Integrated power system based on toothed belt structure and exoskeleton robot

Abstract

The application relates to an integrated power system based on a toothed belt structure, which comprises a gear reduction mechanism, a toothed belt torsion and power transmission mechanism and a power output mechanism, the toothed belt torsion and power transmission mechanism comprises a first power transmission synchronous belt; the gear reduction mechanism and the power output mechanism transmit power through the first power transmission synchronous belt, and the toothed belt torsion and power transmission mechanism controls the rotation and power transmission of the first power transmission synchronous belt; the gear reduction mechanism comprises a servo motor system, a first driving wheel and a second power transmission synchronous belt, the servo motor system outputs power through an input transmission shaft, the power drives the first driven wheel through the second power transmission synchronous belt, and one-stage reduction is realized. The application also relates to an exoskeleton robot comprising the integrated power system. The integrated power system based on the toothed belt structure and the exoskeleton robot can effectively solve the problems that the overall mechanism of an existing exoskeleton power system is large and heavy, and the application is not flexible and convenient enough.

Description

Technical Field

[0001] This invention relates to the field of exoskeleton technology, specifically to an integrated power system based on a toothed belt structure and an exoskeleton robot. Background Technology

[0002] Since exoskeletons were first developed in the 1960s, their application has shifted from the military to the civilian market, primarily for medical and industrial production purposes. They serve as auxiliary tools to help workers perform manufacturing and material handling tasks. Currently, research is focused on increasing load-bearing capacity, control, and flexibility. At present, exoskeleton power servo motor systems are mostly geared or coaxial reduction systems, resulting in large and heavy overall structures that are not very flexible or convenient to use. Summary of the Invention

[0003] The purpose of this invention is to provide an integrated power system and exoskeleton robot based on a toothed belt structure, which can effectively solve the problems of existing exoskeleton power systems having a large and heavy overall structure and being inflexible and inconvenient to use.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] An integrated power system based on a toothed belt structure includes a gear reduction mechanism, a toothed belt torsion and power transmission mechanism, and a power output mechanism. The toothed belt torsion and power transmission mechanism includes a first power transmission synchronous belt. The gear reduction mechanism and the power output mechanism transmit power through the first power transmission synchronous belt, and the toothed belt torsion and power transmission mechanism controls the rotation and power transmission of the first power transmission synchronous belt.

[0006] The gear reduction mechanism includes a servo motor system, an input drive shaft, a first driving wheel, a first driven wheel, and a second power transmission synchronous belt. The servo motor system outputs power through the input drive shaft, which is rigidly connected to the first driving wheel and drives the first driven wheel through the second power transmission synchronous belt to achieve a single-stage reduction.

[0007] Furthermore, the gear reduction mechanism also includes a first drive shaft, a first driven gear, and a second driven gear. One end of the first drive shaft is rigidly connected to the first driven wheel, and the other end is rigidly connected to the first driven gear. The first driven gear meshes with the second driven gear to achieve two-stage and three-stage speed reduction.

[0008] Furthermore, the gear reduction mechanism also includes a second drive shaft and a second driving wheel, with one end of the second driven gear rigidly connected to the second drive shaft and the other end rigidly connected to the second driving wheel; the power output mechanism also includes an output drive shaft and a second driven wheel, with the second driven wheel rigidly connected to the output drive shaft; the gear belt torsion and power transmission mechanism also includes a torsion fixing base, with one end of the first power transmission synchronous belt connected to the second driving wheel and the other end connected to the second driven wheel, and a torsion fixing base provided in the middle of the first power transmission synchronous belt, on which a torsion and transmission driven wheel is provided, the torsion and transmission driven wheel controlling the torsion and direction of the first power transmission synchronous belt, and the second driven wheel transmitting power to the output drive shaft, achieving four-stage and five-stage speed reduction.

[0009] Also disclosed is an exoskeleton robot, including the aforementioned integrated power system based on a toothed belt structure, as well as an integrated main back structure and an assist output leg structure; the integrated main back structure is equipped with a battery module to power the integrated power system based on the toothed belt structure; the integrated power system based on the toothed belt structure is located in the lower part of the integrated main back structure and provides assist for hip joint movement; the output end of its power output mechanism is connected to the assist output leg structure, driving the assist output leg structure to rotate.

[0010] Furthermore, the integrated power system based on the toothed belt structure also includes a position control system, which comprises a relative position encoding system and an absolute position encoding system. The servo motor system, the input drive shaft, and the laser reader and code disk constitute the relative position encoding system, with the laser reader and code disk cooperating with the input drive shaft via a fixed base. The output drive shaft, the absolute position encoder, and the code disk constitute the absolute position encoding system, with the absolute position encoder and code disk cooperating with the output drive shaft via fasteners. The integrated power system based on the toothed belt structure reads the motor speed and position data through the relative position encoding system and reads and determines the position and speed data of the assist output leg structure and its derived data through the absolute position encoding system.

[0011] Furthermore, the gear reduction mechanism is fixed to the back structure of the integrated main body via an input fixed base and a bearing fixed base, and the side of the torsion fixed base away from the torsion and transmission driven wheel is fixed to the back structure of the integrated main body; the power output mechanism is connected to the upper end of the power-assisted output leg structure via an output fixed base.

[0012] Furthermore, the integrated main body back structure is T-shaped and includes a main rod and side rods. The main rod constitutes the back body, and the two ends of the side rods are bent forward to form the hip joint body. The integrated power system based on the toothed belt structure has two sets, which are symmetrically arranged at the junction of the back body and the hip joint body.

[0013] Furthermore, the upper end of the back body is symmetrically provided with a fixed shoulder strap, the front side of the hip joint body is provided with a fixed waist belt, the lower part of the hip joint body is provided with a hip fixation belt, and the lower end of the assist output leg structure is provided with a leg fixation belt; the fixed shoulder strap, fixed waist belt, hip fixation belt and leg fixation belt are all provided with a soft pouch structure.

[0014] The integrated power system based on a toothed belt structure provided in the above technical solution includes a gear reduction mechanism, a toothed belt torsion and power transmission mechanism, and a power output mechanism. The gear reduction mechanism and the power output mechanism transmit power through a synchronous belt of the toothed belt torsion and power transmission mechanism. The torsion angle of the synchronous belt is controlled by the torsion and driven wheel of the toothed belt torsion and power transmission mechanism. The mechanism layout of the rigid gear reduction mechanism, toothed belt torsion and power transmission mechanism, and power output mechanism of this invention allows for flexible power input, power transmission, torque control, and power output mechanism layout, reducing the lateral dimensions of exoskeleton products and achieving miniaturization and lightweighting of products, including wearable exoskeletons. Furthermore, its system mechanism has strong impact resistance, improving the durability of products, including wearable exoskeletons. Finally, by fixing the absolute positions of two of the three main components, the relative position of the third component can be flexibly arranged.

[0015] Meanwhile, this invention also provides an exoskeleton robot including the aforementioned integrated power system based on a toothed belt structure. By installing two sets of the integrated power system within the back structure of the integrated main body, it provides hip joint movement assistance. The assisting leg structure is connected to the output end of the integrated power system, driving the assisting leg structure to rotate. This provides comprehensive assistance to the wearer during movement, carrying, and other actions, thereby reducing the pressure on the wearer's body during exercise and work, directly reducing or preventing muscle injuries. Simultaneously, it can protect the wearer, improve the wearer's endurance, and increase work efficiency. Furthermore, the relative position encoding system and absolute position encoding system in this exoskeleton robot can provide real-time data information for judging the comprehensive assistance output of the entire exoskeleton system. Attached Figure Description

[0016] Figure 1 This is an overall structural diagram of the integrated power system based on a toothed belt structure in Example 1;

[0017] Figure 2 This is a schematic diagram of the rear structure of the integrated power system based on the toothed belt structure in Example 1;

[0018] Figure 3 This is a schematic diagram of the front structure of the integrated power system based on the toothed belt structure in Example 1;

[0019] Figure 4This is a layout diagram of the integrated power system and battery module in the back structure system of the integrated main body in Example 2;

[0020] Figure 5 This is a view of the output shaft connection of the integrated power system of the exoskeleton based on the toothed belt structure in Example 2;

[0021] Figure 6 This is a diagram showing the connection surface of the assist output leg structure of the exoskeleton robot in Example 2;

[0022] Figure 7 This is a frontal structural diagram of the exoskeleton robot in Example 2;

[0023] Figure 8 This is a schematic diagram of the rear structure of the exoskeleton robot in Example 2;

[0024] Figure 9 This is a side view of the exoskeleton robot in Example 2;

[0025] Figure 10 This is a three-dimensional structural diagram of the exoskeleton robot in Example 2.

[0026] In the diagram: 1. Integrated back structure; 2. Integrated power system; 3. Assisted output leg structure; 4. Quick-release battery module; 5. Shoulder strap securing pouch; 6. Waist belt securing pouch; 7. Hip securing pouch; 8. Leg securing pouch; 9. Servo motor system; 10. Input mounting base; 11. Input drive shaft; 12. Laser reader and code disk; 13. Motor and relative position encoder mounting base; 14. First drive wheel; 15. Second power transmission synchronous belt; 16. First driven wheel; 17. Bearing mounting base; 18. First drive shaft ; 19. First driven gear; 20. Second driven gear; 21. Second drive shaft; 22. Second driving pulley; 23. First power transmission synchronous belt; 24. Torsion fixed base; 25. Torsion and transmission driven pulley; 26. Output fixed base; 27. Second driven pulley; 28. Output drive shaft; 29. ​​Absolute position encoder and code disk; 30. Gear reduction mechanism; 31. Tooth belt torsion and power transmission mechanism; 32. Power output mechanism; 33. Integrated power system output shaft connection surface; 34. Assist output leg structure and integrated power system connection surface. Detailed Implementation

[0027] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0028] Example 1

[0029] The technical solution adopted in this embodiment is as follows: Figure 1 As shown, an integrated power system 2 based on a toothed belt structure includes a gear reduction mechanism 30, a toothed belt torsion and power transmission mechanism 31, and a power output mechanism 32. The toothed belt torsion and power transmission mechanism 31 includes a first power transmission synchronous belt 23. The gear reduction mechanism 30 and the power output mechanism 32 transmit power through the first power transmission synchronous belt 23, and the toothed belt torsion and power transmission mechanism 31 controls the rotation and power transmission of the first power transmission synchronous belt 23.

[0030] refer to Figure 2 and Figure 3 The gear reduction mechanism 30 includes a servo motor system 9, an input drive shaft 11, a first driving wheel 14, a first driven wheel 16, and a second power transmission synchronous belt 15. The servo motor system 9 outputs power through the input drive shaft 11, which is rigidly connected to the first driving wheel 14 and drives the first driven wheel 16 through the second power transmission synchronous belt 15 to achieve first-stage reduction.

[0031] In addition, the gear reduction mechanism 30 also includes a first drive shaft 18, a first driven gear 19 and a second driven gear 20. One end of the first drive shaft 18 is rigidly connected to the first driven wheel 16 and the other end is rigidly connected to the first driven gear 19. The first driven gear 19 meshes with the second driven gear 20 to achieve two-stage and three-stage speed reduction.

[0032] In addition, the gear reduction mechanism 30 also includes a second drive shaft 21 and a second driving wheel 22. One end of the second driven gear 20 is rigidly connected to the second drive shaft 21 and the other end is rigidly connected to the second driving wheel 22. The power output mechanism 32 also includes an output drive shaft 28 and a second driven wheel 27. The second driven wheel 27 is rigidly connected to the output drive shaft 28. The gear belt torsion and power transmission mechanism 31 also includes a torsion fixing base 24. One end of the first power transmission synchronous belt 23 is connected to the second driving wheel 22 and the other end is connected to the second driven wheel 27. The torsion fixing base 24 is provided in the middle of the first power transmission synchronous belt 23. The torsion fixing base 24 is provided with a torsion and transmission driven wheel 25. The torsion and transmission driven wheel 25 controls the torsion and direction of the first power transmission synchronous belt 23. The second driven wheel 27 transmits power to the output drive shaft 28 to achieve four-stage and five-stage speed reduction.

[0033] The exoskeleton integrated power system based on the toothed belt structure in this embodiment uses a rigid gear reduction mechanism to achieve first-stage, second-stage, and third-stage reduction. In the first-stage reduction, the servo motor system 9 outputs power through the input drive shaft 11. The input drive shaft 11 is rigidly connected to the first drive wheel 14 and transmits the power through the second power transmission synchronous belt 15 to drive the first driven wheel 16. The second power transmission synchronous belt 15 can reduce the vibration and wear of the servo motor system 9, the input drive shaft 11, the first drive wheel 14, and the first driven wheel 16 during the first-stage reduction process, in the high-speed power output of the motors of the servo motor system 9, the input drive shaft 11, and the first drive wheel 14.

[0034] In addition, in the second and third stage reduction, one end of the first drive shaft 18 is rigidly connected to the first driven wheel 16, and the other end is rigidly connected to the first driven gear 19. The first driven gear 19 meshes with the second driven gear 20, which can realize stable coaxial power transmission while allowing flexible arrangement of the power output gear meshing position, thus achieving miniaturization of the layout.

[0035] In addition, during the fourth and fifth stage reduction processes, the gear reduction mechanism 30 and the power output mechanism 32 achieve power transmission through the first power transmission synchronous belt 23, and control is achieved through the toothed belt torsion and power transmission mechanism 31. This mechanism design reduces the impact of the power output mechanism 32 on the overall toothed belt structure during power output, improving the overall impact resistance and durability of the mechanism. The toothed belt torsion layout, while ensuring high torque output, significantly reduces the protruding volume of the device on the outer side of the pelvis and hip joint, allowing the wearer to use the exoskeleton in a more confined space and reducing collisions and interference between the device and the environment.

[0036] This embodiment of the exoskeleton integrated power system based on a toothed belt structure features a rigid gear reduction mechanism, a toothed belt torsion and power transmission mechanism, and a power output mechanism arranged in a coordinated manner. Through graded reduction in each component, it achieves a flexible layout for power input, power transmission, torque control, and power output. Compared to the larger axial gear mechanism layout of traditional planetary reducers, the toothed belt structure-based exoskeleton integrated power system can reduce the lateral dimensions (lateral width of the pelvis and hip joints) of exoskeleton products made from it, enabling miniaturization and lightweighting of products, including wearable exoskeletons. Furthermore, its first and second stage synchronous pulley outputs help reduce noise from the gear system (synchronous pulley belt systems have less impact than gears), suitable for the quiet operation requirements of exoskeletons in specialized applications. The fourth and fifth stage synchronous belt reduction mechanisms at the end of the system improve the impact resistance of the torque output mechanism at the end, while also reducing end-output noise, thus improving the durability of products, including wearable exoskeletons. Compared to the lateral volume space arrangement of traditional harmonic reducer mechanisms, it offers higher noise reduction, structural impact resistance, and wear resistance of the reduction mechanism.

[0037] Example 2

[0038] The technical solution adopted in this embodiment is as follows: Figures 1-10 As shown, an exoskeleton robot includes an integrated power system 2 based on a toothed belt structure. The integrated power system 2 includes a gear reduction mechanism 30, a toothed belt torsion and power transmission mechanism 31, and a power output mechanism 32. The toothed belt torsion and power transmission mechanism 31 includes a first power transmission synchronous belt 23. The gear reduction mechanism 30 and the power output mechanism 32 transmit power through the first power transmission synchronous belt 23, and the toothed belt torsion and power transmission mechanism 31 controls the rotation and power transmission of the first power transmission synchronous belt 23.

[0039] refer to Figure 2 and Figure 3 The gear reduction mechanism 30 includes a servo motor system 9, an input drive shaft 11, a first driving wheel 14, a first driven wheel 16, and a second power transmission synchronous belt 15. The servo motor system 9 outputs power through the input drive shaft 11, which is rigidly connected to the first driving wheel 14 and transmits the power through the second power transmission synchronous belt 15 to drive the first driven wheel 16, achieving first-stage reduction. The gear reduction mechanism 30 also includes a first drive shaft 18, a first driven gear 19, and a second driven gear 20. One end of the first drive shaft 18 is rigidly connected to the first driven wheel 16, and the other end is rigidly connected to the first driven gear 19. The first driven gear 19 meshes with the second driven gear 20 to achieve second-stage and third-stage reduction. The gear reduction mechanism 30 also includes a second drive shaft 21 and a second driving wheel 22. One end of the second driven gear 20 is rigidly connected to the second drive shaft 21, and the other end is rigidly connected to the second driving wheel 22. The power output mechanism 32 also includes an output drive shaft 28 and a second driven wheel 27. The second driven wheel 27 is rigidly connected to the output drive shaft 28. The gear belt torsion and power transmission mechanism 31 also includes a torsion fixing base 24. One end of the first power transmission synchronous belt 23 is connected to the second driving wheel 22, and the other end is connected to the second driven wheel 27. The torsion fixing base 24 is provided in the middle of the first power transmission synchronous belt 23. The torsion fixing base 24 is provided with a torsion and transmission driven wheel 25. The torsion and transmission driven wheel 25 controls the torsion and direction of the first power transmission synchronous belt 23. The second driven wheel 27 transmits power to the output drive shaft 28 to achieve four-stage and five-stage speed reduction.

[0040] like Figures 4 to 7The exoskeleton robot also includes an integrated main back structure 1 and an assist output leg structure 3. The integrated main back structure 1 has a quickly detachable battery module 4 (which can also be powered by external DC power) to power the integrated power system based on the toothed belt structure. The integrated power system 2 based on the toothed belt structure is located at the lower part of the integrated main back structure 1 and provides assist for hip joint movement. The output end of its power output mechanism 32 is connected to the assist output leg structure 3, driving the assist output leg structure 3 to rotate. Specifically, the gear reduction mechanism 30 is fixed to the integrated main back structure 1 through the input fixed base 10 and the bearing fixed base 17, and the side of the torsion fixed base 24 away from the torsion and transmission driven wheel 25 is fixed to the integrated main back structure 1. The power output mechanism 32 is connected to the upper end of the assist output leg structure 3 through the output fixed base 26.

[0041] like Figure 4 As shown, the integrated back structure 1 of this embodiment is T-shaped and includes a main rod and side rods. The main rod constitutes the back body, and the two ends of the side rods bend forward to form the hip joint body. The integrated power system 2 based on the toothed belt structure has two sets, which are symmetrically arranged at the junction of the back body and the hip joint body. The upper end of the back body is symmetrically provided with a shoulder strap fixing soft bag 5, the front side of the hip joint body is provided with a waist belt fixing soft bag 6, the lower part of the hip joint body is provided with a hip fixing soft bag 7, and the lower end of the assist output leg structure 3 is provided with a leg fixing soft bag 8. The combination of each soft bag structure can be fixed comfortably and stably with the user's wearing parts.

[0042] refer to Figure 5 and Figure 6 The integrated power system output shaft connection surface 33 of the output drive shaft 28 and the power output leg structure and integrated power system connection surface 34 of the power output leg structure 3 are rigidly fixedly connected by flange fit and fasteners, so that the integrated power system 2 drives the power output leg structure 3 to achieve leg power output.

[0043] In addition, to quickly acquire position and speed information, the integrated power system 2 based on the toothed belt structure also includes a position control system. The position control system includes a relative position encoding system and an absolute position encoding system. The servo motor system 9, the input drive shaft 11, and the laser reader and code disk 12 constitute the relative position encoding system. The laser reader and code disk 12 cooperate with the input drive shaft 11 through the motor and relative position encoder mounting base 13. The output drive shaft 28, the absolute position encoder and code disk 29 constitute the absolute position encoding system. The absolute position encoder and code disk 29 cooperate with the output drive shaft 28 through fasteners. The relative position encoding system, which cooperates with the power input servo motor system, can acquire information such as the speed and position of the power input motor. The absolute encoding system, which is connected and cooperates with the power output shaft, can acquire the speed and position of the power-assisted output leg structure 3 connected to it, as well as the data information required for exoskeleton control, including but not limited to angular velocity and joint torque.

[0044] In addition to possessing the features and advantages of the integrated power system of Embodiment 1, the exoskeleton robot of this embodiment also provides comprehensive assistance to the wearer during movement, carrying, and other actions by combining the soft padding of various parts of the system with the fixation and related coordination of the user's wearing parts. This aims to reduce the pressure on the wearer's body during movement and work, reduce or prevent muscle damage, and at the same time protect the wearer, improve the wearer's endurance, and increase work efficiency.

[0045] The embodiments of the present invention have been described in detail above with reference to the examples. However, the present invention is not limited to the above embodiments. For those skilled in the art, after learning the contents described in the present invention, several equivalent changes and substitutions can be made without departing from the principle of the present invention. These equivalent changes and substitutions should also be considered to fall within the protection scope of the present invention.

Claims

1. An integrated power system based on a toothed belt structure, characterized in that: It includes a gear reduction mechanism, a toothed belt torsion and power transmission mechanism, and a power output mechanism. The toothed belt torsion and power transmission mechanism includes a first power transmission synchronous belt. The gear reduction mechanism and the power output mechanism transmit power through the first power transmission synchronous belt, and the toothed belt torsion and power transmission mechanism controls the rotation and power transmission of the first power transmission synchronous belt. The gear reduction mechanism includes a servo motor system, an input drive shaft, a first driving wheel, a first driven wheel, and a second power transmission synchronous belt. The servo motor system outputs power through the input drive shaft, which is rigidly connected to the first driving wheel and drives the first driven wheel through the second power transmission synchronous belt to achieve a single-stage reduction. The gear reduction mechanism further includes a first drive shaft, a first driven gear, and a second driven gear. One end of the first drive shaft is rigidly connected to the first driven gear, and the other end is rigidly connected to the first driven gear. The first driven gear meshes with the second driven gear to achieve two-stage and three-stage speed reduction. The gear reduction mechanism further includes a second drive shaft and a second driving wheel. One end of the second driven gear is rigidly connected to the second drive shaft, and the other end is rigidly connected to the second driving wheel. The power output mechanism further includes an output drive shaft and a second driven wheel, with the second driven wheel rigidly connected to the output drive shaft. The gear belt torsion and power transmission mechanism further includes a torsion fixing base. One end of the first power transmission synchronous belt is connected to the second driving wheel, and the other end is connected to the second driven wheel. A torsion fixing base is provided in the middle of the first power transmission synchronous belt. A torsion and transmission driven wheel is provided on the torsion fixing base. The torsion and transmission driven wheel controls the torsion and direction of the first power transmission synchronous belt. The second driven wheel transmits power to the output drive shaft, achieving four-stage and five-stage speed reduction.

2. An exoskeleton robot, characterized in that: The integrated power system based on the toothed belt structure as described in claim 1 further includes an integrated main back structure and an assist output leg structure; the integrated main back structure is provided with a battery module to power the integrated power system based on the toothed belt structure; the integrated power system based on the toothed belt structure is located in the lower part of the integrated main back structure to provide assist for hip joint movement; the output end of its power output mechanism is connected to the assist output leg structure to drive the assist output leg structure to rotate.

3. The exoskeleton robot according to claim 2, characterized in that: The integrated power system based on the toothed belt structure also includes a position control system, which comprises a relative position encoding system and an absolute position encoding system. The servo motor system, the input drive shaft, and the laser reader and code disk constitute the relative position encoding system, with the laser reader and code disk cooperating with the input drive shaft via a fixed base. The output drive shaft, the absolute position encoder, and the code disk constitute the absolute position encoding system, with the absolute position encoder and code disk cooperating with the output drive shaft via fasteners. The integrated power system based on the toothed belt structure reads the motor speed and position data through the relative position encoding system and reads and determines the position and speed data of the assist output leg structure and its derived data through the absolute position encoding system.

4. The exoskeleton robot according to claim 3, characterized in that: The gear reduction mechanism is fixed to the back structure of the integrated main body through the input fixed base and the bearing fixed base. The side of the torsion fixed base away from the torsion and transmission driven wheel is fixed to the back structure of the integrated main body. The power output mechanism is connected to the upper end of the power output leg structure through the output fixed base.

5. The exoskeleton robot according to claim 2, characterized in that: The integrated main body back structure is T-shaped and includes a main rod and side rods. The main rod constitutes the back body, and the two ends of the side rods are bent forward to form the hip joint body. The integrated power system based on the toothed belt structure has two sets, which are symmetrically arranged at the junction of the back body and the hip joint body.

6. The exoskeleton robot according to claim 5, characterized in that: The upper part of the back body is symmetrically equipped with a fixed shoulder strap, the front of the hip joint body is equipped with a fixed waist belt, the lower part of the hip joint body is equipped with a hip fixation belt, and the lower end of the assist output leg structure is equipped with a leg fixation belt.

7. The exoskeleton robot according to claim 6, characterized in that: The fixed shoulder strap, fixed waist belt, hip fixing strap, and leg fixing strap are all equipped with soft pouch structures.

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