A bidirectional rope-driven exoskeleton robot for knee joint rehabilitation training

Abstract

This invention discloses a bidirectional rope-driven exoskeleton robot for knee joint rehabilitation training, comprising a waist binding module, a thigh binding module, a knee joint winding module, an adjustable lower leg structure, a lower leg binding module, and a power system module. One end of the thigh binding module is connected to the waist binding module, and the other end is connected to one end of the knee joint winding module. The other end of the knee joint winding module is connected to the lower leg binding module via the adjustable lower leg module, with the other end of the lower leg binding module being a free end. In the power system module, a Bowden rope passes around the knee joint winding module and returns to the power system module, where it is fixedly connected end-to-end with another Bowden rope. This invention offers the advantages of bidirectional assistance, lightweight structure, separate arrangement, visual tracking, quick disassembly, and comfortable wear.

Description

Technical Field

[0001] This invention relates to a bidirectional rope-driven exoskeleton robot for knee joint rehabilitation training, belonging to the field of rehabilitation equipment. Background Technology

[0002] Muscle function declines with age, and in severe cases, patients may be unable to walk normally. Simultaneously, the number of patients with motor dysfunction such as hemiplegia due to cardiovascular and cerebrovascular diseases, stroke, spinal cord injury, and accidental injuries is constantly rising, and has become a major cause of inability to walk. Clinical practice shows that rehabilitation therapy can effectively improve the condition of patients with lower limb motor dysfunction. In traditional rehabilitation models, rehabilitation therapists mainly develop training programs for patients based on relevant scales and use passive devices to assist in treatment. However, there is currently a shortage of rehabilitation professionals and rehabilitation medical resources both domestically and internationally, making rehabilitation exoskeleton robots a key focus of rehabilitation research.

[0003] Rehabilitation-type lower limb exoskeleton robots are a new type of rehabilitation equipment that enables the quantification, long-term effectiveness, and standardization of rehabilitation training. They integrate sensing, control, information, and computer science, are worn on the outside of the human lower limbs, and move in coordination with the lower limbs to provide assistance, aid limb movement, and improve human function.

[0004] Existing rehabilitation-grade lower limb exoskeleton robots are in their early stages of development and have several shortcomings. For example, most lower limb exoskeleton robots use rigid connection drives, and the force transmission structure uses large devices such as gears, resulting in poor compliance, low wearing comfort, and a complex and bulky overall structure. Furthermore, the assistance provided is mostly unidirectional, only assisting in knee extension or flexion, failing to provide full-range assistance during walking, leading to limited rehabilitation effects. Additionally, current lower limb exoskeleton robots on the market have a one-piece structure, with a heavy power system worn around the patient's waist, increasing the physical burden on patients already suffering from lower limb injuries. Due to the varying body shapes of wearers, exoskeleton robots require greater flexibility during wear. However, existing exoskeleton robots typically do not consider the length and thickness of the wearer's legs, or the different degrees of varus and valgus at the knee joint, resulting in poor comfort and knee discomfort during prolonged wear. Summary of the Invention

[0005] This invention provides a bidirectional rope-driven exoskeleton robot for knee joint rehabilitation training. The exoskeleton robot for knee joint rehabilitation training is constructed using a bidirectional rope-driven method. Furthermore, it is detachable for easy storage; and even further, the power system can be arranged separately.

[0006] The technical solution of the present invention is: a bidirectional rope-driven exoskeleton robot for knee joint rehabilitation training, comprising a waist binding module 1, a thigh binding module 2, a knee joint winding module 3, a lower leg adjustable structure 4, a lower leg binding module 5, and a power system module 6. One end of the thigh binding module 2 is connected to the waist binding module 1, and the other end of the thigh binding module 2 is connected to one end of the knee joint winding module 3. The other end of the knee joint winding module 3 is connected to the lower leg binding module 5 through the lower leg adjustable structure 4, and the other end of the lower leg binding module 5 is a free end. In the power system module 6, the Bowden rope 6-4 passes around the knee joint winding module 3 and returns to the power system module 6, where it is fixed end-to-end with the Bowden rope 6-4.

[0007] It also includes a mobile support frame module 7; the power system module 6 is placed on the mobile support frame module 7.

[0008] The waist binding module 1 includes a waist belt 1-1, an elastic band 1-2, and an elastic band buckle 1-3; wherein, the elastic band buckle 1-3 is fixedly connected to the thigh binding module 2, one end of the elastic band 1-2 passes around the waist belt 1-1, the other end of the elastic band 1-2 passes around the elastic band buckle 1-3, and the two ends of the elastic band 1-2 are glued together.

[0009] The thigh binding module 2 includes a thigh plate 2-1 and a thigh binding assembly; wherein, the thigh binding assembly includes a thigh binding fixing block 2-2-1, a thigh binding adjusting block 2-2-2, and a thigh binding connecting block 2-2-3; the thigh binding fixing block 2-2-1 is fixedly connected to the thigh plate 2-1, and multiple thigh binding adjusting blocks 2-2-2 are arranged sequentially on both sides of the thigh binding fixing block 2-2-1; the thigh binding adjusting block 2-2-2 at the end is rotatably connected to the thigh binding connecting block 2-2-3; one end of the thigh plate 2-1 is fixedly connected to the waist binding module 1, and the other end of the thigh plate 2-1 is fixedly connected to the knee joint winding module 3; and / or

[0010] The calf binding module 5 includes a calf plate 5-1 and a calf binding assembly; wherein, the calf binding assembly includes a calf binding fixing block 5-2-1, a calf binding adjusting block 5-2-2, and a calf binding connecting block 5-2-3; the calf binding fixing block 5-2-1 is fixedly connected to the calf plate 5-1, and multiple calf binding adjusting blocks 5-2-2 are arranged sequentially on both sides of the calf binding fixing block 5-2-1, and the calf binding adjusting block 5-2-2 located at the end is rotatably connected to the calf binding connecting block 5-2-3, one end of the calf plate 5-1 is fixedly connected to the calf adjustable structure 4, and the other end of the calf plate 5-1 is a free end.

[0011] The knee joint winding module 3 includes a sensing system, a knee joint shell, a distal knee joint pulley 3-3, a torque sensor 3-4, and a lower leg connector 3-5. The sensing system includes an encoder end cap 3-1-1, an encoder 3-1-2, a magnet 3-1-3, and a magnet fixing block 3-1-4. The knee joint shell includes a front knee joint shell 3-2-1 and a rear knee joint shell 3-2-2. The encoder 3-1-2 is fixedly connected to the encoder end cap 3-1-1, and the encoder end cap 3-1-1 is fixedly connected to the front knee joint shell 3-2-1. The magnet 3-1-3 is fixedly placed in the central groove of the magnet fixing block 3-1-4. The magnet fixing block 3-1-4 is coaxially fixedly connected to the distal knee joint pulley 3-3, and the front knee joint shell 3-2-1 rotates on one side relative to the distal knee joint pulley 3-3. The connection is as follows: the inner limiting block of the anterior outer shell 3-2-1 of the knee joint mates with the limiting groove on one side of the distal pulley 3-3 of the knee joint; the other side of the distal pulley 3-3 of the knee joint is coaxially and fixedly connected to the torque sensor 3-4; the lower leg connector 3-5 is coaxially and rotatably connected to the posterior outer shell 3-2-2 of the knee joint; the torque sensor 3-4 is placed inside the lower leg connector 3-5; the torque sensor 3-4 is fixedly connected to the lower leg connector 3-5; the anterior outer shell 3-2-1 of the knee joint is fixedly connected to the posterior outer shell 3-2-2 of the knee joint; the lower part of the lower leg connector 3-5 is rotatably connected to the adjustable lower leg structure 4; the Bowden rope 6-4 passes through the anterior outer shell 3-2-1 of the knee joint, goes around the distal pulley 3-3 of the knee joint, and then returns to pass through the anterior outer shell 3-2-1 of the knee joint; the Bowden rope 6-4 is fixedly connected to the distal pulley 3-3 of the knee joint.

[0012] The knee joint winding module 3 also includes a knee joint insertion and removal assembly and / or a knee joint cable fixing assembly.

[0013] The knee joint insertion / removal assembly includes a knee joint insertion / removal housing 3-6-1, a knee joint insertion / removal buckle 3-6-3, a spring 3-6-4, and a knee joint insertion / removal buckle cap 3-6-5. The knee joint insertion / removal housing 3-6-1 is fixedly connected to the front knee joint housing 3-2-1. The knee joint insertion / removal buckle 3-6-3 passes through the knee joint insertion / removal housing 3-6-1 and is fixedly connected to the knee joint insertion / removal buckle cap 3-6-5. The spring 3-6-4 is fixed between the knee joint insertion / removal buckle 3-6-3 and the knee joint insertion / removal housing 3-6-1. The knee joint insertion / removal assembly is fixedly connected to the thigh plate 2-1 in the thigh binding module 2.

[0014] The knee joint cable fixing assembly includes a knee joint cable fixing block and a knee joint cable connector. The upper part of the knee joint anterior shell 3-2-1 and the knee joint cable fixing block are provided with slots. The knee joint cable connector is placed in the slots, and the knee joint cable fixing block is fixedly connected to the knee joint anterior shell 3-2-1, so that the knee joint cable connector is fixed between the knee joint anterior shell 3-2-1 and the knee joint cable fixing block.

[0015] The power system module 6 includes a power supply component 6-1, a motor component 6-2, a waist winding wheel component, a Bowden rope 6-4, a waist housing, and a waist hook 6-6. The waist housing includes a front waist cover 6-5-1 and a rear waist cover 6-5-2. The waist hook 6-6 is fixedly connected to the rear waist cover 6-5-2. The power supply component 6-1 is fixedly placed in the slot of the rear waist cover 6-5-2. The stator of the motor component 6-2 is fixedly connected to the rear waist cover 6-5-2. The rotor of the motor component 6-2 is coaxially fixedly connected to the waist winding wheel component. The Bowden rope 6-4 passes sequentially around the waist winding wheel component, around the distal knee pulley 3-3 in the knee joint winding module 3, and then returns to the power system module 6 to be fixedly connected end to end with the Bowden rope 6-4.

[0016] The waist winding reel assembly includes a waist rope fixing block 6-3-1, a waist winding reel 6-3-2, a first end cap 6-3-3 of the waist winding reel, a second end cap 6-3-4 of the waist winding reel, a waist cable conduit connector, and a waist cable conduit fixing block; wherein, the waist winding reel 6-3-2 is coaxially and fixedly connected to the rotor of the motor assembly 6-2, the waist rope fixing block 6-3-1 is fixedly connected to the waist winding reel 6-3-2, and the waist winding... The first end cover 6-3-3 of the wheel and the second end cover 6-3-4 of the waist winding wheel are fixedly connected to the stator of the motor assembly 6-2. The second end cover 6-3-4 of the waist winding wheel and the waist tube fixing block are provided with slots. The waist tube connector is placed in the slots. The waist tube fixing block is fixedly connected to the second end cover of the waist winding wheel, so that the waist tube connector is fixed between the second end cover 6-3-4 of the waist winding wheel and the waist tube fixing block.

[0017] The waist cable connector includes a left waist cable connector 6-3-5-1 and a right waist cable connector 6-3-5-2. The waist cable fixing block includes a left waist cable fixing block 6-3-6-1 and a right waist cable fixing block 6-3-6-2. The Bowden rope 6-4 passes around the waist winding wheel 6-3-2, through the right waist cable connector 6-3-5-2, around the knee joint distal pulley 3-3, through the left waist cable connector 6-3-5-1, and back around the waist winding wheel 6-3-2 before being connected end to end and fixedly connected to the waist rope fixing block 6-3-1.

[0018] The waist conduit fixing block has multiple arc-shaped grooves along the axial direction inside.

[0019] The mobile support frame module 7 includes a support frame body 7-1, a distance detector 7-2, a support frame front wheel 7-3, a support frame rear wheel 7-4, a rear wheel fixing block 7-5, a mobile support frame rear wheel motor 7-6, and a mobile support frame power supply 7-7. The distance detector 7-2 is fixedly connected to the support frame body 7-1, the support frame front wheel 7-3 is fixedly connected to the support frame body 7-1, the rear wheel fixing block 7-5 is fixedly connected to the support frame body 7-1, the support frame rear wheel 7-4 is fixedly connected to one end of the rear wheel fixing block 7-5, the mobile support frame rear wheel motor 7-6 is fixedly connected to the other end of the rear wheel fixing block 7-5, and the mobile support frame power supply 7-7 is placed in a slot at the bottom of the support frame body 7-1 for fixation.

[0020] The beneficial effects of this invention are:

[0021] 1. This invention selects a flexible drive method with a lightweight structure—rope drive, which has better human flexibility than the rigid drive method commonly found in the market, and has a long transmission distance and a lightweight structure; moreover, this invention adopts a bidirectional rope drive method, which provides assistance in both knee extension and knee flexion, unlike unidirectional rope drive which only provides assistance when the knee is extended, making it easier for patients to wear and walk, and helping patients to recover.

[0022] 2. This invention simplifies the structure of the lower limb exoskeleton robot, reduces the overall weight of the lower limb exoskeleton robot, separates the power system of the waist from the lower limb exoskeleton structure and transfers it to a mobile support frame, reducing the burden on the patient's lower limbs; it also optimizes the overall functional design of the mobile support frame, adds visual tracking technology, and improves the portability and flexibility of the rehabilitation exoskeleton robot during rehabilitation training.

[0023] 3. This invention fully considers the needs of different human body shapes and the freedom of knee joints, increases the comfort of patients wearing it and the fit to the legs, and designs a detachable function for the lower limb exoskeleton robot, which can quickly disassemble the thigh binding module, the calf binding module and the knee joint winding module, making it easy to store as a whole and reducing space occupation.

[0024] In summary, the present invention has the advantages of bidirectional assistance, lightweight structure, separate arrangement, visual tracking, quick disassembly, and comfortable wear. Attached Figure Description

[0025] Figure 1 This is a front view of the overall structure of the present invention;

[0026] Figure 2 This is a rear view of the overall structure of the present invention;

[0027] Figure 3 This is a partial exploded view of the thigh binding mechanism and knee joint structure of the present invention;

[0028] Figure 4 This is an exploded front view of the knee joint structure of the present invention;

[0029] Figure 5 This is an exploded view of the rear of the knee joint structure of the present invention;

[0030] Figure 6 This is a partial exploded view of the calf binding mechanism and knee joint structure of the present invention;

[0031] Figure 7 This is an exploded view of the power system structure of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the movable support frame of the present invention;

[0033] Figure 9 This is a front sectional view of the power system module of the present invention;

[0034] Figure 10 This is a schematic diagram of the structure of the waist-mounted conduit fixing block of the present invention;

[0035] Figure 11 This is a schematic diagram of the waist rope fixing block of the present invention. Figure 1 ;

[0036] Figure 12 This is a schematic diagram of the waist rope fixing block of the present invention. Figure 2 ;

[0037] Figure 13 This is a schematic diagram of the waist rope fixing block of the present invention. Figure 3 ;

[0038] Figure 14 This is a cross-sectional view of the waist rope fixing block of the present invention;

[0039] The following are the labels in the diagram: 1. Waist binding module; 1-1. Waist belt; 1-2. Telescopic belt; 1-3. Telescopic belt buckle; 2. Thigh binding module; 2-1. Thigh plate; 2-2-1. Thigh binding fixing block; 2-2-2. Thigh binding adjusting block; 2-2-3. Thigh binding connecting block; 3. Knee joint winding module; 3-1-1. Encoder end cap; 3-1-2. Encoder; 3-1-3. Magnet; 3-1-4. Magnet fixing block; 3-2-1. Knee joint front shell; 3-2-2. Knee joint rear shell; 3-3. Knee joint distal pulley; 3-4. Torque sensor; 3-5. Lower leg connector; 3-6-1. Knee joint plug-in housing; 3-6-2. Knee joint plug-in sliding cover; 3-6-3. Knee joint plug-in latch; 3-6-4. Spring; 3-6-5. Knee joint plug-in latch cap; 3-7-1-1. Left knee joint tube fixing block; 3-7-1-2. Right knee joint tube fixing block; 3-7-2-1. Left knee joint tube connector; 3-7-2-2. Right knee joint tube connector; 4. Adjustable lower leg structure; 4-1. Freedom swing component; 4-2-1. Torx bolt; 4 -2-2, Plum nut; 4-3, Lower leg connecting shaft; 5, Lower leg binding module; 5-1, Lower leg plate; 5-2-1, Lower leg binding fixing block; 5-2-2, Lower leg binding adjusting block; 5-2-3, Lower leg binding connecting block; 6, Power system module; 6-1, Power supply assembly; 6-2, Motor assembly; 6-3-1, Waist rope fixing block; 6-3-2, Waist winding wheel; 6-3-3, Upper end cover of waist winding wheel; 6-3-4, Lower end cover of waist winding wheel; 6-3-5-1, Left waist cable connector; 6-3-5-2, Right waist cable connector. 6-3-6-1. Waist left conduit fixing block; 6-3-6-2. Waist right conduit fixing block; 6-4. Bowden rope assembly; 6-5-1. Waist front cover; 6-5-2. Waist rear cover; 6-6. Waist hook; 6-7. First Bowden rope conduit; 6-8. Second Bowden rope conduit; 7. Mobile support frame module; 7-1. Support frame body; 7-2. Distance detector; 7-3. Support frame front wheel; 7-4. Support frame rear wheel; 7-5. Rear wheel fixing block; 7-6. Mobile support frame rear wheel motor; 7-7. Mobile support frame power supply. Detailed Implementation

[0040] The invention will be further described below with reference to the accompanying drawings and embodiments, but the scope of the invention is not limited to the description.

[0041] Example 1: As Figure 1-14As shown, a bidirectional rope-driven exoskeleton robot for knee joint rehabilitation training includes a waist binding module 1, a thigh binding module 2, a knee joint winding module 3, a lower leg adjustable structure 4, a lower leg binding module 5, and a power system module 6. One end of the thigh binding module 2 is connected to the waist binding module 1, and the other end of the thigh binding module 2 is connected to one end of the knee joint winding module 3. The other end of the knee joint winding module 3 is connected to the lower leg binding module 5 through the lower leg adjustable structure 4, and the other end of the lower leg binding module 5 is a free end. In the power system module 6, the Bowden rope 6-4 passes around the knee joint winding module 3 and returns to the power system module 6, where it is fixed end-to-end with the Bowden rope 6-4.

[0042] Optionally, it also includes a mobile support frame module 7; the power system module 6 is placed on the mobile support frame module 7.

[0043] Optionally, the waist binding module 1 includes a waist belt 1-1, an elastic band 1-2, and an elastic band buckle 1-3; wherein, the elastic band buckle 1-3 is fixedly connected to the thigh binding module 2, and the two ends of the elastic band 1-2 can be freely pasted to change the length of the elastic band. One end of the elastic band 1-2 passes around the waist belt 1-1, and the other end passes around the elastic band buckle 1-3, and the two ends are pasted together.

[0044] By adopting the above technical solution, the distance from the knee joint to the hip joint of different human bodies can be adapted by adjusting the telescopic belt 1-2, making the lower limb exoskeleton robot more secure to the human body. Furthermore, the telescopic belt connects the lower limb exoskeleton to the waist belt 1-1, preventing the lower limb exoskeleton robot from slipping down due to insecure binding to the human leg, thus avoiding misalignment between the knee joint axis of the lower limb exoskeleton robot and the knee joint axis of the human body.

[0045] Optionally, the thigh binding module 2 includes a thigh plate 2-1 and a thigh binding assembly; wherein, the thigh binding assembly includes a thigh binding fixing block 2-2-1, a thigh binding adjusting block 2-2-2, and a thigh binding connecting block 2-2-3; the thigh binding fixing block 2-2-1 is fixedly connected to the thigh plate 2-1, and multiple thigh binding adjusting blocks 2-2-2 are arranged sequentially on both sides of the thigh binding fixing block 2-2-1, the thigh binding adjusting block 2-2-2 at the end is rotatably connected to the thigh binding connecting block 2-2-3, one end of the thigh plate 2-1 is fixedly connected to the telescopic buckle 1-3 in the waist binding module 1, and the other end of the thigh plate 2-1 is fixedly connected to the knee joint winding module 3.

[0046] Specifically, such as Figure 3As shown, the thigh binding assembly includes a thigh binding fixing block 2-2-1, a thigh binding adjusting block 2-2-2, and a thigh binding connecting block 2-2-3. A thigh binding fixing block 2-2-1 is placed in the middle of the thigh plate 2-1. Four thigh binding adjusting blocks 2-2-2 are rotatably connected to each of the left and right sides (i.e., the first thigh binding adjusting block 2-2-2 is rotatably connected to the thigh binding fixing block 2-2-1 via elastic pins, the thigh binding connecting block 2-2-3 is rotatably connected to the fourth thigh binding adjusting block 2-2-2 via elastic pins, and the thigh binding connecting blocks 2-2-3 are rotatably connected to each other via elastic pins). A thigh binding connecting block 2-2-3 is rotatably connected to each end of the assembly, all using elastic pins to form an open chain. The ends of the chain are secured to the lower limb exoskeleton robot's legs with the human leg using Velcro straps. It should be noted that the number of thigh binding adjusting blocks 2-2-2 can be adjusted as needed.

[0047] By adopting the above technical solution, the leg binding structure is designed as a flexible structure, which can adapt to different wearer body shapes, increase the fit between the lower limb exoskeleton and the human leg, and improve the wearer's comfort and flexibility.

[0048] The knee joint winding module 3 includes a sensing system, a knee joint shell, a distal knee joint pulley 3-3, a torque sensor 3-4, and a lower leg connector 3-5. The sensing system includes an encoder end cap 3-1-1, an encoder 3-1-2, a magnet 3-1-3, and a magnet fixing block 3-1-4. The knee joint shell includes a front knee joint shell 3-2-1 and a rear knee joint shell 3-2-2. The encoder 3-1-2 is fixedly connected to the encoder end cap 3-1-1, and the encoder end cap 3-1-1 is fixedly connected to the front knee joint shell 3-2-1. The magnet 3-1-3 is fixedly placed in the central groove of the magnet fixing block 3-1-4. The magnet fixing block 3-1-4 is coaxially fixedly connected to the distal knee joint pulley 3-3, and the front knee joint shell 3-2-1 rotates on one side relative to the distal knee joint pulley 3-3. The connection is as follows: the inner limiting block of the anterior outer shell 3-2-1 of the knee joint mates with the limiting groove on one side of the distal pulley 3-3 of the knee joint; the other side of the distal pulley 3-3 of the knee joint is coaxially and fixedly connected to the torque sensor 3-4; the lower leg connector 3-5 is coaxially and rotatably connected to the posterior outer shell 3-2-2 of the knee joint; the torque sensor 3-4 is placed inside the lower leg connector 3-5; the torque sensor 3-4 is fixedly connected to the lower leg connector 3-5; the anterior outer shell 3-2-1 of the knee joint is fixedly connected to the posterior outer shell 3-2-2 of the knee joint; the lower part of the lower leg connector 3-5 is rotatably connected to the adjustable lower leg structure 4; the Bowden rope 6-4 passes through the anterior outer shell 3-2-1 of the knee joint, goes around the distal pulley 3-3 of the knee joint, and then returns to pass through the anterior outer shell 3-2-1 of the knee joint; the Bowden rope 6-4 is fixedly connected to the distal pulley 3-3 of the knee joint.

[0049] Specifically, such as Figures 3-5 As shown, encoder 3-1-2 is fixedly connected to encoder end cover 3-1-1 by bolts. Encoder end cover 3-1-1 is fixedly connected to knee joint front shell 3-2-1 by bolts. Magnet 3-1-3 is placed and fixed in the central groove of magnet fixing block 3-1-4. Magnet fixing block 3-1-4 is coaxially fixedly connected to knee joint distal pulley 3-3 by bolts. At this time, the central chip of encoder 3-1-2 and magnet 3-1-3 are coaxial, and the distance between the central chip of encoder 3-1-2 and magnet 3-1-3 is maintained within a certain range. Within the specified distance range between the encoder and magnet in normal use; the inner rotating shaft of the knee joint front shell 3-2-1 is rotatably connected to the groove on one side of the knee joint distal pulley 3-3 via a bearing. The engagement angle position is such that, in the initial upright state of the exoskeleton robot, a protruding limiting block below the center of the inner side of the knee joint front shell 3-2-1 is placed at the rightmost end (i.e., the lower end) of the arc-shaped limiting groove of the knee joint distal pulley 3-3, that is, when viewed from the side view of the exoskeleton robot, the arc-shaped limiting groove of the knee joint distal pulley 3-3 is in the direction in front of the wearer; knee joint The other side of the distal pulley 3-3 is coaxially fixed to the torque sensor 3-4 via bolts. The outer side of the ring of the lower leg connector 3-5 is coaxially rotatably connected to two bearings inside the posterior housing 3-2-2 of the knee joint. A limiting ring is provided in the middle of the two bearings in the posterior housing 3-2-2 of the knee joint to separate the two bearings. The circular holes on both sides of the limiting ring are coaxially fixed to the bearings respectively. The inner side of the ring of the lower leg connector 3-5 has two upper and lower limiting points, which are parallel to the upper and lower horizontal planes of the outer ring of the torque sensor 3-4. The outer dimensions of the torque sensor 3-4 are slightly smaller than... Or, equal to the inner dimension of the lower leg connector 3-5 ring, the torque sensor 3-4 can be placed inside the lower leg connector 3-5 ring, and the torque sensor 3-4 is fixedly connected to the lower leg connector 3-5 by bolts. The front shell 3-2-1 of the knee joint and the rear shell 3-2-2 of the knee joint are fixedly connected by bolts. The front shell 3-2-1 of the knee joint and the rear shell 3-2-2 of the knee joint form a complete smooth semi-circular ring through a step fit. The lower part of the lower leg connector 3-5 is rotatably connected to the degree-of-freedom swinging component 4-1 through a plum bolt assembly.

[0050] Applying the above technical solution, the inner limiting block of the anterior outer shell 3-2-1 of the knee joint contacts the arc-shaped limiting groove of the distal pulley 3-3 of the knee joint, thereby limiting the distal pulley 3-3 of the knee joint in the clockwise direction. That is, when the inner limiting block of the anterior outer shell 3-2-1 of the knee joint contacts the arc-shaped limiting groove of the distal pulley 3-3 of the knee joint, it abuts against the distal pulley 3-3 of the knee joint, so that its maximum rotation angle is the same as the body's upright state and the knee joint's maximum flexion state; the outer ring surface of the distal pulley 3-3 of the knee joint is provided with an arc-shaped winding groove, which can cover the Bowden rope 6- 4. The Bowden rope 6-4 is made to fit tightly against the distal pulley 3-3 of the knee joint, preventing the Bowden rope 6-4 in the arc-shaped winding groove on the outer ring surface of the distal pulley 3-3 of the knee joint from detaching from the distal pulley 3-3 of the knee joint; there is a protruding rope fixing platform on the outer ring surface of the distal pulley 3-3 of the knee joint, through which the Bowden rope 6-4 passes and wraps around the distal pulley 3-3 of the knee joint, and the rope fixing platform is tightened with bolts to hold the Bowden rope 6-4 in place, so that the Bowden rope 6-4 is fixedly connected to the distal pulley 3-3 of the knee joint, thereby driving the knee joint to rotate through the tension of the Bowden rope 6-4. By adopting the above technical solutions, the knee joint limiting block and limiting slide groove realize the bending and extension of the lower limb exoskeleton at the knee joint, which meets the angle requirements of the human knee joint bending and extension, prevents sports injuries caused by excessive bending and extension of the wearer's knee joint, and protects the wearer's knee joint health. The knee joint encoder can measure the rotation angle of the lower leg plate relative to the thigh plate, that is, the rotation angle of the wearer's lower leg relative to the thigh. The knee joint torque sensor can measure the tension applied by the Bowden rope to the distal pulley of the knee joint. The control system can obtain the wearer's movement status and movement intention through the knee joint encoder and knee joint torque sensor, prepare for the control of the lower limb exoskeleton, and provide auxiliary rehabilitation training for the patient.

[0051] Optionally, the knee joint winding module 3 further includes a knee joint insertion / removal assembly and / or a knee joint cable fixing assembly; the knee joint insertion / removal assembly includes a knee joint insertion / removal housing 3-6-1, a knee joint insertion / removal latch 3-6-3, a spring 3-6-4, and a knee joint insertion / removal latch cap 3-6-5; wherein, the knee joint insertion / removal housing 3-6-1 is fixedly connected to the front knee joint housing 3-2-1, the knee joint insertion / removal latch 3-6-3 passes through the knee joint insertion / removal housing 3-6-1 and is fixedly connected to the knee joint insertion / removal latch cap 3-6-5, and the spring 3-6-4 is fixed to the knee joint insertion / removal housing. The buckle 3-6-3 is between the knee joint plug-in outer shell 3-6-1; it is fixedly connected to the thigh plate 2-1 in the thigh binding module 2 through the knee joint plug-in assembly; the knee joint cable fixing assembly includes a knee joint cable fixing block and a knee joint cable connector; wherein, the upper part of the knee joint front outer shell 3-2-1 and the knee joint cable fixing block are provided with slots, the knee joint cable connector is placed in the slots, and the knee joint cable fixing block is fixedly connected to the knee joint front outer shell 3-2-1, so that the knee joint cable connector is fixed between the knee joint front outer shell 3-2-1 and the knee joint cable fixing block.

[0052] Specifically, such as Figures 3-5 As shown, the knee joint insertion / removal assembly includes a knee joint insertion / removal housing 3-6-1, a knee joint insertion / removal sliding cover 3-6-2, a knee joint insertion / removal latch 3-6-3, a spring 3-6-4, and a knee joint insertion / removal latch cap 3-6-5. The knee joint cable conduit fixing assembly includes a knee joint cable conduit fixing block and a knee joint cable conduit connector. The knee joint cable conduit fixing block includes a left knee joint cable conduit fixing block 3-7-1-1 and a right knee joint cable conduit fixing block 3-7-1-2. The knee joint cable conduit connector includes a left knee joint cable conduit connector 3-7-2-1 and a right knee joint cable conduit connector 3-7-2-2. The knee joint insertion / removal housing 3-6-1 and the front knee joint housing 3-2-1 are fixedly connected by bolts. The knee joint insertion / removal sliding cover 3-6-2 is slidably connected to the bottom groove of the knee joint insertion / removal housing 3-6-1. The knee joint insertion / removal latch 3-6-3 passes sequentially through a square hole on one side of the knee joint insertion / removal housing 3-6-1 and... The other side of the circular hole is fixedly connected to the knee joint insertion clip cap 3-6-5 by bolts. One side of the spring 3-6-4 is placed on the outer ring of the circular protrusion of the knee joint insertion clip 3-6-3, and the other side is placed on the outer ring of the circular protrusion inside the knee joint insertion shell 3-6-1. The spring 3-6-4 is fixed between the knee joint insertion clip 3-6-3 and the knee joint insertion shell 3-6-1. The upper part of the knee joint front shell 3-2-1 and the knee joint cable fixing block are provided with a semi-circular groove. The middle of the knee joint cable connector has a slightly larger circular ring, which can be placed in the semi-circular groove of the upper part of the knee joint front shell 3-2-1 and the knee joint cable fixing block. The knee joint cable fixing block is fixedly connected to the knee joint front shell 3-2-1, so that the knee joint cable connector is fixed between the knee joint front shell 3-2-1 and the knee joint cable fixing block. The knee joint insertion assembly is fixedly connected to the thigh plate 2-1 and is a detachable structure.

[0053] Applying the above technical solution, pulling the knee joint insertion clip cap 3-6-5 outward causes the knee joint insertion clip 3-6-3 to move outward, compressing the spring 3-6-4 between the knee joint insertion clip 3-6-3 and the knee joint insertion outer shell 3-6-1. The spring 3-6-4 stores energy, and the upper groove of the knee joint front outer shell 3-2-1 is fully exposed. The lower end of the thigh plate 2-1 is then inserted into the upper groove of the knee joint front outer shell 3-2-1. At this time, the knee joint insertion clip 3-6-3, the square groove at the lower end of the thigh plate 2-1, and the knee joint... The center of the square groove inside the front outer shell 3-2-1 is horizontally aligned, and the square dimension of the end of the knee joint insertion buckle 3-6-3 is smaller than the square groove at the lower end of the thigh plate 2-1 and the square groove inside the front outer shell 3-2-1 of the knee joint. Loosening the knee joint insertion buckle cap 3-6-5 releases the compressed spring 3-6-4, squeezing the knee joint insertion buckle 3-6-3 through the square groove at the lower end of the thigh plate 2-1 and the square groove inside the front outer shell 3-2-1 of the knee joint, thus fixing the thigh plate 2-1 to the knee joint winding module 3. Disassembly is similar. By adopting the above technical solution, the thigh binding module and the knee joint winding module can be quickly installed and disassembled, facilitating the storage and organization of the rehabilitation training exoskeleton robot and reducing space occupancy.

[0054] Optionally, such as Figure 6 As shown, the adjustable lower leg structure 4 includes a free-degree swing member 4-1, a plum bolt assembly, and a lower leg connecting shaft 4-3; wherein, the plum bolt assembly includes a plum bolt 4-2-1 and a plum nut 4-2-2; one end of the free-degree swing member 4-1 is rotatably connected to the lower leg connecting member 3-5 through the plum bolt assembly, and the other end of the free-degree swing member 4-1 is rotatably connected to the lower leg plate 5-1 through the lower leg connecting shaft 4-3 and an E-shaped retaining ring.

[0055] By adopting the above technical solution, two degrees of freedom are added between the knee joint structure and the lower leg binding structure. This allows for adjustment according to the leg shape of different wearers, making the lower limb exoskeleton robot fit the human leg more closely. It also realizes the degree of freedom of the lower limb exoskeleton to varus or valgus at the knee joint, which meets the human body's requirements for the degree of freedom of varus or valgus at the knee joint, increases the flexibility and agility of movement, and prevents injury during movement.

[0056] Optionally, such as Figure 6As shown, the calf binding module 5 includes a calf plate 5-1 and a calf binding assembly; wherein, the calf binding assembly includes a calf binding fixing block 5-2-1, a calf binding adjusting block 5-2-2, and a calf binding connecting block 5-2-3; the calf binding fixing block 5-2-1 is fixedly connected to the calf plate 5-1, and multiple calf binding adjusting blocks 5-2-2 are arranged sequentially on both sides of the calf binding fixing block 5-2-1, and the calf binding adjusting block 5-2-2 located at the end is rotatably connected to the calf binding connecting block 5-2-3, one end of the calf plate 5-1 is fixedly connected to the calf adjustable structure 4, and the other end of the calf plate 5-1 is a free end.

[0057] The specific implementation method is the same as that of the thigh binding module described above.

[0058] Optionally, the power system module 6 includes a power supply component 6-1, a motor component 6-2, a waist winding wheel component, a Bowden rope 6-4, a waist housing, and a waist hook 6-6; wherein, the waist housing includes a waist front cover 6-5-1 and a waist rear cover 6-5-2, the waist hook 6-6 and the waist rear cover 6-5-2 are fixedly connected by bolts, the power supply component 6-1 is placed and fixed in the slot of the waist rear cover 6-5-2, the stator of the motor component 6-2 is fixedly connected to the waist rear cover 6-5-2, and the rotor of the motor component 6-2 is coaxially fixedly connected to the waist winding wheel component; the Bowden rope 6-4 passes sequentially around the waist winding wheel component, passes around the knee joint distal pulley 3-3 in the knee joint winding module 3, and then returns to the power system module 6 to be connected and fixed end to end with the Bowden rope 6-4.

[0059] By adopting the above technical solution, the power supply is placed in the slot of the waist shell, which facilitates the replacement of the power supply and is convenient and quick. The waist hook is installed at the rear of the shell. If you do not want to place the waist power structure on the mobile support frame, or if the mobile support frame is not available or is damaged, you can use the waist hook to place the waist structure on the waist belt, so as to realize the separate arrangement and combination installation of the exoskeleton robot. Multiple usage solutions can deal with various situations and are flexible in use.

[0060] Optionally, the waist winding reel assembly includes a waist rope fixing block 6-3-1, a waist winding reel 6-3-2, a first end cap 6-3-3 of the waist winding reel, a second end cap 6-3-4 of the waist winding reel, a waist cable conduit connector, and a waist cable conduit fixing block; wherein, the waist winding reel 6-3-2 is coaxially and fixedly connected to the rotor of the motor assembly 6-2, the waist rope fixing block 6-3-1 is fixedly connected to the waist winding reel 6-3-2, the first end cap 6-3-3 and the second end cap 6-3-4 of the waist winding reel are fixedly connected to the stator of the motor assembly 6-2, and slots are provided on one side of the second end cap 6-3-4 of the waist winding reel and the waist cable conduit fixing block, into which the waist cable conduit connector is placed, and the waist cable conduit fixing block and the waist... The second end cap of the winding reel is fixedly connected, so that the waist tube connector is fixed between the second end cap 6-3-4 of the waist winding reel and the waist tube fixing block; the waist tube connector includes a left waist tube connector 6-3-5-1 and a right waist tube connector 6-3-5-2, and the waist tube fixing block includes a left waist tube fixing block 6-3-6-1 and a right waist tube fixing block 6-3-6-2; the Bowden rope 6-4 passes around the waist winding reel 6-3-2, through the right waist tube connector 6-3-5-2, around the distal pulley 3-3 of the knee joint, through the left waist tube connector 6-3-5-1, and back around the waist winding reel 6-3-2 before being connected end to end and fixedly connected to the waist rope fixing block 6-3-1.

[0061] Specifically, such as Figure 7 , Figure 9 , Figures 11-14As shown, the waist winding reel 6-3-2 is coaxially fixed to the rotor of the motor assembly 6-2 by bolts. The waist rope fixing block 6-3-1 is fixedly connected to the waist winding reel 6-3-2 by bolts. The first end cover 6-3-3 and the second end cover 6-3-4 of the waist winding reel are fixedly connected to the stator of the motor assembly 6-2. The diameter of the inner ring formed by the first end cover 6-3-3 and the second end cover 6-3-4 of the waist winding reel is slightly larger than the outer diameter of the waist winding reel 6-3-2. The waist winding reel 6-3-2 is located between the first end cover 6-3-3 and the second end cover 6-3-4 of the waist winding reel. The inner ring formed by -3-4; the second end cap 6-3-4 of the waist winding wheel has two long through holes, the diameter of which is larger than the outer diameter of the thin end of the waist tube connector; the bottom of the second end cap 6-3-4 of the waist winding wheel and the waist tube fixing block have semi-arc grooves, and the middle of the waist tube connector has a slightly larger ring, which can be placed in the semi-arc groove of the bottom of the second end cap 6-3-4 of the waist winding wheel and the waist tube fixing block. The second end cap 6-3-4 of the waist winding wheel is fixedly connected to the waist tube fixing block, so that the waist tube connector is fixed between the second end cap 6-3-4 of the waist winding wheel and the waist tube fixing block. The outer ring of the waist winding wheel 6-3-2 has an arc-shaped winding groove, which is slightly larger than the Bowden rope 6-4 and can cover the Bowden rope 6-4. The waist rope fixing block 6-3-1 has a square groove in the center and arc-shaped grooves on both sides. The width of the square groove is larger than the width of the arc-shaped grooves, which makes it easy for the Bowden rope 6-4 to pass through. After the beginning and end of the Bowden rope 6-4 are clamped and fixed by the Bowden rope aluminum sleeve, the clamped aluminum sleeve is stuck in the square groove. The outer arc-shaped surface of the waist rope fixing block 6-3-1 has a threaded hole. The Bowden rope 6-4 is clamped to the waist winding wheel 6-3-2 by bolts passing through the threaded holes, so that when the motor 6-2 works, it drives the waist winding wheel 6-3-2 to transmit the tension to the Bowden rope 6-4.

[0062] Optionally, the waist-mounted conduit fixing block has multiple arc-shaped grooves along the axial direction inside. For example... Figure 10 The waist-mounted conduit fixing block has three arc-shaped grooves inside. The appropriate arc-shaped groove can be selected according to the length of the Bowden rope 6-4 and can achieve the tight state of the Bowden rope 6-4 for placement and installation.

[0063] By adopting the above technical solutions, the design of the waist rope fixing block 6-3-1 and the waist cable tube fixing block are designed to achieve a tight state of the Bowden rope of the entire lower limb exoskeleton. This solves the problem that the Bowden rope of the existing rope-driven exoskeleton is too loose and cannot fully fit the winding wheel, avoids the Bowden rope from being damaged by rotation and compression during exercise, and reduces the error of motion data acquisition.

[0064] Optionally, the power system module 6 further includes a first Bowden rope tube 6-7 and a second Bowden rope tube 6-8. One end of the first Bowden rope tube 6-7 is clamped and fixedly connected to the right waist tube connector 6-3-5-2, and the other end is clamped and fixedly connected to the left knee tube connector 3-7-2-1. One end of the second Bowden rope tube 6-8 is clamped and fixedly connected to the left waist tube connector 6-3-5-1, and the other end is clamped and fixedly connected to the left knee tube connector 3-7-2-2. The Bowden rope 6-4 passes sequentially around the waist winding wheel 6-3-2 and through the second end cap 6-3- of the waist winding wheel. 4. Pass through the right waist tube connector 6-3-5-2, through the first Bowden rope tube 6-7, through the left knee joint tube connector 3-7-2-1, through the front shell of the knee joint 3-2-1, around the distal pulley of the knee joint 3-3, then return through the front shell of the knee joint 3-2-1, through the left knee joint tube connector 3-7-2-2, through the second Bowden rope tube 6-8, through the left waist tube connector 6-3-5-1, through the second end cap of the waist winding wheel 6-3-4, and after returning to the waist winding wheel 6-3-2, the first and last ends are clamped and fixed inside the waist rope fixing block 6-3-1 by the Bowden rope aluminum sleeve.

[0065] Specifically, the Bowden rope 6-4 passes through each component and returns to the waist winding wheel 6-3-2, where it is fixedly connected with the waist winding wheel 6-3-2 by bolts, forming a bidirectional rope drive for the Bowden rope. Simultaneously, the Bowden rope 6-4 is fixedly connected to the knee joint distal pulley 3-3 by bolts. When the motor assembly 6-2 starts working, it drives the waist winding wheel 6-3-2 to rotate. The waist winding wheel 6-3-2 transmits force to the Bowden rope 6-4, which in turn drives the knee joint distal pulley 3-3 to rotate. The knee joint distal pulley 3-3 transmits force to the torque sensor 3-4, which in turn transmits it to the lower leg connector 3-5. The lower leg connector 3-5, through the lower leg adjustable structure 4, drives the lower leg plate 5-1 to rotate, thereby causing the wearer's lower leg to flex and extend.

[0066] By adopting the above technical solution and using Bowden rope for rope drive, the overall weight of the exoskeleton robot is greatly reduced. It features a simple structure, small size and light weight, and more flexible force transmission. The bidirectional rope drive can provide assistance for the wearer's knee extension and flexion during exercise, which is more conducive to the rehabilitation training of patients with lower limb movement disorders.

[0067] Optionally, such as Figure 8As shown, the mobile support frame module 7 includes a support frame body 7-1, a distance detector 7-2, a front wheel 7-3, a rear wheel 7-4, a rear wheel fixing block 7-5, a rear wheel motor 7-6, and a power supply 7-7. The distance detector 7-2 is fixedly connected to the support frame body 7-1 by bolts. The front wheel 7-3 is fixedly connected to the support frame body 7-1. The rear wheel fixing block 7-5 is fixedly connected to the support frame body 7-1. The rear wheel 7-4 is fixedly connected to one end of the rear wheel fixing block 7-5. The rear wheel motor 7-6 is fixedly connected to the other end of the rear wheel fixing block 7-5. The power supply 7-7 is placed in a slot at the bottom of the support frame body 7-1 and fixed.

[0068] Specifically, the distance detector 7-2 can identify the distance to the human body in front. During the wearer's movement, the distance to the human body is detected to control the rotation speed of the rear wheel motor 7-6 of the mobile support frame, so that the mobile support frame maintains a certain distance from the human body and realizes the visual tracking of the mobile support frame; the waist power system module 6 is placed in the slot on the mobile support frame 7 to realize the separate arrangement of the lower limb exoskeleton robot.

[0069] By adopting the above technical solution, the power system of the waist, which is relatively heavy, is transferred from the human body to the support frame, realizing the separation of the power system and the controlled system of the exoskeleton robot. This reduces the weight on the human body and alleviates the physical burden on the patient. At the same time, the mobile support frame realizes visual tracking technology, which can move autonomously with the human body. It is light and convenient, enabling autonomous rehabilitation training without human assistance.

[0070] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A bidirectional rope-driven knee joint rehabilitation training exoskeleton robot, comprising a waist binding module (1), a thigh binding module (2), a knee joint winding module (3), an adjustable lower leg structure (4), a lower leg binding module (5), and a power system module (6), characterized in that: One end of the thigh binding module (2) is connected to the waist binding module (1), and the other end of the thigh binding module (2) is connected to one end of the knee joint winding module (3). The other end of the knee joint winding module (3) is connected to the lower leg binding module (5) through the lower leg adjustable structure (4). The other end of the lower leg binding module (5) is a free end. In the power system module (6), the Bowden rope (6-4) passes around the knee joint winding module 3 and returns to the power system module (6) to be fixed end to end with the Bowden rope (6-4). The knee joint winding module (3) includes a sensing system, a knee joint shell, a distal pulley (3-3) of the knee joint, a torque sensor (3-4), and a lower leg connector (3-5); wherein the sensing system includes an encoder end cap (3-1-1), an encoder (3-1-2), a magnet (3-1-3), and a magnet fixing block (3-1-4), and the knee joint shell includes a front knee joint shell (3-2-1) and a rear knee joint shell (3-2-2); wherein the encoder (3-1-2) and the encoder The end cap (3-1-1) is fixedly connected, the encoder end cap (3-1-1) is fixedly connected to the knee joint front shell (3-2-1), the magnet (3-1-3) is placed and fixed in the central groove of the magnet fixing block (3-1-4), the magnet fixing block (3-1-4) is coaxially fixedly connected to the knee joint distal pulley (3-3), and the knee joint front shell (3-2-1) is rotatably connected to one side of the knee joint distal pulley (3-3). The engagement angle position is in the initial upright state of the exoskeleton robot, with the knee joint front and outer sides... A protruding limiting block is placed at the bottom of the arc-shaped limiting groove of the distal pulley of the knee joint below the center of the inner side of the shell; the limiting block on the inner side of the anterior shell of the knee joint (3-2-1) cooperates with the limiting groove on one side of the distal pulley of the knee joint (3-3), and the other side of the distal pulley of the knee joint (3-3) is coaxially fixedly connected to the torque sensor (3-4). The lower leg connector (3-5) is coaxially rotatably connected to the posterior shell of the knee joint (3-2-2). The torque sensor (3-4) is placed inside the lower leg connector (3-5), and the torque sensor is... The moment sensor (3-4) is fixedly connected to the lower leg connector (3-5), the front shell of the knee joint (3-2-1) is fixedly connected to the rear shell of the knee joint (3-2-2), and the lower part of the lower leg connector (3-5) is rotatably connected to the adjustable lower leg structure (4); the Bowden rope (6-4) passing through the front shell of the knee joint (3-2-1) goes around the distal pulley of the knee joint (3-3) and then returns to pass through the front shell of the knee joint (3-2-1), and the Bowden rope (6-4) is fixedly connected to the distal pulley of the knee joint (3-3); It also includes a mobile support frame module (7); the power system module (6) is placed on the mobile support frame module (7); The power system module (6) includes a power supply component (6-1), a motor component (6-2), a waist winding wheel component, a Bowden rope (6-4), a waist housing, and a waist hook (6-6). The waist housing includes a waist front cover (6-5-1) and a waist rear cover (6-5-2). The waist hook (6-6) is fixedly connected to the waist rear cover (6-5-2). The power supply component (6-1) is fixedly placed in the slot of the waist rear cover (6-5-2). The stator of the motor component (6-2) is fixedly connected to the waist rear cover (6-5-2). The rotor of the motor component (6-2) is fixedly connected to the waist winding wheel component on the same axis. The Bowden rope (6-4) passes through the waist winding wheel component, passes through the knee joint distal pulley (3-3) in the knee joint winding module (3), and then returns to the power system module (6) to be fixedly connected end to end with the Bowden rope (6-4). The waist winding reel assembly includes a waist rope fixing block (6-3-1), a waist winding reel (6-3-2), a first end cap (6-3-3) of the waist winding reel, a second end cap (6-3-4) of the waist winding reel, a waist conduit connector, and a waist conduit fixing block; wherein, the waist winding reel (6-3-2) is coaxially and fixedly connected to the rotor of the motor assembly (6-2), and the waist rope fixing block (6-3-1) is fixedly connected to the waist winding reel (6-3-2). The first end cap (6-3-3) of the winding wheel and the second end cap (6-3-4) of the waist winding wheel are fixedly connected to the stator of the motor assembly (6-2). The second end cap (6-3-4) of the waist winding wheel and the waist tube fixing block are provided with slots. The waist tube connector is placed in the slots. The waist tube fixing block is fixedly connected to the second end cap of the waist winding wheel, so that the waist tube connector is fixed between the second end cap (6-3-4) of the waist winding wheel and the waist tube fixing block. The waist cable connector includes a left waist cable connector (6-3-5-1) and a right waist cable connector (6-3-5-2). The waist cable fixing block includes a left waist cable fixing block (6-3-6-1) and a right waist cable fixing block (6-3-6-2). The Bowden rope (6-4) passes through the waist winding wheel (6-3-2), through the right waist cable connector (6-3-5-2), through the distal pulley of the knee joint (3-3), through the left waist cable connector (6-3-5-1), and back to the waist winding wheel (6-3-2) before being connected end to end and fixedly connected to the waist rope fixing block (6-3-1).

2. The bidirectional rope-driven knee joint rehabilitation training exoskeleton robot according to claim 1, characterized in that: The waist binding module (1) includes a waist belt (1-1), an elastic band (1-2), and an elastic band buckle (1-3); wherein, the elastic band buckle (1-3) is fixedly connected to the thigh binding module (2), one end of the elastic band (1-2) goes around the waist belt (1-1), the other end of the elastic band (1-2) goes around the elastic band buckle (1-3), and the two ends of the elastic band (1-2) are glued together.

3. The bidirectional rope-driven knee joint rehabilitation training exoskeleton robot according to claim 1, characterized in that: The thigh binding module (2) includes a thigh plate (2-1) and a thigh binding assembly; wherein, the thigh binding assembly includes a thigh binding fixing block (2-2-1), a thigh binding adjusting block (2-2-2), and a thigh binding connecting block (2-2-3); the thigh binding fixing block (2-2-1) is fixedly connected to the thigh plate (2-1), and multiple thigh binding adjusting blocks (2-2-2) are arranged sequentially on both sides of the thigh binding fixing block (2-2-1), the thigh binding adjusting block (2-2-2) at the end is rotatably connected to the thigh binding connecting block (2-2-3), one end of the thigh plate (2-1) is fixedly connected to the waist binding module (1), and the other end of the thigh plate (2-1) is fixedly connected to the knee joint winding module (3); and / or The lower leg binding module (5) includes a lower leg plate (5-1) and a lower leg binding assembly; wherein, the lower leg binding assembly includes a lower leg binding fixing block (5-2-1), a lower leg binding adjusting block (5-2-2), and a lower leg binding connecting block (5-2-3); the lower leg binding fixing block (5-2-1) is fixedly connected to the lower leg plate (5-1), and multiple lower leg binding adjusting blocks (5-2-2) are arranged sequentially on both sides of the lower leg binding fixing block (5-2-1), and the lower leg binding adjusting block (5-2-2) located at the end is rotatably connected to the lower leg binding connecting block (5-2-3), one end of the lower leg plate (5-1) is fixedly connected to the lower leg adjustable structure (4), and the other end of the lower leg plate (5-1) is a free end.

4. The bidirectional rope-driven knee joint rehabilitation training exoskeleton robot according to claim 1, characterized in that: The knee joint winding module (3) also includes a knee joint insertion and removal assembly and / or a knee joint cable fixing assembly; The knee joint insertion and removal assembly includes a knee joint insertion and removal shell (3-6-1), a knee joint insertion and removal buckle (3-6-3), a spring (3-6-4), and a knee joint insertion and removal buckle cap (3-6-5); wherein, the knee joint insertion and removal shell (3-6-1) is fixedly connected to the front shell of the knee joint (3-2-1), the knee joint insertion and removal buckle (3-6-3) passes through the knee joint insertion and removal shell (3-6-1) and is fixedly connected to the knee joint insertion and removal buckle cap (3-6-5), and the spring (3-6-4) is fixed between the knee joint insertion and removal buckle (3-6-3) and the knee joint insertion and removal shell (3-6-1); the knee joint insertion and removal assembly is fixedly connected to the thigh plate (2-1) in the thigh binding module (2); The knee joint suture fixing assembly includes a knee joint suture fixing block and a knee joint suture connector. The upper part of the knee joint anterior shell (3-2-1) and the knee joint suture fixing block are provided with slots. The knee joint suture connector is placed in the slots, and the knee joint suture fixing block is fixedly connected to the knee joint anterior shell (3-2-1), so that the knee joint suture connector is fixed between the knee joint anterior shell (3-2-1) and the knee joint suture fixing block.

5. The bidirectional rope-driven knee joint rehabilitation training exoskeleton robot according to claim 1, characterized in that: The waist conduit fixing block has multiple arc-shaped grooves along the axial direction inside.

6. The bidirectional rope-driven knee joint rehabilitation training exoskeleton robot according to claim 1, characterized in that: The mobile support frame module (7) includes a support frame body (7-1), a distance detector (7-2), a support frame front wheel (7-3), a support frame rear wheel (7-4), a rear wheel fixing block (7-5), a mobile support frame rear wheel motor (7-6), and a mobile support frame power supply (7-7). The distance detector (7-2) is fixedly connected to the support frame body (7-1), the support frame front wheel (7-3) is fixedly connected to the support frame body (7-1), the rear wheel fixing block (7-5) is fixedly connected to the support frame body (7-1), the support frame rear wheel (7-4) is fixedly connected to one end of the rear wheel fixing block (7-5), the mobile support frame rear wheel motor (7-6) is fixedly connected to the other end of the rear wheel fixing block (7-5), and the mobile support frame power supply (7-7) is placed in a slot at the bottom of the support frame body (7-1) and fixed.

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