An exoskeleton robot with built-in self-length adjustment control

Abstract

An exoskeleton robot with built-in self-length adjustment control, in the technical field of auxiliary walking devices, includes a waist. Both ends of the waist are respectively connected to a left leg mechanism and a right leg mechanism. The left leg mechanism and the right leg mechanism have the same structure and both include a hip joint. One end of the hip joint is connected to the waist, and the other end is connected to one end of a thigh telescopic link. The other end of the thigh telescopic link is connected to one end of a knee joint. The other end of the knee joint is sequentially connected to an ankle joint through a calf telescopic link. The ankle joint is connected to a foot. Leg straps are installed on the tops of both the thigh telescopic link and the calf telescopic link. By the elongation and shortening of the telescopic link adjusting rope, the telescopic upper link and the telescopic lower link are driven to compress or be separated from the spring, thereby realizing the elongation and shortening of the whole lower limb, and solving the problem that the existing lower limb exoskeleton realizes telescoping by means of a lead screw or disassembling bolts and nuts. This device has the function that patients can wear it by themselves, and has the advantages of simple operation, time-saving and labor-saving.

Description

Technical Field

[0001] The present invention belongs to the technical field of assistive walking devices, and particularly relates to an exoskeleton robot with built-in self-length adjustment control. Background Art

[0002] Exoskeleton robot technology is a rapidly developing robot technology and a key development and application direction in the field of robotics.

[0003] Due to the substantial increase in the number of patients with stroke, hemiplegia, etc., in exoskeleton robot technology, the research on rehabilitation exoskeleton robots has seen a significant increase in popularity in recent years, and the investment of various research institutions, universities, etc. has been increasing year by year. This is because lower limb exoskeleton robots have good therapeutic effects on patients with the above-mentioned functional impairments. Patients can achieve active or passive training through them and ultimately obtain good therapeutic effects and treatment experiences.

[0004] Although lower limb exoskeleton robots have good therapeutic effects on patients, there is still insufficient attention to the wearing comfort and coordination of patients at present. The reason is that existing lower limb exoskeleton robot researchers mainly consider their control methods and internal control programs, and less consider the body shapes of patients. They all take the average body size of the public as the imaginary object for development and design. Therefore, it is particularly important to design a lower limb exoskeleton robot that can meet the leg lengths of different objects according to different wearing objects, and it is also an urgent problem to be solved in the field of exoskeleton robots.

[0005] Most of the adjustment structures of existing lower limb exoskeleton robots are mechanical structures and require manual adjustment. The entire wearing and adjustment process is extremely complex and cumbersome, requiring professional assistance and taking a long time. This causes the patient himself / herself to be unable to wear it independently, which will have a certain impact on the wearing comfort and treatment psychology of the patient. Summary of the Invention

[0006] The purpose of the present invention is to provide an exoskeleton robot with built-in self-length adjustment control. This device can drive the telescopic upper link and telescopic lower link to compress or be pushed away from the spring by the elongation and shortening of the telescopic link adjusting rope, thereby realizing the elongation and shortening of the whole lower limb, and solving the problem that the existing lower limb exoskeleton realizes telescoping by a lead screw or disassembling bolts and nuts. This device enables the patient to wear it by himself / herself, and has the advantages of simple operation, time-saving and labor-saving.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] An exoskeleton robot with built-in self-length adjustment control, including a waist, both ends of the waist are respectively connected to a left leg mechanism and a right leg mechanism. The left leg mechanism and the right leg mechanism have the same structure, and both include a hip joint. One end of the hip joint is connected to the waist, and the other end is connected to one end of a thigh telescopic link. The other end of the thigh telescopic link is connected to one end of a knee joint. The other end of the knee joint is sequentially connected to an ankle joint through a calf telescopic link. The ankle joint is connected to a foot. Leg straps are installed at the tops of both the thigh telescopic link and the calf telescopic link.

[0009] The thigh telescopic link and the calf telescopic link have the same structure, and both include an upper telescopic rod housing. The bottom of the upper telescopic rod housing is sleeved and connected to the top of a lower telescopic rod housing. A telescopic lower link is coaxially installed inside the lower telescopic rod housing, and the telescopic lower link is threadedly connected to the bottom of the lower telescopic rod housing. A telescopic upper link with its bottom sleeved on the telescopic lower link is coaxially installed inside the upper telescopic rod housing, and the telescopic upper link is threadedly connected to the top of the upper telescopic rod housing. A spring is sleeved on both the telescopic upper link and the telescopic lower link. Both ends of the spring are respectively limited by bosses on the telescopic upper link and the telescopic lower link to maintain the relative position under the action of the elastic force of the spring. A clutch drive motor is built into the top of the telescopic upper link for adjusting the position of the cylindrical gear spline. A leg strap made of rubber material is fixedly sleeved on the outer side of the top of the telescopic upper link. The end of the telescopic link adjusting rope is fixed to the bottom of the inner cavity of the telescopic lower link.

[0010] The hip joint and the knee joint have the same structure, and both include a disc motor. The output shaft of the disc motor is connected to a harmonic reducer. The end face of the harmonic reducer is fixedly installed with the rear end face of a connecting member through bolts. The output end of the harmonic reducer is fixedly installed on the main shaft in the inner cavity of the connecting member through bolts, and the main shaft is coaxially arranged with the output shaft of the disc motor. A bearing is installed between the vertical connecting plate at the front end of the connecting member and the main shaft. A cylindrical gear spline is sleeved on the main shaft. A return spring is sleeved on the main shaft between the cylindrical gear spline and the rope driving part. An end face threaded disc and a cylindrical driving part are sleeved on the cylindrical gear spline, and the end face threaded disc and the driving part are connected through a sliding bearing. A cover is sleeved on the main shaft at the rear end of the driving part. Limit grooves are opened on the corresponding end faces of the driving part and the connecting member. One end of a limit block is located in the limit groove of the driving part, and the other end is located in the limit groove of the connecting member and is fixedly installed on the connecting member through bolts. A rope driving part is installed on the main shaft at the front end of the cylindrical gear spline through a bearing. A slider is slidably installed in the slideway of the rope driving part. A first pulley is installed at the top end of the slider. The bottom end of the slider is matched with the spiral gear teeth on the end face threaded disc. A second pulley is installed on one side of the rope driving part close to the main shaft. The telescopic link adjusting rope passes through the telescopic link adjusting rope threading hole on the guide block, changes direction through the second pulley and the first pulley, and then is led out from another telescopic link adjusting rope threading hole on the guide block and is fixed to the bottom of the inner cavity of the telescopic lower link. One end of the clutch driving rope is connected to the output shaft of the clutch driving motor. The other end of the clutch driving rope is installed in the groove of the cylindrical gear spline after passing through the clutch driving rope threading holes of the guide block and the rope driving part in sequence. A plastic shell located inside the connecting member is installed on the outer circle of the rope driving part and the rope driving part. A end plate is sleeved on the main shaft at the front end of the rope driving part, and the end plate is fixedly installed on the rope driving part through bolts.

[0011] The ankle joint includes a disc motor. The output shaft of the disc motor is connected to a harmonic reducer. The front end of the harmonic reducer housing is fixedly installed with an ankle connecting member through bolts. The output end of the harmonic reducer is fixedly connected to the rear end of the ankle main shaft through bolts, and the ankle connecting member is sleeved on the ankle main shaft. The front end of the ankle main shaft is rotatably connected to the vertical connecting plate at the front end of the ankle connecting member through a bearing. An ankle limit groove is opened at the front end of the disc part of the ankle connecting member, and an ankle limit block is fixedly installed in the ankle limit groove through bolts. The ankle limit blocks are symmetrically arranged with the vertical connecting plate as the symmetry center. An ankle rotating plate is integrally formed at the bottom of the front end of the ankle main shaft. The ankle rotating plate is rotatably installed with one end of a pin connecting plate through a pin. The other end of the pin connecting plate is fixedly installed on the foot through bolts.

[0012] The rope driving part includes a disc with a protrusion at the center. One end edge of the disc is integrally formed with a toroidal body. A countersunk hole is machined at the center of the disc. A bearing limit plate is arranged at the small hole of the countersunk hole. The large hole of the countersunk hole is used to cooperate with a return spring. A slideway is machined along the circumference at the other end of the disc. Guide rails for cooperating with the guide grooves at both ends of the slider are arranged on two side walls of the slideway. A boss for installing an end plate is arranged on the disc near the edge between adjacent slideways. There is no hollowing on the disc between adjacent slideways near the side of the clutch driving motor, and a clutch driving rope threading hole is provided, and a guide block is installed at the edge of its upper end face. Second guide wheels are symmetrically installed on the disc behind the guide block. The discs between the remaining adjacent slideways are machined with hollows, and second guide wheels are installed on one side near the center.

[0013] The technical effects of the present invention are as follows:

[0014] 1. The device can drive the telescopic upper link and the telescopic lower link to compress or be separated from the spring by adjusting the elongation and shortening of the rope through the telescopic link, so as to realize the elongation and shortening of the whole lower limb, and solve the problem that the existing lower limb exoskeleton realizes telescoping by screws or removing bolts and nuts. The device enables the patient to wear it by himself, and has the advantages of simple operation, time-saving and labor-saving.

[0015] 2. The adjusting mechanism of the device can achieve an effect similar to a clutch through a cylindrical gear spline, so as to realize the real-time switching of the driving of the end face thread disc and the joint rotation function, and the design is very compact, solving the problem of complex redundancy of the existing lower limb exoskeleton adjusting mechanism.

[0016] 3. The device drives the slider pulley to move through the end face thread disc, and then realizes the working mode of adjusting the elongation and shortening of the telescopic link adjusting rope, which saves a large amount of space for the adjusting mechanism. Moreover, the rope driving working mode greatly improves the reliability of the adjusting mechanism and reduces the working noise of the mechanism. Brief Description of the Drawings

[0017] Figure 1 Schematic diagram of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0018] Figure 2 Schematic diagram of the hip joint adjusting mechanism of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0019] Figure 3 Cross-sectional view of the hip joint adjusting mechanism of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0020] Figure 4 Schematic diagram of the ankle joint adjusting mechanism of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0021] Figure 5Cross-sectional view of the upper and lower telescopic linkages of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0022] Figure 6 Schematic diagram of the working mode of the telescopic link adjustment rope of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0023] Figure 7 Schematic diagram of the cylindrical gear spline of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0024] Figure 8 Schematic diagram of the installation of the limit block of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0025] Figure 9 Schematic diagram of the driving parts of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0026] Figure 10 Schematic diagram of the rope driving parts of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0027] Figure 11 Schematic diagram of the end face threaded disc of an exoskeleton robot with built-in self-length adjustment control according to the present invention;

[0028] 1 - waist, 2 - hip joint, 3 - thigh telescopic linkage, 4 - knee joint, 5 - calf telescopic linkage, 6 - ankle joint, 7 - foot, 8 - upper telescopic rod housing, 9 - lower telescopic rod housing, 10 - telescopic lower link, 11 - telescopic upper link, 12 - spring, 13 - clutch drive motor, 14 - strap; 15 - disc motor, 16 - harmonic reducer, 17 - connecting piece, 18 - main shaft, 19 - cylindrical gear spline, 20 - end face threaded disc, 21 - driving parts, 22 - cover, 23 - limit groove, 24 - limit block, 25 - rope driving parts, 26 - slider, 27 - first pulley, 28 - second pulley, 29 - telescopic link adjustment rope, 30 - clutch drive rope, 31 - plastic housing, 32 - disc, 33 - torus, 34 - bearing limit plate, 35 - boss, 36 - guide rail, 37 - sliding bearing, 38 - return spring, 39 - guide block, 40 - groove, 41 - hollow, 42 - slideway, 43 - ankle connecting piece, 44 - ankle main shaft, 45 - ankle rotating plate, 46 - pin connecting plate, 47 - ankle limit groove, 48 - ankle limit block. Detailed implementation manners

[0029] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0030] As Figures 1 to 11As shown, an exoskeleton robot with built-in self-length adjustment control includes a waist 1. Both ends of the waist 1 are respectively connected to a left leg mechanism and a right leg mechanism. The left leg mechanism and the right leg mechanism have the same structure, and both include a hip joint 2. One end of the hip joint 2 is connected to the waist 1, and the other end is connected to one end of a thigh telescopic link 3. The other end of the thigh telescopic link 3 is connected to one end of a knee joint 4. The other end of the knee joint 4 is sequentially connected to an ankle joint 6 through a calf telescopic link 5. The ankle joint 6 is connected to a foot 7. Leg straps 14 are installed at the tops of the telescopic upper links 11 of both the thigh telescopic link 3 and the calf telescopic link 5.

[0031] The thigh telescopic link 3 and the calf telescopic link 5 have the same structure, and both include an upper telescopic rod housing 8. The bottom of the upper telescopic rod housing 8 is sleeved and connected to the top of a lower telescopic rod housing 9. A telescopic lower link 10 is coaxially installed inside the lower telescopic rod housing 9, and the telescopic lower link 10 is threadedly connected to the bottom of the lower telescopic rod housing 9. A telescopic upper link 11 with its bottom sleeved on the telescopic lower link 10 is coaxially installed inside the upper telescopic rod housing 8, and the telescopic upper link 11 is threadedly connected to the top of the upper telescopic rod housing 8. A spring 12 is sleeved on the telescopic upper link 11 and the telescopic lower link 10. Both ends of the spring 12 are limited by the bosses on the telescopic upper link 11 and the telescopic lower link 10 respectively, and the relative position is maintained by the elastic force of the spring 12. A clutch drive motor 13 is built into the top of the telescopic upper link 11 for adjusting the position of the internal spline cylindrical gear. A leg strap 14 made of rubber material is fixedly sleeved on the outer side of the top of the telescopic upper link 11. One end of the telescopic link adjusting rope 29 is fixed to the bottom of the inner cavity of the telescopic lower link 10.

[0032] The hip joint 2 and the knee joint 4 have the same structure, both including a disc motor 15. In this embodiment, the model of the disc motor is the EC90 flat disc motor. The output shaft of the disc motor 15 is connected to a harmonic reducer 16. The end face of the harmonic reducer 16 is fixedly installed with the rear end face of a connecting member 17 through bolts. The output end of the harmonic reducer 16 is fixedly installed on a main shaft 18 in the inner cavity of the connecting member 17 through bolts, and the main shaft 18 is coaxially arranged with the output shaft of the disc motor 15. A bearing is installed between the vertical connecting plate at the front end of the connecting member 17 and the main shaft 18. A cylindrical gear spline 19 is sleeved on the main shaft 18. A return spring 38 is sleeved on the main shaft 18 between the cylindrical gear spline 19 and the rope driving part 25. An end face threaded disc 20 and a driving part 21 are sleeved on the cylindrical gear spline 19, and the end face threaded disc 20 and the driving part 21 are connected through a sliding bearing 37. When the thigh telescopic link 3 and the calf telescopic link 5 act, the teeth of the cylindrical gear spline 19 are engaged with the teeth at the inner hole of the end face threaded disc 20. When in the initial state or performing a joint rotation action, the teeth of the cylindrical gear spline 19 are engaged with the teeth at the inner hole of the driving part 21. A cover 22 is sleeved on the main shaft 18 at the rear end of the driving part 21, and the cover 22 and the driving part 21 are fixedly connected through bolts. Limiting grooves 23 are provided on the corresponding end faces of the driving part 21 and the connecting member 17. The limiting groove 23 on the connecting member 17 is annular, and the limiting groove 23 on the driving part 21 is discontinuous on one side close to the connecting part of the driving part 21. One end of a limiting block 24 is located in the limiting groove 23 of the driving part 21, and the other end is located in the limiting groove 23 of the connecting member 17 and is fixedly installed on the connecting member 17 through bolts. A rope driving part 25 is installed on the main shaft 18 at the front end of the cylindrical gear spline 19 through a bearing. A slider 26 is slidably installed in the slideway of the rope driving part 25. A first pulley 27 is installed at the top of the slider 26. The bottom end of the slider 26 is engaged with the spiral teeth on the end face threaded disc 20. A second pulley 28 is installed on one side of the rope driving part 25 close to the main shaft 18. The telescopic link adjusting rope 29 passes through the telescopic link adjusting rope threading hole on the guide block 39 and changes direction through the second pulley 28 and the first pulley 27, and then is led out from another telescopic link adjusting rope threading hole on the guide block 39 and fixed to the bottom of the inner cavity of the telescopic lower link 10. One end of a clutch driving rope 30 is connected to the output shaft of a clutch driving motor 13. The other end of the clutch driving rope 30 is installed in a groove 40 of the cylindrical gear spline 19 after passing through the clutch driving rope threading holes of the guide block 39 and the rope driving part 25 in sequence. A plastic shell 31 located inside the connecting member 17 is installed on the outer circle of the rope driving part 25 and the rope driving part 2. A end plate is sleeved on the main shaft 18 at the front end of the rope driving part 25, and the end plate is fixedly installed on the rope driving part 25 through bolts. The bottom of the plastic shell 31 is butted against the top of the telescopic upper link 11, and is fixed on the side wall of the telescopic upper link 11 through the bottom connecting part of the driving part 21 and the end plate and bolts.At the top of the connecting piece 17 of the hip joint 2, a horizontal through-hole is provided for connecting with the pin connecting plate of the waist 1 through a pin. At the top of the connecting piece 17 of the knee joint 4, a vertical threaded hole is provided for threaded connection with the bottom end of the telescopic lower connecting rod 10 on the thigh telescopic connecting rod 3.

[0033] The ankle joint 6 includes a disc motor 15. The output shaft of the disc motor 15 is connected to a harmonic reducer 16. The front end of the housing of the harmonic reducer 16 is fixedly installed with an ankle connecting piece 43 through bolts. The output end of the harmonic reducer 16 is fixedly connected to the rear end of the ankle main shaft 44 through bolts, and the ankle connecting piece 43 is sleeved on the ankle main shaft 44. The front end of the ankle main shaft 44 is rotationally connected to the vertical connecting plate at the front end of the ankle connecting piece 43 through a bearing. At the front end of the disc part of the ankle connecting piece 43, an ankle limiting groove 47 is provided, and an ankle limiting block 48 is fixedly installed in the ankle limiting groove 47 through bolts. The ankle limiting blocks 48 are symmetrically arranged with the vertical connecting plate as the symmetry center. At the bottom of the front end of the ankle main shaft 44, an ankle rotating plate 45 is integrally formed. The ankle rotating plate 45 is rotationally installed with one end of a pin connecting plate 46 through a pin. The other end of the pin connecting plate 46 is fixedly installed on the foot 7 through bolts. At the top of the ankle connecting piece 43, a threaded hole is provided for threaded connection with the bottom end of the lower telescopic connecting rod 10 of the calf telescopic connecting rod 5.

[0034] The rope driving part 25 includes a disc 32 with a protrusion at the center. One end edge of the disc 32 is integrally formed with a ring body 33. A counterbore is machined at the center of the disc 32. A bearing limiting plate 34 is arranged at the small hole of the counterbore. The large hole of the counterbore is used to cooperate with a return spring 38. The other end of the disc 32 is machined with a slideway 42 along the circumferential direction. Guide rails 36 for cooperating with the guide grooves at both ends of the slider 26 are arranged on the two side walls of the slideway 42. On the disc 32 between adjacent slideways 42, near the edge, a boss 35 for installing an end plate is provided. On the disc 32 between adjacent slideways near the side of the clutch driving motor 13, no hollowing 41 is provided and a clutch driving rope threading hole is provided, and a guide block 39 is installed at the edge of its upper end face. On the disc 32 behind the guide block 39, second guide wheels 28 are symmetrically installed. On the disc 32 between the remaining adjacent slideways 42, hollowing 41 is machined, and second guide wheels 28 are installed on one side near the center.

[0035] The power source of this joint adjustment device is the disc motor 15. After the power is output from the disc motor, it is decelerated by the harmonic reducer 16 and then reaches the main shaft spline gear. The main shaft spline gear transmits the power to the driving part 21 or the rope driving part 2 through the internal spline cylindrical gear. The rope driving part 2 then transmits the acting force to the upper telescopic link and the lower telescopic link through the telescopic link adjusting rope 29 through a series of actions. Finally, the lengths of the thigh telescopic link 3 and the calf telescopic link 5 are extended and retracted. The driving part 21 can directly drive the hip joint 2 or the knee joint 4 to perform corresponding rotations. At the same time, in order to ensure the safety of the movement, a limit block 24 is provided. The two limit blocks 24 are fixedly connected to the connecting part 17 with four bolts and slide in the limit groove 23 formed by the connecting part 17 and the driving part 21. It will not collide with the boundary of the limit groove 23 during normal operation. Once the program or the motor has a problem and rotates excessively, it can play a mechanical protection role to prevent the user from being injured again.

[0036] The edges of the rope passing holes for the telescopic link adjusting rope and the clutch driving rope provided on the guide block 39 and the telescopic upper link 11 are rounded to extend the service life of the steel wire rope.

[0037] A method for using an exoskeleton robot with built-in self-length adjustment control includes the following steps:

[0038] Limb shortening action: The disc motor 15 starts to rotate forward. The power is transmitted to the main shaft 18 after being decelerated by the harmonic reducer 16. The clutch driving motor 13 starts to rotate forward. The clutch driving rope 30 is wound around the main shaft of the clutch driving motor 13, and then the cylindrical gear spline 19 is pulled to the left to mesh with the teeth of the end face threaded disc 20 to drive it to rotate. After the end face threaded disc 20 drives the slider 26, the first pulley 27 moves in a radial straight line away from the center of the circle along with the slider 26. The non-wound part of the telescopic link adjusting rope 29 becomes shorter, thereby pulling the telescopic lower link 10 upward. However, due to the gravity of the human body and the equipment below the hip joint 2, the telescopic lower link 10 cannot move upward. At this time, the telescopic upper link 11 moves downward under the interaction of the acting force of the telescopic link adjusting rope 29, so that the distance between the hip joint 2 and the knee joint 4 is shortened;

[0039] Limb elongation action: The disc motor 15 rotates reversely. The power is transmitted to the main shaft 18 after being decelerated by the harmonic reducer 16. The clutch driving motor 13 rotates forward. The cylindrical gear spline 19 is pulled to the left to mesh with the teeth of the end face threaded disc 20 to drive it to rotate, but the rotation direction is opposite to that during limb shortening. After the end face threaded disc 20 drives the slider 26, the first pulley 27 moves in a straight line inwardly. The telescopic upper link 11 and the telescopic lower link 10 move away from each other under the action of the spring 12. The non-wound part of the telescopic link adjusting rope 29 becomes longer, so that the distance between the hip joint 2 and the knee joint 4 is extended;

[0040] Joint rotation action: The disc motor 15 starts to rotate forward. The power is transmitted to the main shaft 18 after being decelerated by the harmonic reducer 16. The clutch drive motor 13 rotates in reverse, and the clutch drive rope 30 is released. At this time, the cylindrical gear spline 19 is pushed back to its original position by the return spring 38. After engaging with the drive part 21, it drives the drive part 21 to rotate, realizing the rotation action at the joint. When rotating, the excess clutch drive rope 30 is stored in the circular groove of the cylindrical gear spline 19 for storage. When the disc motor 15 rotates in reverse, a part of its length is released to avoid jamming.

[0041] Locking function: When the thigh telescopic link 3 and the calf telescopic link 5 reach their corresponding working positions, the power of the disc motor 15 is transmitted to the drive part 21 for joint drive. To ensure that the user is not injured again, the limit block 24 is fixedly connected to the connecting part 17 by four bolts and slides in the limit groove 23 formed by the connecting part 17 and the drive part 21. It does not play a limiting role during normal operation of the device. Once the program or the motor has a problem and rotates excessively, the corresponding joint rotation can be locked by the limit block 24, thus avoiding additional injuries to the user.

Claims

1. An exoskeleton robot with built-in self-length adjustment control, characterized in that It includes a waist, two ends of which are connected to a left leg mechanism and a right leg mechanism respectively, the left leg mechanism and the right leg mechanism have the same structure and both include a hip joint, one end of which is connected to the waist, and the other end is connected to one end of a thigh telescopic connecting rod, the other end of the thigh telescopic connecting rod is connected to one end of a knee joint, the other end of the knee joint is connected to an ankle joint through a calf telescopic connecting rod in turn, the ankle joint is connected to a foot, and the tops of the thigh telescopic connecting rod and the calf telescopic connecting rod are both equipped with leg straps; The thigh telescopic link and the calf telescopic link have the same structure and both include an upper telescopic link housing, the bottom of the upper telescopic link housing is sleeved and connected to the top of the lower telescopic link housing, a telescopic lower link is coaxially installed in the lower telescopic link housing, and the telescopic lower link is connected to the bottom of the lower telescopic link housing by threads, a telescopic upper link whose bottom is sleeved on the telescopic lower link is coaxially installed in the upper telescopic link housing, and the telescopic upper link is connected to the top of the upper telescopic link housing by threads, a spring is sleeved on the telescopic upper link and the telescopic lower link, both ends of the spring are respectively limited by bosses on the telescopic upper link and the telescopic lower link, and the relative position is maintained by the elastic force of the spring, a clutch drive motor is built in the top of the telescopic upper link for adjusting the position of the cylindrical gear spline, a leg strap made of rubber material is fixedly sleeved on the outer side of the top of the telescopic upper link, and the end of the telescopic link adjustment rope is fixed to the bottom of the inner cavity of the telescopic lower link; The hip joint and the knee joint have the same structure, both including a disc motor. The output shaft of the disc motor is connected to a harmonic reducer. The end face of the harmonic reducer is fixedly installed with the rear end face of a connecting piece through bolts. The output end of the harmonic reducer is fixedly installed on the main shaft in the inner cavity of the connecting piece through bolts, and the main shaft is coaxially arranged with the output shaft of the disc motor. A bearing is installed between the vertical connecting plate at the front end of the connecting piece and the main shaft. A cylindrical gear spline is sleeved on the main shaft. A return spring is sleeved on the main shaft between the cylindrical gear spline and the rope driving part. An end face threaded disc and a cylindrical driving part are sleeved on the cylindrical gear spline, and the end face threaded disc and the driving part are connected through a sliding bearing. A cover is sleeved on the main shaft at the rear end of the driving part. Limiting grooves are provided on the end faces of the driving part and the connecting piece corresponding to each other. One end of a limiting block is located in the limiting groove of the driving part, and the other end is located in the limiting groove of the connecting piece and is fixedly installed on the connecting piece through bolts. A rope driving part is installed on the main shaft at the front end of the cylindrical gear spline through a bearing. A slider is slidably installed in the slideway of the rope driving part. A first pulley is installed at the top end of the slider. The bottom end of the slider is matched with the spiral gear teeth on the end face threaded disc. A second pulley is installed on the side of the rope driving part close to the main shaft. The telescopic link adjusting rope passes through the telescopic link adjusting rope threading hole on the guide block, changes its direction through the second pulley and the first pulley, and then is led out from another telescopic link adjusting rope threading hole on the guide block and is fixed to the bottom of the inner cavity of the telescopic lower link. One end of the clutch driving rope is connected to the output shaft of the clutch driving motor. The other end of the clutch driving rope is installed in the groove of the cylindrical gear spline after passing through the clutch driving rope threading holes of the guide block and the rope driving part in sequence. A plastic shell located inside the connecting piece is installed on the outer circle of the rope driving part and the rope driving part. An end plate is sleeved on the main shaft at the front end of the rope driving part, and the end plate is fixedly installed on the rope driving part through bolts; The rope driving part includes a disc with a protrusion at the center. One end edge of the disc is integrally formed with a toroidal body. A counterbore is machined at the center of the disc. A bearing limiting plate is arranged at the small hole of the counterbore. The large hole of the counterbore is used to cooperate with the return spring. A slideway is machined along the circumference at the other end of the disc. Guide rails for cooperating with the guide grooves at both ends of the slider are arranged on the two side walls of the slideway. A boss for installing the end plate is arranged on the disc between adjacent slideways close to the edge. There is no hollowing and a clutch driving rope threading hole is provided on the disc between adjacent slideways close to the clutch driving motor side, and a guide block is installed at the edge of its upper end face. Second guide wheels are symmetrically installed on the disc behind the guide block. The discs between the remaining adjacent slideways are machined with hollows, and second guide wheels are installed on one side close to the center.

2. The exoskeleton robot with built-in self-length adjustment control according to claim 1, wherein: The ankle joint includes a disc motor, the output shaft of the disc motor is connected to a harmonic reducer, the front end of the harmonic reducer housing is fixedly installed with an ankle connecting piece through bolts, the output end of the harmonic reducer is fixedly connected to the rear end of the ankle main shaft through bolts, and the ankle connecting piece is sleeved on the ankle main shaft. The front end of the ankle main shaft is rotationally connected to the vertical connecting plate at the front end of the ankle connecting piece through a bearing. A ankle limiting groove is formed at the front end of the disc part of the ankle connecting piece, and a ankle limiting block is fixedly installed in the ankle limiting groove through bolts. The ankle limiting blocks are symmetrically arranged with the vertical connecting plate as the symmetry center. An ankle rotating plate is integrally formed at the bottom of the front end of the ankle main shaft. The ankle rotating plate is rotationally installed with one end of a pin connecting plate through a pin, and the other end of the pin connecting plate is fixedly installed on the foot through bolts.

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