ins 7, the four bone slide bar external plug-ins 7 are fixedly connected to the hip support 3; four bone slide bar internal plug-ins 8, the four bone slide bar internal plug-ins 8 are respectively connected to the four The skeleton slide bar external plug-in 7 is plugged into each other and connected by screws; four joint coaxial connecting rod driving mechanisms 4, the four joint coaxial connecting rod driving mechanisms 4 are respectively fixedly installed on the four skeleton slide bar external plug-ins 7; four leg straps 9, the four leg straps 9 are respectively fixedly connected to the four skeleton slide bar external plug-ins 8; two damping ankles 11, the two damping ankles 11 are fixedly installed on two corresponding skeleton slide bar internal plug-ins 8 and fixedly connected; two shoes 10, the two shoes 10 are respectively fixedly installed on the two damping ankles 11; a control component 12, the control component 12 is fixedly installed on the backpack bracket 2.

[0027] The joint coaxial connecting rod driving mechanism 4 includes: an adjustable leg slide bar 401, a flange 402, a pressing plate 403, a deep groove ball bearing 404, a rotating shaft 405, a connecting plate 406, a servo motor 407, a planetary reducer 408 and a right-angle reducer 409. The adjustable leg slide bar 401 is fixedly connected to the hip support 3, the flange 402 is fixedly mounted on the adjustable leg slide bar 401 by screws, the pressing plate 403 is fixedly connected to the flange 402, the deep groove ball bearing 404 is located in the pressing plate 403 and is rotatably sleeved on the outside of the rotating shaft 405, the connecting plate 406 is sleeved on the outside of the rotating shaft 405 and fixedly connected to the pressing plate 403, the right-angle reducers 409 are all sleeved on the outside of the rotating shaft 405, the planetary reducer 408 is fixedly mounted on the right-angle reducer 409, and the servo motor 407 is fixedly mounted on the planetary reducer 408.

[0028] An angle sensor base 410 is fixedly mounted on the right-angle reducer 409 , an angle sensor 411 is mounted on the angle sensor base 410 , and an angle sensor protection cover 412 fixedly connected to the angle sensor base 410 is sleeved on the outer side of the angle sensor 411 .

[0029] The damping ankle 11 includes: an ankle inner shell 1101, a rotating main shaft 1102, a first torsion spring 1103, a first gasket 1104, a second torsion spring 1105, a sleeve 1106, a second gasket 1107, a first spring gasket 1108, a second spring gasket 1109, a sole plate 1110, a hexagonal nut 1111, an ankle outer shell 1112 and a hexagon socket screw 1113.

[0030] According to the calculation of gait movement and ankle torque and elastic force, it is as follows:

[0031] When the spring has elasticity requirements, in order to ensure the torque at the specified torsional deformation angle, the working deformation angles φ1 and φ2 of the spring should be between 20% and 80% of the test angle φ3, or the working torques T1 and T2 should be between 20% and 80% of the test torque T3.

[0032] d—spring material diameter (mm); D, D1, D2 are the middle, inner and outer diameters of the spring (mm); T1—test torque (N*mm), which is the maximum torque allowed by the spring; T1, T2—working torque (N*mm); φ1, φ2, φ3—deformation angles under the action of T1, T2, T3; H—free length; φ—pitch (mm); calculated as follows:

[0033]

[0034]

[0035]

[0036] Where σ B ——Bending stress (MPa);

[0037] σ Bp ——Allowable bending stress (MPa);

[0038] T——working torque (N*mm);

[0039] ——deformation angle under working torque (°);

[0040] κ——torque spring stiffness (N*mm / (°));

[0041] K1——curvature coefficient of torque spring, which is determined by the winding ratio C=D / d;

[0042] Calculate as follows:

[0043]

[0044] The ankle structure was designed. We started with a common spring and ended up with the torsion spring damping structure we use now. After many calculations and practices, we finally got the appropriate strength and structure. The overall structure consists of the following 11 parts to achieve the self-adjustment function.

[0045] The control component 12 adopts a high-speed Bluetooth transmission module, which has stable transmission, real-time response, no delay troubles and a one-key restore function. The robot can quickly restore to the wearable state from any posture. It adopts three closed-loop negative feedback PID adjustment systems of position, speed and current. With the human gait movement angle as input, it can accurately control each joint in real time to walk smoothly like a human. It adopts an incremental photoelectric encoder to obtain and accurately control the position information of each joint. The attitude sensor MPU6050 is used to collect the human gait movement angle, and its related characteristics are used to obtain the absolute position of each joint of the exoskeleton robot, which is convenient for initialization and origin positioning. The STM32F103ZET6 is used as the main control. It uses a high-performance ARM Cortex-M3 core with an operating frequency of 72MHz, built-in high-speed memory (up to 128K bytes of flash memory and 20K bytes of SRAM), rich enhanced IO ports and peripherals connected to two APB buses (2 12-bit ADCs, 8 16-bit timers, in addition, it also includes standard I2C, SPI, RS232, RS485, 5 UARTs and 1 CAN bus and other communication interfaces) with low energy consumption, stable operation, high performance and high energy density. The program controls the travel speed, allowing patients to have an adaptation process, gradually learn and recover gradually. The speed limit can meet the needs of patients of any age. More importantly, this exoskeleton robot is equipped with an emergency stop button to prevent accidental injuries caused by emergencies. The emergency stop button realizes the safety protection of patients, so that patients' families and patients can use this skeleton robot with confidence. After wearing the exoskeleton robot, patients can achieve free walking, sitting, standing, squatting and other activities through simple training and adaptation. Patients completing these activities independently can help promote blood circulation in the body, increase cardiopulmonary function, solve physical complications caused by long-term lack of exercise, and solve patients' personal physiological and psychological problems.

[0046] The controller in the control component 12 uses an STM32 microprocessor, and the touch screen is connected to it via an RS485 bus. The touch screen can set the gait, movement speed, and obtain information such as power supply voltage and movement state. A Bluetooth module is provided on the crutch, and human-computer interaction can be performed through the USART serial port. The wearer can select the required movement state (standing up, walking, squatting, emergency stop) through the button on the crutch according to the intention. The PUS+DIR ports of the four servo drivers are respectively connected to the four input comparison ports (CH1, CH2, CH3, CH4) of the controller TIM3. The servo motor is connected to the servo driver through UVW. The photoelectric encoder behind it obtains the position and speed of each joint in real time, and adjusts in real time through the PID control algorithm of the speed, position and current three-loop series connection, so that it can simulate the gait of a person. In addition, the four posture sensors are connected to the controller through the IIC bus, which is convenient for initialization and dynamic search of the origin position, such as Figure 4 shown.

[0047] (1) Program design:

[0048] The program adopts modular programming steps. First, all GPIO ports are initialized, followed by key scanning and LED indicator initialization. Then, the communication (USART and IIC) and analog-to-digital conversion ports are configured. Finally, interrupt allocation is performed and the timer input comparison channel is turned on, and an infinite loop is entered. The wearer can press the buttons on the crutch to perform predetermined actions according to his needs, such as Figure 5 shown.

[0049] (2) System Overview:

[0050] AControl system:

[0051] Control principle: The exoskeleton device runs through a pre-numbered program, and the operator can only make limited interventions. The lower limb movement correction device is used to help paralyzed patients regain their motor ability. The movement trajectory of the device is pre-programmed and designed based on the movement gait of a normal person and modified to adapt to the correction device. It is mainly designed for patients with physical injuries to the legs. Through pre-programmed programs, the mechanical joints are controlled to simulate the walking gait of a normal person, drive the patient to move, and help the patient with training and rehabilitation.

[0052] The control system of the exoskeleton lower limb power-assisting robot mainly uses the STM32 chip as the main control, which sends a driving signal to the motor driver through the main control, and then controls the movement of the motor to achieve the purpose of assisted walking.

[0053] B drive system:

[0054] The driving system of the exoskeleton lower limb assist robot is the core of the robot hardware system. The system consists of 4 servo motors and planetary reducers. The rated voltage of the motor is 36V, the rated power is 200W, the rated output torque is 0.637NM, the maximum output torque is 1.9NM, the rated speed is 3000RPM, and the maximum speed is 5000RPM. The driver selects the DMS-055A encoder and installs it at each active joint. At the same time, for these four drivers, serial communication is used and Keil software is used for function calling and programming.

[0055] C Mechanical structure:

[0056] The main technical indicators are: the robot can lift a person weighing about 100KG, the main actions the robot can perform are: standing up, sitting down, moving forward, and stopping. The robot can reach a speed of 1.08Km / h.

[0057] The main body of the exoskeleton robot is composed of mechanical legs, feet and back. The mechanical legs are used to provide assistance, the feet and back are used to fix the robot and the wearer, and the back is mainly used to store the power supply and control system for the entire system.

[0058] (3) Core technologies:

[0059] Torque and power calculations;

[0060] First, perform a force analysis on the joint gait motion. When the robot is in low-speed motion, perform a static analysis on the rod directly to more accurately calculate the value of the joint driving force. Secondly, for static analysis, select a moment when the robot joint is subjected to the greatest force or requires the greatest driving force for calculation. This will be sufficient to ensure the driving torque of the joint. At this time, select the driving of the supporting leg in the single-leg support phase;

[0061] Third, for the robot's power assistance index, the power assistance target carries a load of 30 kg, and the driving torque of the hip joint and knee joint is calculated. Figure 6 shown.

[0062] T1 and T2 are the driving torques of the scapula and knee joints. From the figure, the instantaneous maximum torque of the scapula and knee joints of the robot is T1=T2=60Nm. This torque only exists for a short time, and when standing on one leg, the entire center of gravity of the human body will tilt forward, which means that the load relative to the scapula and knee joints will be less than 200mm, which further reduces the driving torque requirements of the joints. This is when the robot driving joint outputs the maximum torque, and the average torque of the robot should be less than 60Nm.

[0063] The active joints of the power-assisted robot are designed at the hip joint and knee joint, and are driven by a DC motor. The characteristics of the DC motor are easy control, but the disadvantages are small driving torque and power. In view of the efficiency and other issues caused by the motor drive, and referring to the precedent of using motor-driven robots abroad, the working efficiency, motor power and torque of the robot under motor drive are analyzed. First of all, after the motor is powered on, the electrical energy will be consumed in the following forms, which include useful work, work consumed by mechanical friction, and work consumed by heating of the motor copper wire. The useful work of the motor des2 is expressed by the following formula:

[0064] Pdes=Tdesdes;

[0065] Where Tdes is the expected torque;

[0066] des——expected speed;

[0067] The work generated by friction is also very large. The motor needs to consume additional power D when overcoming static friction and dynamic friction. D is the damping coefficient. At the same time, the inertia of transmission components such as the motor rotor and gears will also consume energy I during the acceleration process. Finally, the heat emitted by the machine will consume energy T2 / KM2. Finally, the power consumed by the robot joint is:

[0068] P = Tdesdes + D + I + T2 / KM;

[0069] According to the data obtained from the motor drive, the average output of the knee joint during walking is 17w, doing negative work with an efficiency of 21.2%. When it reaches the swing phase, the torque is less than the no-load torque of the motor. The energy is mainly consumed in overcoming friction and inertia. The power required for the knee joint is 81w, with 7.7w of useful work and an efficiency of 9.5%.

[0070] 1) From the CGA data of the knee joint, we can know that the average power of walking on the ground is 16.01w, the average torque is 40.5Nm, and the average joint speed is 56. / s; the average power of the knee joint when climbing stairs is 35.3, the average torque is 87.0Nm, and the joint torque calculated by statics is 60Nm. Since the design goal of this exoskeleton-assisted robot is only to complete the gait movement of walking on the ground, it can be solved based on the power and torque of walking on the ground. The rated power of the motor is roughly calculated as:

[0071] P knee joint = X100% = X100% 76W;

[0072] 2) From the CGA data of the skeleton joint, we can know that the average power of the skeleton joint when climbing stairs is 16.23W, the average power of walking is 7.03W, the maximum power is 97.3W, and the torque when walking on the ground is 60.0Nm. The average torque for climbing stairs is 84.7Nm, which is the same as the torque required by statics. Although the power of the skeleton joint is small, its torque output is large, indicating that the skeleton joint is at a lower speed. In order to ensure the output torque, TE = 60Nm, the rated power of the motor is approximately calculated as:

[0073] P hip joint = X100% = X100% = 74W;

[0074] (4) Human gait analysis;

[0075] The gait analysis of healthy people can provide the necessary basis for the design of lower limb power-assisted exoskeleton robots, and is also the premise of system dynamics analysis. The movement of human lower limbs requires the coordinated cooperation of bones, muscles, and the nervous system that controls the muscles, so it is a very complex system with automatic adjustment capabilities. This system is controlled by the nervous system, powered by muscle contraction, and uses bones as movement levers, and the joints connect the various movements, thereby achieving normal movement of human lower limbs. Normal gait walking is the main movement of human lower limbs, and is also the primary simulation and evaluation standard for lower limb power-assisted exoskeleton robots.

[0076] like Figure 7 and Figure 8 As shown in the figure, a gait cycle of human walking starts from the heel of a lower limb touching the ground and ends with the second heel touching the ground on the same side. In a gait cycle, there are two states for one lower limb: the support phase and the swing phase. The support phase refers to the period from heel touching the ground to toe leaving the ground, that is, the period of time when the foot contacts the ground, accounting for 60% of the total duration of a cycle; the swing phase is the period from toe leaving the ground to heel touching the ground again, that is, the period of time when the foot leaves the ground, accounting for about 40% of the total cycle. The support phase has the characteristic of bearing the weight of the human body, and can be divided into a double support phase and a single support phase. The double support phase refers to the stage where both feet touch the ground, while the single support phase is the opposite. The double support phase appears at the beginning and end of the support phase, and its duration is related to the walking speed. The faster the walking speed, the shorter the duration. The swing phase can be divided into three stages: early swing phase, middle swing phase and late swing phase.

[0077] The Clinical Gait Analysis Database collects the movement information of each joint of the lower limbs of a healthy human body during a gait cycle. The CGA database contains the measurement results of gait data of different subjects by different researchers, which is very comprehensive. Figure 8 As shown, the data comes from the CGA database of subjects with a weight of 70 kg and a walking speed of 1.3 m / s.

[0078] Through the analysis of the physiological structure of the human lower limbs, the maximum range of motion of each joint of the lower limbs has been obtained; and the analysis of the human gait has understood the movement angle of each joint when the human body walks with a normal gait. Based on this, the maximum range of motion of the robot's active joints is preliminarily designed, which is between the maximum range of motion of the human body and the range of motion when walking. This is also one of the bases for the selection of actuators, such as Fig. 9 shown.

[0079] c = -15. ~ +30.

[0080] k = +5. ~ +55.

[0081] Second embodiment:

[0082] Please refer to Fig.10, based on the exoskeleton lower limb power-assisting robot provided by the first embodiment of the present invention, the exoskeleton lower limb power-assisting robot provided by the second embodiment of the present invention is different in that the exoskeleton lower limb power-assisting robot also includes a first connecting plate 13, the first connecting plate 13 is fixedly installed on the top of the sole plate 1110, the first connecting plate 13 is provided with a cavity 14, a rotating rod 15 is rotatably installed in the cavity 14, the outer thread of the rotating rod 15 is provided with two support blocks 16, and the two sides of the support blocks 16 are fixedly installed with a clamping block 17 away from each other, the outer side of the first connecting plate 13 is provided with a second connecting plate 20, the second connecting plate 20 is in contact with the top of the sole plate 1110, and the second connecting plate 20 is fixedly installed on the bottom of the shoe 10, the second connecting plate 20 is provided with a positioning groove 18, the tops of the two support blocks 16 extend into the positioning groove 18, and the inner walls on both sides of the positioning groove 18 are provided with clamping grooves 19, and the sides of the two clamping blocks 17 away from each other are respectively located in the two clamping grooves 19.

[0083] The outer side of the rotating rod 15 is provided with two sections of external threads, and the rotation directions of the two sections of the external threads are opposite.

[0084] A sliding hole is opened on the top inner wall of the cavity 14, and the support block 16 passes through the corresponding sliding hole and is slidably connected with the inner wall of the sliding hole.

[0085] A mounting groove with one side being open is formed at the bottom of the second connecting plate 20 , and the first connecting plate 13 is located in the mounting groove.

[0086] A rotation groove is formed on one side of the first connecting plate 13 , a rotation block is rotatably installed in the rotation groove, a hexagonal groove is formed on one side of the rotation block, and the other side of the rotation block is fixedly connected to one end of the rotation rod 15 .

[0087] A rotation hole is formed on one side of the cavity 14 close to the rotation groove, and the rotation rod 15 passes through the rotation hole and is rotationally connected to the inner wall of the rotation hole.

[0088] When the shoe 10 is to be disassembled, it is only necessary to rotate the stop block, and the rotating block drives the rotating rod 15 to rotate in the cavity 14, and the rotating rod 15 drives the two supporting blocks 16 to approach each other, and the supporting block 16 drives the clamping block 17 to move, so that the two clamping blocks 17 are close to each other until the two supporting blocks 16 are in contact. At this time, the clamping block 17 is moved out of the clamping groove 19, and the shoe 10 together with the second connecting plate 20 can be removed from the sole plate 1110, thereby facilitating the replacement of the shoe 10 and also facilitating the cleaning of the shoe 10.

[0089] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An exoskeleton lower limb assist robot, It is characterized in that include: Hip braces; A lumbar back plate, the lumbar back plate is fixedly mounted on the hip support; A backpack bracket, the backpack bracket is fixedly mounted on the hip bracket; Two waist strap fixing frames, both of which are fixedly mounted on the hip support; An adjustable waist strap, the adjustable waist strap being fixed on the two waist strap fixing frames; Four bone slide bar external plug-ins, each of which is fixedly connected to the hip support; Four skeleton slide bar inner plug-ins, the four skeleton slide bar inner plug-ins are respectively plugged into the four skeleton slide bar outer plug-ins and are connected by tightening screws; Four joint coaxial connecting rod driving mechanisms, the four joint coaxial connecting rod driving mechanisms are respectively fixedly mounted on the four bone sliding rod external plug-ins; Four leg straps, the four leg straps are respectively fixedly connected to the four skeleton slide bar external plug-ins; Two damping ankles, the two damping ankles are fixedly mounted on two corresponding bone slide rod inner plug-ins and fixedly connected; Two shoes, the two shoes are fixedly mounted on the two damping ankles respectively; A control component, wherein the control component is fixedly mounted on the backpack bracket; The joint coaxial connecting rod driving mechanism includes: an adjustable leg sliding rod, a flange, a pressing plate, a deep groove ball bearing, a rotating shaft, a connecting plate, a servo motor, a planetary reducer and a right-angle reducer. The adjustable leg sliding rod is fixedly connected to the hip bracket, the flange is fixedly mounted on the adjustable leg sliding rod by screws, the pressing plate is fixedly connected to the flange, the deep groove ball bearing is located in the pressing plate and is rotatably sleeved on the outer side of the rotating shaft, the connecting plate is sleeved on the outer side of the rotating shaft and fixedly connected to the pressing plate, the right-angle reducers are all sleeved on the outer side of the rotating shaft, the planetary reducer is fixedly mounted on the right-angle reducer, and the servo motor is fixedly mounted on the planetary reducer; an angle sensor base is fixedly mounted on the right-angle reducer, an angle sensor is mounted on the angle sensor base, and the outer side of the angle sensor is sleeved with an angle fixedly connected to the angle sensor base Sensor protection cover; the damping ankle includes: an ankle inner shell, a rotating spindle, a first torsion spring, a first gasket, a second torsion spring, a sleeve, a second gasket, a first spring gasket, a second spring gasket, a sole plate, a hexagonal nut, an ankle outer shell and a hexagonal screw; a first connecting plate is fixedly installed on the top of the sole plate, a cavity is opened on the first connecting plate, a rotating rod is rotatably installed in the cavity, two supporting blocks are provided on the outer thread sleeve of the rotating rod, and a clamping block is fixedly installed on the side away from each other of the two supporting blocks, a second connecting plate is provided on the outer side of the first connecting plate, the second connecting plate is in contact with the top of the sole plate, and the second connecting plate is fixedly installed on the bottom of the shoe, a positioning groove is opened on the second connecting plate, the tops of the two supporting blocks extend into the positioning groove, and clamping grooves are opened on the inner walls on both sides of the positioning groove, and the sides of the two clamping blocks away from each other are respectively located in the two clamping grooves.

2. The exoskeleton lower limb assisting robot according to claim 1, It is characterized in that The outer side of the rotating rod is provided with two sections of external threads, and the rotation directions of the two sections of the external threads are opposite.

3. The exoskeleton lower limb assisting robot according to claim 1, It is characterized in that A sliding hole is opened on the top inner wall of the cavity, and the support block passes through the corresponding sliding hole and is slidably connected with the inner wall of the sliding hole.

4. The exoskeleton lower limb assisting robot according to claim 1, It is characterized in that A mounting groove with one side being open is formed at the bottom of the second connecting plate, and the first connecting plate is located in the mounting groove.

5. The exoskeleton lower limb assisting robot according to claim 1, It is characterized in that A rotation groove is provided on one side of the first connecting plate, a rotation block is rotatably installed in the rotation groove, a hexagonal groove is provided on one side of the rotation block, and the other side of the rotation block is fixedly connected to one end of the rotation rod.

6. The exoskeleton lower limb assisting robot according to claim 5, It is characterized in that A rotation hole is formed on one side of the cavity close to the rotation groove, and the rotation rod passes through the rotation hole and is rotationally connected to the inner wall of the rotation hole.

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