Leg link arrangement for a hip-assist exoskeleton robot

Abstract

The application relates to the technical field of power-assisted robots, and particularly provides a leg rod device for a hip joint power-assisted exoskeleton robot, which comprises a leg rod body, a leg binding module and a convenient dismounting module; the convenient dismounting module comprises a leg support plate, a clamping wheel and a clamping tooth assembly, wherein the leg support plate is arranged at a position opposite to the front side of the human leg relative to the leg binding module; the clamping wheel is rotatably arranged on the support plate around a first axis, a plurality of clamping grooves are formed in the clamping wheel, and a meshing tooth protruding towards the first axis is arranged in the clamping groove; the clamping tooth assembly is provided with a clamping tooth structure protruding from the outer circumferential surface of the clamping tooth assembly, the clamping tooth structure is meshed with the meshing tooth, and the clamping tooth structure is arranged in a structure capable of stretching and contracting relative to the support plate along the length direction of the human leg; the circumferential plurality of clamping teeth of the clamping tooth assembly are meshed with the clamping wheel, thereby avoiding loose connection, and the stretchability and the rotating structure of the clamping wheel can enable axial displacement and compensation of the adduction / abduction angle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assistive robots, and particularly provides a leg rod device for a hip joint assistive exoskeleton robot. BACKGROUND

[0002] The hip joint assistive exoskeleton robot is a device that provides assistance for the movement process of the human hip joint through an external mechanism, and can provide assistance for human walking, running, bending to carry, and walking rehabilitation, and has a wide application prospect. Among them, the leg rod device is one of the important modules of the robot, which plays a role in transmitting force to the human body and fixing the human-machine, and needs to have the characteristics of convenient wearing, low human body intervention, reliable structural strength and stable structure.

[0003] The robot of the prior art will set the leg binding belt into a detachable structure in order to facilitate the use of different people, so that the user can replace the leg binding belt of different specifications suitable for himself, but after the convenient disassembly and assembly module is connected, the gap between the clamping piece and the clamping groove will expand in a long time use, the clamping piece will sway left and right, affecting the use experience of the wearer and interfering with the leg assist effect. Secondly, when the robot is moving, the leg rod will move with the robot body. When bending to carry, the leg rod will move along the axial direction. Since the leg rod device lacks a compensation structure for axial displacement, the interference effect of the leg rod structure on the thigh is particularly significant when bending, which limits the degree of bending of the human body. Thirdly, after wearing the leg rod, the leg rod will present different degrees of adduction or abduction angles due to the influence of the wearer's thigh width and the thickness of the clothes worn. The existing leg fixing device lacks corresponding compensation.

[0004] Correspondingly, there is a need in the art for a new leg rod device for a hip joint assistive exoskeleton robot to solve the above technical problems. SUMMARY

[0005] The present application aims to solve the above technical problems, i.e., to solve the problems of easy loosening of the disassembly and assembly connection of the existing leg rod device, and the lack of axial and adduction / abduction compensation of the leg rod device itself.

[0006] The application provides a leg rod device for a hip joint power-assisted exoskeleton robot, which comprises a leg rod body, a leg binding module and a convenient dismounting module; the convenient dismounting module comprises a leg support plate, a clamping wheel and a clamping tooth assembly, wherein the leg support plate is arranged at a position opposite to the front side of the human leg on the leg binding module; the clamping wheel is rotatably arranged on the support plate around a first axis, a plurality of clamping tooth grooves are formed in the clamping wheel around the first axis, and engagement teeth are arranged in the clamping tooth grooves and protrude towards the first axis; the first axis extends along the front-rear direction of the human leg; the clamping tooth assembly is connected with the first end of the leg rod body, the clamping tooth assembly is provided with a clamping tooth structure which protrudes from the outer circumferential surface of the clamping tooth assembly, and the clamping tooth structure is engaged with the engagement teeth; the clamping tooth structure is arranged in a structure which can be extended and retracted along the length direction of the human leg relative to the support plate, so that the clamping tooth assembly can be adjusted along the length direction of the leg rod body relative to the clamping wheel; and the leg rod body is curved, so that the second end of the leg rod body can be wrapped around the waist.

[0007] Based on the above structure, the convenient dismounting module is engaged with the clamping wheel through the circumferential plurality of teeth of the clamping tooth assembly, so that the convenient dismounting module avoids loosening at the connection after long-term use.

[0008] In the above preferred technical scheme of the leg rod device, the clamping tooth structure is arranged in a structure which can be extended and retracted along the length direction of the human leg relative to the support plate, so that the clamping tooth assembly can be adjusted along the length direction of the leg rod body relative to the clamping wheel; and the leg rod body is curved, so that the second end of the leg rod body can be wrapped around the waist.

[0009] Based on the above structure, in order to improve the human-machine integration, the convenient dismounting module can also be axially displaced along the length direction of the human leg through the elastic connecting piece; when the leg is bent and stretched, the leg rod body will move simultaneously with the leg, at this time, the convenient dismounting module will displace along with the leg rod body, so as to compensate the axial displacement of the leg rod; in addition, since the clamping wheel can rotate on the leg support plate, the clamped leg rod body can rotate around the normal of the outer surface of the thigh, so as to compensate the angle of the leg rod body in the inward and outward directions.

[0010] In the preferred technical scheme of the above leg rod device, the clamping tooth assembly comprises a clamping buckle, an elastic connecting piece and a housing member; the clamping wheel is formed with a mounting groove for accommodating the housing member; the housing member is formed with a sliding groove inside in the up-and-down direction of the human leg relative to the leg support plate; the two ends of the sliding groove are respectively provided with the clamping buckle; the elastic connecting piece is arranged between the two clamping buckles to provide a support force away from each other for the two clamping buckles, so that the end of any one clamping buckle away from the other clamping buckle protrudes out of the circumferential surface of the clamping wheel, and the clamping buckle is provided with a clamping tooth at the bottom for extending into the multi-tooth clamping groove to engage.

[0011] Based on the above structure, the clamping tooth at the bottom can be telescoped in the sliding groove by pressing the clamping buckle, and when the clamping tooth assembly is installed into the clamping wheel, the clamping buckle can be released, at this time the clamping tooth at the bottom of the clamping buckle will extend into the multi-tooth clamping groove to engage and fix, so as to achieve the effect of quick disassembly and assembly; and the telescoping direction of the clamping buckle is fixed by the sliding groove, so as to ensure that the convenient disassembly and assembly module can stably perform axial compensation and avoid shaking of the convenient disassembly and assembly module.

[0012] In the preferred technical scheme of the above leg rod device, the leg support plate is further provided with a bearing, and the bearing is connected with the clamping wheel through interference fit, so that the clamping wheel rotates around the bearing.

[0013] Based on the above structure, the bearing connection mode can reduce the rotation damping of the clamping wheel, so that the convenient disassembly and assembly module can perform angle compensation with the movement of the leg rod body.

[0014] In the preferred technical scheme of the above leg rod device, the two sides of the clamping buckle are further provided with a clamping buckle guide strip, and the two sides of the sliding groove are formed with a clamping buckle guide groove for cooperating with the clamping buckle guide strip.

[0015] Based on the above structure, the clamping buckle guide strip can further limit the clamping buckle in the sliding groove, so that the clamping buckle will not shake when it is compressed or stretched to slide in the sliding groove.

[0016] In the preferred technical scheme of the above leg rod device, the elastic connecting piece is a compression spring, and each clamping buckle is connected with two compression springs.

[0017] Based on the above structure, the elasticity of the compression spring can meet the contraction of the clamping buckle in the sliding groove, and each clamping buckle is connected with two compression springs, which can further improve the elastic support provided by the spring to the clamping buckle.

[0018] In the preferred technical scheme of the above leg rod device, the middle of the sliding groove is further provided with a connecting block, and the connecting block is respectively provided with an annular groove relative to the two sides of the compression spring for fixedly connecting the two sides of the compression spring.

[0019] Based on the above structure, the connecting block is the connecting point of the compression spring, and the compression spring can be limited through the annular groove to avoid falling off after long-term use.

[0020] In the preferred technical scheme of the above leg rod device, the shell member includes an upper shell and a lower shell: the upper shell is provided with a hinge bolt hole in combination with the lower shell, for positioning the upper shell and the lower shell, and the bottom mounting hole of the leg rod body can be connected with the hinge bolt hole through a hinge bolt.

[0021] Based on the above structure, the hinge bolt hole can position the upper shell and the lower shell, and after being connected with the leg rod body, the leg rod body can move around the hinge bolt hole to cooperate with the axial and normal compensation of the convenient disassembly and assembly module.

[0022] In the preferred technical scheme of the above leg rod device, the leg binding module includes a square buckle, a magic tape and a leg binding belt: the leg binding belt is bound at the thigh of the human body, one end of the leg binding belt is provided with a square buckle for inserting and fixing the two ends of the leg binding belt, and a plurality of magic tapes are arranged on the leg binding belt, which are respectively used for adhering the two ends of the leg binding belt and adhering the leg support plate and the leg binding belt.

[0023] Based on the above structure, the two ends of the leg binding belt are inserted and fixed through the square buckle, and then fixed through the magic tape, so that the leg binding belt can be fixed on the leg of the human body, and the leg support plate can also be fixed through the magic tape, so as to facilitate the installation of the leg support plate.

[0024] In the preferred technical scheme of the above leg rod device, the leg binding belt is a double-layer nylon fabric belt structure, the leg binding belt is flatly arranged in a fan-shaped structure, the two ends of the leg binding belt are connected in a conical structure to fit the curve of the leg of the human body, and the magic tape is in a square structure as a whole.

[0025] Based on the above structure, the leg binding belt can make the user wear more comfortably.

[0026] In the preferred technical scheme of the above leg rod device, the leg support plate is a curved structure to fit the leg, and the top of the leg rod body is further formed with a connecting hole connected with an exoskeleton robot.

[0027] Based on the above structure, the leg rod body can be conveniently connected and installed with the exoskeleton robot in the external environment. BRIEF DESCRIPTION OF DRAWINGS

[0028] The preferred embodiments of the present application will be described below with reference to the accompanying drawings, in which:

[0029] Figure 1 A structural schematic diagram of a leg rod device of the present application is shown;

[0030] Figure 2 A structural schematic diagram of a leg binding module of the present application is shown;

[0031] Figure 3 A structural schematic diagram of a leg support module of the present application is shown;

[0032] Figure 4 A sectional view of a clamping wheel in the leg support module of the present application is shown;

[0033] Figure 5 A structural schematic diagram of a convenient dismounting module of the present application is shown;

[0034] Figure 6 An exploded view of the convenient dismounting module of the present application is shown;

[0035] Figure 7 A structural schematic diagram of a buckle fixing shell of the convenient dismounting module of the present application is shown;

[0036] Figure 8 A structural schematic diagram of a buckle of the convenient dismounting module of the present application is shown;

[0037] Figure 9 A structural schematic diagram of a leg rod of the present application is shown.

[0038] Reference signs:

[0039] 1 - leg rod device, 2 - leg rod body, 3 - leg binding module, 5 - convenient dismounting module, 21 - mounting hole, 22 - connecting hole, 31 - hasp, 32 - magic tape, 33 - leg binding belt, 41 - leg support plate, 42 - clamping wheel, 43 - bearing, 421 - multi-tooth clamping groove, 51 - upper shell, 52 - lower shell, 53 - buckle, 54 - hinge bolt hole, 55 - compression spring, 511 - buckle guide groove, 531 - clamping tooth, 532 - buckle guide strip, 533 - annular groove, 57 - connecting block. DETAILED DESCRIPTION

[0040] The preferred embodiments of the present application are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application. Those skilled in the art can make adjustments as needed in order to adapt to specific application occasions.

[0041] It should be noted that in the description of the present application, the terms indicating the direction or positional relationship of the terms "middle", "upper", "lower", "inner", "outer" and the like are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the structure must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0042] In addition, it should be noted that in the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0043] Firstly refer to Figure 1 As Figure 1 shown, the leg rod device 1 of the present application comprises a leg rod body 2, a leg binding module 3, a convenient disassembly module 5; the convenient disassembly module 5 comprises a leg support plate 41, a clamping wheel 42 and a clamping tooth assembly, wherein: the leg support plate 41 is arranged at the position opposite to the front side of the human leg of the leg binding module 3; the clamping wheel 42 is rotatably arranged on the leg support plate 41 about a first axis, the clamping wheel 42 is internally formed with a plurality of tooth clamping grooves 421 distributed circumferentially about the first axis, and the plurality of tooth clamping grooves 421 are internally provided with meshing teeth protruding towards the first axis; the first axis extends along the front and back direction of the human leg; the clamping tooth assembly is connected with the first end of the leg rod body 2, the clamping tooth assembly is provided with a clamping tooth structure protruding from the outer peripheral surface of the clamping tooth assembly, the clamping tooth structure is engaged with the meshing teeth, and the clamping tooth structure is arranged in a structure that can be stretched and contracted relative to the support plate along the length direction of the human leg, so that the clamping tooth assembly can be adjusted in movement along the length direction of the leg rod body 2 relative to the clamping wheel 42; the leg rod body 2 is curved, so that the second end of the leg rod body 2 can be wrapped around the waist. It should be noted that the present application does not make any limitation on the specific structure of the leg support plate 41, and those skilled in the art can set it according to the needs, for example, the leg support plate 41 can be arranged in a rectangular structure, and for example, the leg support plate 41 can also be arranged in a circular structure, as long as it can ensure that the leg support plate 41 can well support the leg of the human body.

[0044] In the preferred embodiment, the leg support plate 41 is a curved structure to fit the leg; the top of the leg rod body 2 is further formed with a connecting hole 22 connected with the exoskeleton robot, and in use, the exoskeleton robot (not shown in the figure) is connected through the connecting hole 22, so that the leg rod body 2 can be controlled to move through the exoskeleton robot.

[0045] In addition, it also needs to be explained that the present application does not make any restriction on the specific structure of the leg pole body 2, and the leg pole body 2 can be made of any lightweight material, such as a lightweight structure made of carbon fiber or a lightweight structure made of aluminum alloy material, so as to ensure that the structure is light and more fitted to the human leg without losing strength.

[0046] In use, the operator presses the clamping tooth assembly to push it into the clamping wheel 42, and the convenient disassembly and assembly module 5 is engaged with the clamping wheel 42 through the circumferential multiple teeth of the clamping tooth assembly, thereby avoiding loosening at the connection; and in order to improve the human-machine compatibility, the convenient disassembly and assembly module 5 can also be axially displaced along the length direction of the human leg through the elastic connecting piece, when the leg makes bending and stretching action, the leg pole body 2 will act simultaneously with the leg, at this time the convenient disassembly and assembly module 5 will displace with the leg pole body 2, thereby compensating for the axial displacement of the leg pole, secondly, since the clamping wheel 42 can rotate on the leg support plate 41, the clamped leg pole body 2 can rotate around the normal of the outer surface of the thigh, thereby compensating for the angle of the leg pole body 2 in the adduction and abduction.

[0047] Further, as a preferred embodiment, the leg support plate 41 is further provided with a bearing 43, and the bearing 43 is connected with the clamping wheel 42 through interference fit, so that the clamping wheel 42 rotates around the bearing 43, and the connection through the bearing 43 can reduce the rotation damping of the clamping wheel 42, so that the convenient disassembly and assembly module 5 can compensate for the angle with the activity of the leg pole body 2. It should be noted that the present application does not make any restriction on the type of bearing 43, and those skilled in the art can set it according to the needs, as long as it can ensure that the clamping wheel 42 can rotate under the connection of the bearing 43.

[0048] The following will be described with reference to Figures 2 to 9As shown in the figure, the latch assembly includes a buckle 53, a latch tooth 531, a resilient connecting member and a housing member: the latch wheel 42 is formed with a mounting groove for accommodating the housing member, the housing member is formed with a sliding groove in the up and down direction of the human leg inside the relative leg support plate, the two ends of the sliding groove are respectively provided with a buckle 53, the resilient connecting member is arranged between the two buckles 53 to provide a support force away from each other for the two buckles 53, so that the end of any one buckle 53 away from the other buckle 53 protrudes from the circumferential surface of the latch wheel 42, the bottom of the buckle 53 is provided with a latch tooth 531 for extending into the multi-tooth latch groove 421 to engage. By pressing the buckle 53, the bottom latch tooth 531 can be driven to extend and retract in the sliding groove. When the latch assembly is installed in the latch wheel 42, the buckle 53 can be released, and at this time the latch tooth 531 at the bottom of the buckle 53 will extend into the multi-tooth latch groove 421 to engage and fix, so as to achieve the effect of quick disassembly and assembly; the extension and retraction direction of the buckle 53 is fixed by the sliding groove, which ensures that the convenient disassembly and assembly module 5 can stably compensate axially and avoid shaking of the convenient disassembly and assembly module 5. It should be noted that the specific structure of the resilient member is not limited in the present application, and those skilled in the art can set it according to the needs, for example, the resilient member can be a folding elastic piece, and for example, the resilient member can also be a spring, as long as it can ensure that the resilient member has good elasticity. As a preferred embodiment, the resilient connecting member in the present application is a compression spring 55, and each buckle 53 is connected with two compression springs 55, the elasticity of the compression spring 55 can satisfy the contraction of the buckle 53 in the sliding groove, and each buckle 53 is connected with two compression springs 55, which can further improve the elastic support provided by the spring to the buckle 53.

[0049] Further, the two sides of the buckle 53 are also provided with a buckle guide strip, and the two sides of the sliding groove are formed with a buckle guide groove 511 for cooperating with the buckle guide strip, the buckle guide strip can further limit the buckle 53 in the sliding groove, so that the buckle 53 will not shake when the elastic connecting member is compressed or stretched in the sliding groove. It should be noted that the specific structure of the buckle guide strip and the buckle guide groove 511 is not limited in the present application, and those skilled in the art can set it according to the needs, as long as the buckle guide strip can slide in the buckle guide groove 511 and can limit the buckle 53.

[0050] Further, the middle of the chute is also provided with a connecting block 57, and the connecting block 57 is provided with an annular groove 533 on both sides of the compression spring 55, which is used for fixing the compression spring 55 on both sides, and the connecting block 57 is used as the connecting point of the compression spring 55, and the annular groove 533 can limit the compression spring 55 to avoid the compression spring 55 from falling off after long-term use. It should be noted that the specific structure of the connecting block 57 is not limited in the present application, and the person skilled in the art can set it according to the needs, for example, the connecting block 57 can be provided as a cylindrical structure, and for example, the connecting block 57 can also be provided as a square block structure, as long as it can be ensured that the connecting block 57 is arranged in the middle of the chute.

[0051] Further, the shell member includes an upper shell 51 and a lower shell 52 which is installed in cooperation with the upper shell 51. It should be noted that the present application does not limit the connection mode of the upper shell 51 and the lower shell 52, as long as the upper shell 51 and the lower shell 52 can be connected firmly. In the preferred embodiment, the shell member includes the upper shell 51 and the lower shell 52: the upper shell 51 is provided with a hinge bolt hole 54 at the combined position of the lower shell 52, which is used for positioning the upper shell 51 and the lower shell 52, and the bottom mounting hole 21 of the leg rod body 2 can be connected with the hinge bolt hole 54 through the hinge bolt, so as to cooperate with the axial and normal compensation of the disassembly module 5.

[0052] In addition, it should be noted that the present application does not limit the specific structure of the upper shell 51 and the lower shell 52, and the person skilled in the art can set it according to the needs, for example, the upper shell 51 and the lower shell 52 can form a cylindrical box structure when closed, and for example, the upper shell 51 and the lower shell 52 can also form a square box structure, as long as the combined shell member can cooperate with the clamping wheel 42.

[0053] Further, the leg binding module 3 includes a hasp 31, a magic tape 32 and a leg binding belt 33: the leg binding belt 33 is bound at the thigh of the human body, one end of the leg binding belt 33 is provided with a hasp 31, which is used for inserting and connecting the two ends of the leg binding belt 33, and a plurality of magic tapes 32 are arranged on the leg binding belt 33, which are used for adhering the two ends of the leg binding belt 33 and the leg support plate 41 and the leg binding belt 33. The two ends of the leg binding belt 33 are inserted and fixed through the hasp 31, and then fixed through the magic tape 32, so as to fix the leg binding belt 33 on the leg of the human body, and the leg support plate 41 can also be fixed through the magic tape 32, so as to facilitate the installation of the leg support plate 41. It should be noted that the present application does not limit the specific structure of the leg binding belt 33, and the person skilled in the art can set it according to the needs, as long as the leg binding belt 33 can be worn comfortably on the leg of the user.

[0054] In the preferred embodiment, the leg binding belt 33 is a double-layer nylon fabric belt structure, the leg binding belt 33 is laid flat as a fan-shaped structure, the two ends of the leg binding belt 33 are connected as a conical structure to fit the leg curve of the human body, and the magic tape 32 is in a whole square structure, so that the user can wear more comfortably.

[0055] So far, the technical solutions of the present application have been described in combination with the optional embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical solutions after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A leg link device for a hip-assist exoskeleton robot, characterized by, The leg rod device comprises a leg rod body, a leg binding module and a convenient dismounting module; the convenient dismounting module comprises a leg support plate, a clamping wheel and a clamping tooth assembly, wherein: The leg support plate is arranged on the leg binding module opposite to the front side of the human leg; The clamping wheel is rotatably arranged on the support plate about a first axis, and a plurality of clamping teeth are circumferentially distributed in the clamping wheel about the first axis, and the plurality of clamping teeth are provided with meshing teeth protruding towards the first axis; the first axis extends along the front and back direction of the human leg; The clamping tooth assembly is connected with the first end of the leg rod body, and the clamping tooth assembly is provided with a clamping tooth structure protruding from the outer surface of the clamping tooth assembly, the clamping tooth structure is engaged with the meshing teeth, and the clamping tooth structure is arranged to be extendable and retractable relative to the support plate along the length direction of the human leg, so that the clamping tooth assembly can be adjusted along the length direction of the leg rod body relative to the clamping wheel; The leg rod body is curved, so that the second end of the leg rod body can be wrapped around the waist.

2. The leg link device for a hip-assist exoskeleton robot according to claim 1, characterized by, The clamping tooth assembly comprises a buckle, a clamping tooth, an elastic connecting piece and a shell member: The clamping wheel is formed with a mounting groove for accommodating the shell member, and the shell member is formed with a sliding groove inside relative to the leg support plate along the up and down direction of the human leg, and the two ends of the sliding groove are respectively provided with the buckle, and the elastic connecting piece is arranged between the two buckles to provide support force away from each other for the two buckles, so that the end of any one buckle away from the other buckle protrudes out of the circumferential surface of the clamping wheel, and the buckle is provided with a clamping tooth at the bottom for extending into the multi-tooth clamping groove to engage.

3. The leg link device for a hip-assist exoskeleton robot according to claim 2, characterized by, The leg support plate is also provided with a bearing, and the bearing is connected with the clamping wheel through interference fit to make the clamping wheel rotate around the bearing.

4. The leg link device for a hip-assist exoskeleton robot according to claim 2, characterized by, The two sides of the buckle are also provided with a buckle guide strip, and the two sides of the sliding groove are formed with a buckle guide groove for cooperating with the buckle guide strip.

5. The leg link device for a hip-assist exoskeleton robot according to claim 2, characterized by, The elastic connecting piece is a compression spring, and each buckle is connected with two compression springs.

6. The leg link arrangement for a hip-assist exoskeleton robot according to claim 5, characterized by, The middle of the sliding groove is also provided with a connecting block, and the connecting block is provided with an annular groove relative to the two sides of the compression spring for fixing and connecting the two sides of the compression spring.

7. The leg link arrangement for a hip-assist exoskeleton robot according to claim 2, characterized by, The shell member comprises an upper shell and a lower shell: The upper shell and the lower shell are provided with a hinge bolt hole at the combined position for positioning the upper shell and the lower shell, and the bottom mounting hole of the leg rod body can be connected with the hinge bolt hole through a hinge bolt.

8. The leg link arrangement for a hip-assist exoskeleton robot according to claim 1, characterized by, The leg binding module comprises a square buckle, a magic tape and a leg binding belt, wherein: The leg binding belt is tied at the thigh of the human body, one end of the leg binding belt is provided with a square buckle for inserting and connecting the two ends of the leg binding belt, and a plurality of magic tapes are arranged on the leg binding belt, and the plurality of magic tapes are respectively used for adhering the two ends of the leg binding belt and adhering the leg support plate and the leg binding belt.

9. The leg link arrangement for a hip-assist exoskeleton robot according to claim 8, characterized by, The leg binding belt is a double-layer nylon fabric belt structure, the leg binding belt is flatly arranged in a fan shape structure, two ends of the leg binding belt are connected in a conical structure to fit the leg curve of a human body, and the magic tape is in a whole square structure.

10. The leg link arrangement for a hip-assist exoskeleton robot according to claim 1, characterized by, The leg supporting plate is a curved structure to fit the leg, and the top of the leg rod body is further provided with a connecting hole connected with an exoskeleton robot.

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