Multi-joint flexible lower limb exoskeleton for children with cerebral palsy

Abstract

The application discloses a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, which comprises a driving system, a hip-knee linkage rope driving mechanism and an ankle assisting mechanism; the driving system comprises a backpack frame assembly, a hip-knee driving module, an ankle driving module, a system electric control assembly and a backpack auxiliary assembly; a hip-knee driving motor generates pressure on a thigh wearing assembly and tension on a lower leg wearing assembly through a rear side driving path assembly, thereby generating assisting torque of a hip joint and a knee joint respectively; a front side driving path assembly of the hip-knee driving motor generates pressure on the lower leg wearing assembly and tension on the thigh wearing assembly, thereby generating assisting torque of the hip joint and the knee joint respectively; and the ankle driving module drives a foot Bouguen line to drive an ankle wire reel to rotate, so that a foot structural member generates assisting torque. The application adopts a flexible linkage transmission structure, reduces the volume and weight of the whole exoskeleton, and mainly arranges the structure and weight on the waist and back of a patient, which is close to the center of mass, thereby reducing the burden on the patient.

Description

TECHNICAL FIELD

[0001] The present application relates to a multi-joint flexible lower limb exoskeleton for children with cerebral palsy. BACKGROUND

[0002] Cerebral palsy in children is a perinatal central nervous system non-progressive injury caused by motor disorder disease, and people with cerebral palsy show characteristics including spasm, stiffness, coordination and reduced motor control. While recovering the patient's functional walking ability through treatment training, it is also necessary to improve the patient's lower limb walking ability through external assistance in daily life. The common assistance through crutches has limited range of motion for patients, and the use of feeling and psychological respect needs to be improved. The safe wearable flexible exoskeleton provides a new way for cerebral palsy children to walk in daily life.

[0003] In the forward gait of cerebral palsy children, different lower limb joints have different power requirements in different gait phases. Among them, the power requirements for hip extension and knee extension in the standing extension phase are the most important, followed by the hip-knee joint linkage power in the swing extension phase and the multi-gait phase power of the ankle joint are important requirements for cerebral palsy children patients.

[0004] In the existing rehabilitation auxiliary exoskeleton robot, the rigid structure of the exoskeleton has strong multi-degree-of-freedom multi-gait phase assistance function, but the overall weight and volume are large, the flexible exoskeleton needs to be improved in multi-degree-of-freedom, especially the ability of upper multi-gait phase assistance, and the existing flexible exoskeleton multi-joint linkage power structure is mostly hip-ankle joint linkage, which has certain difference with the demand of cerebral palsy children patients. SUMMARY

[0005] Therefore, the present application provides a multi-joint flexible lower limb exoskeleton for cerebral palsy children, which provides power to the hip-knee joints of the patient in the multi-gait phase and provides power to the ankle joint of the patient in the multi-gait phase, effectively assisting the patient in walking, while the flexible linkage transmission structure is adopted, reducing the overall volume and weight of the exoskeleton, and the main structure and weight are located on the patient's waist and back, close to the center of mass, and the burden on the patient is smaller.

[0006] In order to solve the above problems, the embodiment of the present application provides a multi-joint flexible lower limb exoskeleton for cerebral palsy children, comprising:

[0007] The driving system comprises a backpack frame assembly, and a hip-knee driving module, an ankle driving module, a system electric control assembly and a backpack auxiliary assembly arranged on the backpack frame assembly.

[0008] The backpack rack assembly comprises a backpack rack, a front backpack shield and a rear backpack shield; a system electric control assembly and a backpack auxiliary assembly are installed on the backpack rack assembly; the front backpack shield is installed on the front side of the backpack rack, and the rear backpack shield is installed on the rear side of the backpack rack. The system electric control assembly comprises a main control panel, a Bluetooth module, a control screen and a battery pack, the main control panel, the Bluetooth module and the battery pack are fixedly installed on the inner side of the backpack rack, and the control screen is fixedly installed on the front side of the front plate of the backpack rack.

[0009] The hip-knee driving module and the ankle driving module respectively comprise two symmetrical driving units; the driving unit of the hip-knee driving module comprises a hip-knee driving motor and two transmission assemblies; the hip-knee linkage rope driving mechanism comprises two units symmetrical to each other, and each unit comprises a thigh wearing assembly, a lower leg wearing assembly, a rear side driving path assembly and a front side driving path assembly.

[0010] The hip-knee driving motor generates pressure on the thigh wearing assembly and tension on the lower leg wearing assembly through one transmission assembly and the rear side driving path assembly, and then generates assist torque of the hip joint and the knee joint respectively; the hip-knee driving motor generates pressure on the lower leg wearing assembly and tension on the thigh wearing assembly through the other transmission assembly and the front side driving path assembly in turn, and then generates assist torque of the hip joint and the knee joint respectively.

[0011] The ankle assist mechanism comprises a foot structure, an ankle wire disc and an ankle Bowden wire; the foot structure is rotationally connected to the ankle shaft hole of the lower leg wearing assembly through a pin shaft, one end of the inner wire of the foot Bowden wire is connected to the driving unit of the ankle driving module, and the other end is fixed to the ankle wire disc; the ankle driving module drives the foot Bowden wire to drive the ankle wire disc to rotate, so that the foot structure generates assist torque.

[0012] In some embodiments, the transmission assembly of the driving unit of the hip-knee driving module comprises a hip-knee driving sprocket assembly and a hip-knee chain rope assembly; the hip-knee driving sprocket assembly comprises a hip-knee driving coupling, a one-way clutch, a hip-knee driving sprocket and an axial end stop; wherein the hip-knee driving coupling is installed on the output flange of the hip-knee driving motor, two hip-knee driving sprockets are sequentially sleeved on the shaft diameter of the hip-knee driving coupling through the one-way clutch, two one-way clutches are installed in opposite directions, the axial end stop is installed on the shaft end of the hip-knee driving coupling through screws, and the axial end stop fixes all parts of the hip-knee driving sprocket assembly.

[0013] The hip-knee chain cable assembly comprises a hip-knee forward driving chain, a chain cable connecting block, a hip-knee forward driving rope, a hip-knee reverse driving chain and a hip-knee reverse driving rope. The hip-knee forward driving chain and the hip-knee reverse driving chain are respectively connected with two hip-knee driving sprockets in a chain transmission mode, and one end of the two chains is fixed to the fixing hole of the hip-knee driving sprocket through a pin. The hip-knee forward driving rope and the hip-knee reverse driving rope are respectively connected to the other end of the hip-knee forward driving chain and the hip-knee reverse driving chain through the chain cable connecting block.

[0014] In some embodiments, the thigh wearing assembly comprises a thigh structure, an adjustable pressure block, a thigh strap and a thigh gyroscope sensor. The thigh structure and the thigh strap are connected. The adjustable pressure block is adjustably fitted on the mounting hole array on the thigh structure. The thigh gyroscope sensor is installed in the front side clamping groove of the thigh structure.

[0015] In some embodiments, the calf wearing assembly comprises a calf structure, a calf pulley assembly, a calf strap, a calf Bowden cable anchor point and a calf gyroscope sensor. The calf structure and the calf strap are connected. The calf pulley assembly is installed on the cantilever of the upper end of the calf structure. The calf Bowden cable anchor point is fixed to the outside of the calf structure. The calf gyroscope sensor is installed in the front side clamping groove of the calf structure.

[0016] The calf pulley assembly comprises a calf pulley, a positioning shaft, a swing groove plate, a wire pressing wheel, a friction block and a positioning stud. The positioning shaft passes through the shaft hole of the cantilever end of the calf structure and can rotate freely. The calf pulley is placed on the inside of the cantilever of the calf structure and is in clearance fit with the positioning shaft and can rotate freely. The groove holes on both sides of the swing groove plate are installed on both sides of the calf pulley and can swing freely. The wire pressing wheel is installed below the long hole of the calf pulley through the shaft position screw and the nut. The friction block and the positioning stud are positioned and installed in the hole of the support plate below the long hole through the nut.

[0017] In some embodiments, the rear side driving path assembly comprises a forward driving Bowden cable, a rear side tension sensor, a rear side line divider and a rear side execution Bowden cable. The forward driving Bowden cable is connected with the hip-knee forward driving rope of the exoskeleton driving system, and the other end is fixed to the mounting hole on one side of the rear side tension sensor. The mounting hole on the other side of the rear side tension sensor is fixedly connected with the middle shaft of the rear side line divider. The steel wire rope of the rear side execution Bowden cable passes through the arc-shaped tube of the rear side line divider and can slide freely. The steel wire rope of the rear side execution Bowden cable, which extends out of the sheath on both sides of the thigh, passes through the sliding groove hole of the adjustable pressure block on the thigh wearing assembly, and passes through the radial holes on both sides of the positioning shaft in the calf wearing assembly at the end, and is locked by the locking screw.

[0018] In some embodiments, the front side drive path assembly includes a reverse drive Bowden wire, a front side tension sensor, a woven rope, a front side line distributor, and a front side execution line; wherein the reverse drive Bowden wire is connected with the hip-knee reverse drive rope of the drive system of the exoskeleton, and the other end is fixed to the side mounting hole of the front side tension sensor; the other end mounting hole of the front side tension sensor is tied with the woven rope; the path of the woven rope needs to pass through the limiting slot of the swing slot plate in the lower leg wearing assembly, pass through the lower leg pulley, pass out of the lower leg pulley, and be connected with the front side line distributor; and the front side execution line should pass through the arc-shaped tube of the front side line distributor and be tied at both ends to the two sides of the thigh structural member in the thigh wearing assembly.

[0019] In some embodiments, the drive unit of the ankle drive module includes an ankle drive motor, an ankle drive sprocket assembly, an ankle chain rope assembly, and an ankle drive tensioning assembly; wherein the ankle drive sprocket assembly is installed on the output flange of the ankle drive motor, and the ankle chain rope assembly and the ankle drive sprocket assembly are installed in chain drive cooperation;

[0020] The ankle drive sprocket assembly includes an ankle drive coupling and an ankle drive sprocket, and the ankle drive sprocket is fixed to the output flange of the ankle drive motor through the ankle drive coupling.

[0021] The ankle chain rope assembly includes an ankle drive chain, a chain rope connecting block, an ankle drive rope I, and an ankle drive rope II, the ankle drive chain is in chain drive cooperation with the ankle drive sprocket, and the ankle drive rope I and the ankle drive rope II are respectively connected to both ends of the ankle drive chain through the chain rope connecting block.

[0022] In some embodiments, the ankle power assisting mechanism further includes an ankle encoder and a foot strap; the positioning holes on the upper end of the vertical plates on both sides of the foot structural member are rotationally connected to the ankle shaft hole of the lower leg structural member in the lower leg wearing assembly through a pin shaft, the ankle wire reel is fixed to the foot structural member, the ankle encoder housing is coaxially fixed to the outside of the ankle wire reel, and the rotating shaft of the ankle encoder is fixed to the lower leg structural member through a set screw; the wire sheath of the foot Bowden wire is fixed to the lower leg Bowden wire anchor point, the inner wire is connected at one end to the ankle drive rope I and the ankle drive rope II in the ankle drive module, and the other end is fixed to the ankle wire reel.

[0023] In some embodiments, the backpack auxiliary assembly includes a heat dissipation module, a Bowden wire clamp, and a waist support block; wherein two heat dissipation modules are respectively installed on the front surface of the front backpack shield and the upper surface of the rear backpack shield, the Bowden wire clamp is respectively installed on the front plate of the rack and the rear plate of the rack for fixing the wire sheath of the Bowden wire, and the waist support block is adjustably installed on the rear backpack shield.

[0024] In some embodiments, the hip-knee drive module comprises a hip-knee drive tensioning assembly, the hip-knee drive tensioning assembly comprises a chain pressing block I, a chain pressing block II, a tensioning connecting block, a constant force spring, a tensioning assembly pin shaft and a sliding positioning plate, the chain pressing block I and the chain pressing block II are installed in pairs on the front plate of the backpack frame, and the hip-knee forward drive chain and the hip-knee reverse drive chain are adjusted and positioned, the fixed hole ends of the two tensioning connecting blocks are fixed on the two chain rope connecting blocks through the set screws respectively, the secondary plate of the constant force spring is fixed on the other end of the tensioning connecting block through a screw, and the two constant force springs are sequentially and rotatably installed on the tensioning assembly pin shaft, and the tensioning assembly pin shaft is fixed on the front plate of the backpack frame.

[0025] Compared with the prior art, the multi-joint flexible lower limb exoskeleton for cerebral palsy children has at least the following beneficial effects:

[0026] 1) The flexible wearing structure with high flexibility and the flexible transmission structure based on Bowden wire are adopted, so that the safety and portability of the exoskeleton are effectively improved;

[0027] 2) The hip joint and the knee joint are linked and assisted in the standing extension and swing extension two gait stages through the single drive motor and the flexible transmission mechanism based on Bowden wire, so that the main demand of cerebral palsy children for walking assistance is met, and the advantages of small weight and small size are achieved;

[0028] 3) The torque of the linkage assistance of the hip-knee joint can be adjusted through the adjustable structure on the exoskeleton, the assistance distribution is changed, different crouching gait characteristics of cerebral palsy children patients are better adapted, and the walking assistance effect is improved;

[0029] 4) In the exoskeleton robot that can actively assist the patient's lower limb hip-knee-ankle three joints, the weight and the size are small, and the burden on the patient is small.

[0030] The above description is only a summary of the technical scheme of the present application. In order to more clearly understand the technical means of the present application, and to implement the content of the description, the following will describe the preferred embodiments of the present application in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0032] Figure 1 The human body wearing diagram of the flexible lower limb exoskeleton for cerebral palsy children proposed by the present application;

[0033] Figure 2 Overall view of the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present application;

[0034] Figure 3 Main structure diagram of the driving system of the flexible lower limb exoskeleton for children with cerebral palsy proposed by the present application;

[0035] Figure 4 Overall view of the hip-knee driving module;

[0036] Figure 5 Specific structure view of the hip-knee driving module;

[0037] Figure 6 Overall view of the ankle driving module;

[0038] Figure 7 Overall view and assembly structure diagram of the hip-knee linkage rope driving mechanism;

[0039] Figure 8 Specific structure view of the hip-knee linkage rope driving mechanism;

[0040] Figure 9 Side sectional view of the specific structure of the hip-knee linkage rope driving mechanism;

[0041] Figure 10 Front sectional view of the specific structure of the hip-knee linkage rope driving mechanism;

[0042] Figure 11 Main structure diagram of the ankle assisting mechanism.

[0043] The reference signs in the drawings are as follows:

[0044] Backpack rack assembly 1100,

[0045] Backpack rack 1101, front backpack shield 1102, rear backpack shield 1103,

[0046] Hip-knee driving module 1200, hip-knee driving motor 1201, hip-knee driving sprocket assembly 1220, hip-knee driving coupling 1221, one-way clutch 1222, hip-knee driving sprocket 1223, shaft end baffle 1224,

[0047] Hip-knee chain rope assembly 1230, hip-knee forward driving chain 1231, chain rope connecting block 1232, hip-knee forward driving rope 1233, hip-knee reverse driving chain 1234, hip-knee reverse driving rope 1235,

[0048] Hip-knee driving tensioning assembly 1240, chain pressing block I 1241, chain pressing block II 1242, tensioning connecting block 1243, constant force spring 1244, tensioning assembly pin 1245, sliding positioning plate 1246,

[0049] Ankle driving module 1300, ankle driving motor 1301, ankle driving sprocket assembly 1320, ankle driving coupling 1321, ankle driving sprocket 1322, ankle chain assembly 1330, ankle driving chain 1331, ankle driving rope I 1332, ankle driving rope II 1333, ankle driving tension assembly 1340, chain pressing block III 1341, chain pressing block IV 1342,

[0050] System electric control assembly 1400, main control board 1401, Bluetooth module 1402, control screen 1403, battery pack 1404,

[0051] Heat dissipation module 1501, Bowden wire clamp 1502, waist support block 1503,

[0052] Hip-knee linkage rope driving mechanism 2000,

[0053] Thigh wearing assembly 2100, thigh structural member 2101, adjustable pressure block 2102, thigh bandage 2103, thigh gyroscope sensor 2104,

[0054] Calf wearing assembly 2200, calf structural member 2201, calf pulley assembly 2220, calf pulley 2221, positioning shaft 2222, swing groove plate 2223, wire pressing wheel 2224, friction block 2225, positioning stud 2226, calf bandage 2203, calf Bowden wire anchor point 2204, calf gyroscope sensor 2205,

[0055] Rear side driving path assembly 2300, forward driving Bowden wire 2301, rear side tension sensor 2302, rear side line divider 2303, rear side execution Bowden wire 2304,

[0056] Front side driving path assembly 2400, reverse driving Bowden wire 2401, front side tension sensor 2402, woven rope 2403, front side line divider 2404, front side execution line 2305,

[0057] Ankle assisting mechanism 3000, foot structural member 3001, ankle wire reel 3002, ankle encoder 3003, ankle torque sensor 3004, foot bandage 3005, ankle Bowden wire 3006. DETAILED DESCRIPTION

[0058] In order to further clarify the technical means and effects of the present application adopted to achieve the predetermined object of the present application, the specific embodiments, structures, features and effects according to the present application are described in detail below in combination with the drawings and preferred embodiments. In the following description, different "an embodiment" or "embodiments" do not necessarily refer to the same embodiment. In addition, the specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0059] In the description of the present application, it is necessary to make it clear that the terms "first", "second" and the like in the description of the present application and claims and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence; the terms "vertical", "transverse", "longitudinal", "front", "back", "left", "right", "up", "down", "horizontal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not mean that the devices or elements referred to must have a particular orientation or position, and therefore cannot be understood as a limitation on the present application.

[0060] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0061] Embodiment 1

[0062] The present embodiment provides a multi-joint flexible lower limb exoskeleton for children with cerebral palsy, which is shown in Figure 1 and Figure 2 , mainly including a driving system 1000, a hip-knee linkage rope driving mechanism 2000 and an ankle assisting mechanism 3000. The driving system 1000 is worn on the lower back and waist of the patient, and the driving system 1000 is connected with the hip-knee linkage rope driving mechanism 2000 and the ankle assisting mechanism 3000 through driving paths respectively, the hip-knee linkage rope driving mechanism 2000 is worn on the lower limbs of the patient, and the ankle assisting mechanism 3000 is worn on the foot of the patient and connected with the hip-knee linkage rope driving mechanism 2000 and the ankle joint assembly. The driving system 1000 mainly includes a backpack frame assembly 1100, a hip-knee driving module 1200, an ankle driving module 1300, a system electric control assembly 1400 and a backpack auxiliary assembly.

[0063] Specifically, the hip-knee driving module 1200 and the ankle driving module 1300 respectively include two symmetrical driving units, which respectively provide a driving path for the corresponding side leg of the exoskeleton, which is shown in Figure 3For example, the right side, the hip-knee driving module 1200 and the ankle driving module 1300 are installed on the backpack frame 1101 in opposite directions. The backpack frame assembly 1100 includes the backpack frame 1101, the front backpack cover 1102 and the rear backpack cover 1103. The front backpack cover 1102 is installed on the front side of the backpack frame 1101, and the rear backpack cover 1103 is installed on the rear side of the backpack frame 1101. The system control assembly 1400 and the backpack auxiliary assembly are installed on the backpack frame assembly 1101.

[0064] As a preferred embodiment of the present application, as shown in Figure 4 、 Figure 5 and Figure 6 , the hip-knee driving module 1200 mainly includes a hip-knee driving motor 1201, a hip-knee driving sprocket assembly 1220, a hip-knee chain rope assembly 1230 and a hip-knee driving tension assembly 1240.

[0065] Specifically, referring to Figure 4 , the hip-knee driving motor 1201 is fixed to the inside of the front plate of the backpack frame 1101, the hip-knee driving sprocket assembly 1220 is installed on the output flange of the hip-knee driving motor 1201, and the hip-knee chain rope assembly 1230 and the hip-knee driving sprocket assembly 1220 are installed in chain transmission cooperation.

[0066] Referring to Figure 5 , the hip-knee driving sprocket assembly 1220 mainly includes a hip-knee driving coupling 1221, a one-way clutch 1222, a hip-knee driving sprocket 1223 and an axial end stopper 1224. The hip-knee driving coupling 1221 is installed on the output flange of the hip-knee driving motor 1201, the two hip-knee driving sprockets 1223 are sequentially sleeved on the shaft diameter of the hip-knee driving coupling 1221 through the one-way clutches 1222, the two one-way clutches 1222 are installed in opposite directions, and the axial end stopper 1224 is installed on the shaft end of the hip-knee driving coupling 1221 through screws to axially fix all parts of the hip-knee driving sprocket assembly 1220.

[0067] Referring to Figure 4 、 Figure 5 , the hip-knee chain rope assembly 1230 mainly includes a hip-knee forward driving chain 1231, a chain rope connecting block 1232, a hip-knee forward driving rope 1233, a hip-knee reverse driving chain 1234 and a hip-knee reverse driving rope 1235. The hip-knee forward driving chain 1231 and the hip-knee reverse driving chain 1234 are respectively in chain transmission cooperation with the two hip-knee driving sprockets 1223 and are fixed at one end to the fixed holes of the hip-knee driving sprockets 1223 through pins, and the hip-knee forward driving rope 1233 and the hip-knee reverse driving rope 1235 are respectively connected to the other ends of the hip-knee forward driving chain 1231 and the hip-knee reverse driving chain 1234 through the chain rope connecting block 1232.

[0068] Referring toFigure 4 The hip-knee driving tension assembly 1240 mainly comprises chain pressing block I 1241, chain pressing block II 1242, tension connecting block 1243, constant force spring 1244, tension assembly pin shaft 1245 and sliding positioning plate 1246. The chain pressing block I 1241 and the chain pressing block II 1242 are installed in pairs on the front plate of the backpack frame 1101 to adjust and position the hip-knee forward driving chain 1231 and the hip-knee reverse driving chain 1234. The fixed hole ends of the two tension connecting blocks 1243 are fixed on the two chain rope connecting blocks 1232 through set screws. The secondary plate of the constant force spring 1244 is fixed on the other end of the tension connecting block 1243 through a screw. The two constant force springs 1244 are installed in sequence on the tension assembly pin shaft 1245, and the tension assembly pin shaft 1245 is fixed on the front plate of the backpack frame 1101.

[0069] As a preferred embodiment of the present application, referring to Figure 6 The ankle driving module 1300 mainly comprises an ankle driving motor 1301, an ankle driving sprocket assembly 1320, an ankle chain rope assembly 1330 and an ankle driving tension assembly 1340. The ankle driving motor 1301 is fixed on the inner side of the rear plate of the backpack frame 1101. The ankle driving sprocket assembly 1320 is installed on the output flange of the ankle driving motor 1301. The ankle chain rope assembly 1330 and the ankle driving sprocket assembly 1320 are installed in chain transmission cooperation.

[0070] Specifically, as shown in Figure 6 The ankle driving sprocket assembly 1320 mainly comprises an ankle driving coupling 1321 and an ankle driving sprocket 1322. The ankle driving sprocket 1322 is fixed on the output flange of the ankle driving motor 1301 through the ankle driving coupling 1321. The ankle chain rope assembly 1330 mainly comprises an ankle driving chain 1331, a chain rope connecting block 1232, an ankle driving rope I 1332 and an ankle driving rope II 1333. The ankle driving chain 1331 is in chain transmission cooperation with the ankle driving sprocket 1322. The ankle driving rope I 1332 and the ankle driving rope II 1333 are connected to both ends of the ankle driving chain 1331 through the chain rope connecting block 1232. The ankle driving tension assembly 1340 mainly comprises chain pressing block III 1341 and chain pressing block IV 1342. The chain pressing block III 1341 and the chain pressing block IV 1342 are installed in pairs on the rear plate of the backpack frame 1101 to adjust and position the ankle driving chain 1331.

[0071] As a preferred embodiment of the present application, referring to Figure 3The system electric control assembly 1400 mainly comprises a main control board 1401, a Bluetooth module 1402, a control screen 1403 and a battery pack 1404. The main control board 1401, the Bluetooth module 1402 and the battery pack 1404 are fixedly installed on the inner side of the backpack frame 1101, and the control screen 1403 is fixedly installed on the front side of the front plate of the backpack frame 1101. The battery pack 1404 is used for providing electric energy. The Bluetooth module 1402 is used for receiving signals of the thigh gyroscope sensor 2104 and the calf gyroscope sensor 2205 and transmitting the signals to the main control board 1401. The main control board 1401 is used for receiving and processing sensor signals and controlling the hip-knee driving motor 1201 and the ankle driving motor 1301 according to a preset program, driving the exoskeleton system and providing assistance to the patient. The control screen 1403 is used for displaying the current lower limb joint motion angle of the patient and the assistance estimation value and providing an operation bar for correcting the assistance torque of the hip-knee driving motor 1201 and the ankle driving motor 1301 in different assistance stages, so as to update the setting parameters of the program in the main control board 1401 and help the exoskeleton system better assist the assistance. Specifically, the backpack assistance assembly mainly comprises a heat dissipation module 1501, a Bowden wire clamp 1502 and a waist support block 1503. Two heat dissipation modules 1501 are respectively installed on the front surface of the front backpack cover 1102 and the upper surface of the rear backpack cover 1103 and are used for heat dissipation. Eight Bowden wire clamps 1502 are respectively installed on the front plate of the frame 1101 and the rear plate of the frame 1101 and are used for fixing the wire sheath of the Bowden wire. The waist support block 1503 is adjustably installed on the rear backpack cover 1103 and is specifically installed on the rear backpack cover 1103 according to the body shape of the patient.

[0072] As a preferred embodiment of the present application, as shown in Figure 2 and Figure 7 , the hip-knee linkage rope driving mechanism 2000 mainly comprises a thigh wearing assembly 2100, a calf wearing assembly 2200, a rear side driving path assembly 2300 and a front side driving path assembly 2400. As shown in Figure 2 , the thigh wearing assembly 2100 and the calf wearing assembly 2200 in the hip-knee linkage rope driving mechanism are respectively worn on the thigh and the calf of the patient, and part of the binding structure that is attached to the skin of the patient can be customized according to the body shape of the patient. The driving end of the rear side driving path assembly 2300 is connected with the hip-knee forward driving rope 1233 of the driving system 1000 of the exoskeleton, the Bowden wire sheath is positioned on the lower limbs of the patient through anchor points A1, A2, A3 and A4, and the end is fixedly locked at O1 on the calf wearing assembly 2200. The driving end of the front side driving path assembly 2400 is connected with the hip-knee reverse driving rope 1235 of the driving system 1000 of the exoskeleton, the Bowden wire sheath is positioned on the lower limbs of the patient through an anchor point B1, and the end is fixedly locked at O2 on the thigh wearing assembly 2100.

[0073] As a preferred embodiment of the present application, as shown in Figure 7 , Figure 8 , Figure 9 and Figure 10 , the thigh wearing assembly 2100 includes a thigh structure 2101, an adjustable pressure block 2102, a thigh strap 2103 and a thigh gyroscope sensor 2104. The thigh structure 2101 and the thigh strap 2103 are combined and worn on the patient's thigh in the appropriate position, and are fixed on the wearing structure up and down, the adjustable pressure block 2102 is adjusted and fitted on the mounting hole column on the thigh structure 2101, and the thigh gyroscope sensor 2104 is installed in the front side card slot of the thigh structure 2101.

[0074] Specifically, as shown in Figure 8 and Figure 9 , the calf wearing assembly 2200 includes a calf structure 2201, a calf pulley assembly 2220, a calf strap 2203, a calf Bowden wire anchor point 2204 and a calf gyroscope sensor 2205. The calf structure 2201 and the calf strap 2203 are combined and worn on the patient's calf in the appropriate position, the calf pulley assembly 2220 is installed on the upper end cantilever of the calf structure 2201, the calf Bowden wire anchor point 2204 is fixed to the outside of the calf structure 2201, and the calf gyroscope sensor 2205 is installed in the front side card slot of the calf structure 2201.

[0075] The calf pulley assembly 2220, as shown in Figure 9 and Figure 10 , mainly includes a calf pulley 2221, a positioning shaft 2222, a swing groove plate 2223, a wire pressing wheel 2224, a friction block 2225 and a positioning stud 2226. The positioning shaft 2222 passes through the shaft hole of the cantilever end of the calf structure 2201 and can rotate freely, and the two ends are positioned by shaft shoulder and elastic stop ring respectively, the calf pulley 2221 is placed inside the cantilever of the calf structure 2201 and forms a shaft hole gap fit with the positioning shaft 2222 and rotates freely, the swing groove plate 2223 is installed on both sides of the calf pulley 2221 through the side slot holes and can swing freely, the wire pressing wheel 2224 is installed below the long hole of the calf pulley 2221 through the shaft position screw and nut, and the friction block 2225 and the positioning stud 2226 are positioned and installed in the hole of the support plate below the long hole through the nut.

[0076] As a preferred embodiment of the present application, as shown in Figure 7 and Figure 8The rear drive path assembly 2300 mainly includes a forward drive Bowden cable 2301, a rear tension sensor 2302, a rear wire distributor 2303, and a rear execution Bowden cable 2304. The forward drive Bowden cable 2301 is connected with the hip-knee forward drive rope 1233 of the exoskeleton drive system 1000, and the other end is fixed to the side mounting hole of the rear tension sensor 2302. The other side mounting hole of the rear tension sensor 2302 is fixedly connected with the middle shaft of the rear wire distributor 2303. The steel wire rope of the rear execution Bowden cable 2304 passes through the arc-shaped tube of the rear wire distributor 2303 and can freely slide. The two ends of the rear execution Bowden cable 2304 are fixed to anchor points A1, A2, A3, and A4 on the patient's hip and leg. The steel wire rope of the rear execution Bowden cable 2304, which protrudes from the line sheath on both sides of the thigh, passes through the sliding groove hole of the adjustable pressure block 2102 on the thigh wearing assembly 2100, and at the end passes through the radial holes on both sides of the positioning shaft 2222 in the calf wearing assembly 2200, and is locked by a locking screw, that is, the pulling point O1 of the rear drive path assembly 2300.

[0077] As a preferred embodiment of the present application, referring to Figure 7 and Figure 8 , the front drive path assembly 2400 mainly includes a reverse drive Bowden cable 2401, a front tension sensor 2402, a woven rope 2403, a front wire distributor 2404, and a front execution line 2305. The reverse drive Bowden cable 2401 is connected with the hip-knee reverse drive rope 1235 of the exoskeleton drive system 1000, and the other end is fixed to the side mounting hole of the front tension sensor 2402. The other end mounting hole of the front tension sensor 2402 is tied with the woven rope 2403. The path of the woven rope 2403 needs to pass through the limiting groove of the swing groove plate 2223 in the calf wearing assembly 2200 in sequence, wind into the calf pulley 2221, wind out of the calf pulley 2221 and be connected with the front wire distributor 2404. The front execution line 2305 should pass through the arc-shaped tube of the front wire distributor 2404 and be tied at the pulling point O2 on both sides of the thigh structural member 2101 in the thigh wearing assembly 2100.

[0078] As a preferred embodiment of the present application, as shown in Figure 11 , the ankle assistance mechanism 3000 mainly includes a foot structure 3001, an ankle wire disc 3002, an ankle encoder 3003, an ankle torque sensor 3004, a foot strap 3005, and an ankle Bowden cable 3006.

[0079] Specifically, the foot structure 3001 is worn on the patient's foot with the foot strap 3005, the positioning holes on the upper end of the vertical plate of the foot structure 3001 are rotatably connected to the ankle shaft holes of the calf structure 2201 in the calf wearing assembly 2200 through a pin shaft, allowing a small amount of axial gap, the ankle disc 3002 is fixedly connected to the foot structure 3001 through the flange hole on the ankle encoder 3003, and in particular, if the ankle torque does not need to be measured, the ankle encoder 3003 can be fixedly connected through the positioning hole on the vertical plate of the foot structure 3001, the shell of the ankle encoder 3003 is coaxially fixed to the outside of the ankle disc 3002, and the rotating shaft of the ankle encoder 3003 is fixed to the calf structure 2201 through a set screw. The wire sheath of the foot Bowden cable 3006 is fixed to the calf Bowden cable anchor point 2204, one end of the inner wire is connected to the ankle driving rope I 1332 and the ankle driving rope II 1333 in the ankle driving module 1300, and the other end is fixed to the driving point of the ankle disc 3002.

[0080] As a preferred embodiment of the present application, the materials of the thigh structure 2101 and the calf structure 2201 are preferably PA12 or carbon fiber material, the Bowden cable is preferably a 1.2mm steel wire rope, the outer sheath is preferably a combination of a pvc inner lining and a high-carbon steel inner layer, the calf pulley 2221 is preferably an organic material with a certain hardness and lubricity such as polyethylene, and the wire pressing wheel 2224 and the friction block 2225 are preferably rubber materials. In particular, the braided rope 2403 and the front side execution line 2305 are preferably braided rope types with good flexibility and a certain friction coefficient.

[0081] In use, the embodiment should be worn on the lower back and the back of the patient, each driving path is connected to each transmission structure, and control is performed through the operation screen 1403 or the set program. The present application mainly provides three kinds of auxiliary forces in the forward gait cycle of the patient: extension assist force for the hip and knee joints in the standing extension gait stage, flexion assist force for the hip joint and extension assist force for the knee joint in the swing extension gait stage, and dorsiflexion or plantarflexion assist force for the ankle joint according to the gait characteristics of the patient.

[0082] When the patient's hip and knee joints are assisted in the stance phase of the swing gait, the main control board 1401 receives and processes signals from the thigh gyroscope sensor 2104, the lower leg gyroscope sensor 2205, and the ankle encoder 3003 to determine that the current patient motion state is in the stance phase of the swing gait. According to the preset program and the input signal of the control screen 1403, the hip and knee drive motor 1201 is controlled to rotate in the forward direction. The hip and knee forward drive sprocket 1223 is engaged with the corresponding one-way clutch 1222, which pulls the hip and knee forward drive rope 1233. The hip and knee reverse drive sprocket 1223 is disengaged with the corresponding one-way clutch 1222, and the hip and knee reverse drive rope 1235 has no additional driving force, thereby pulling the forward drive Bowden cable 2301 of the rear drive path assembly 2300, driving the rear branch 2303 and the inner line of the rear execution Bowden cable 2304 to displace, and the rear tension sensor 2302 measures the pulling force in the rear drive path assembly 2300 in real time. At this time, the part of the inner line of the rear execution Bowden cable 2304 that extends out of the sheath passes through the sliding groove hole of the adjustable pressure block 2102 on the thigh wearing assembly 2100 and is locked in the radial hole on both sides of the positioning shaft 2222 in the lower leg wearing assembly 2200. The inner tension component of the steel wire rope generates pressure on the thigh wearing assembly 2100 and tension on the lower leg wearing assembly 2200, respectively, thereby generating assist torque on the patient's hip and knee joints. The assist force distribution of the exoskeleton to the patient's thigh can be changed by changing the position of the adjustable pressure block 2102 on the thigh wearing assembly 2100, thereby changing the angle of the rear execution Bowden cable 2304 passing through the adjustable pressure block 2102, and changing the size of the thigh assist force.

[0083] When the patient's hip and knee joints are assisted in the swing extension gait phase, the main control board 1401 receives and processes signals from the thigh gyroscope sensor 2104, the lower leg gyroscope sensor 2205, and the ankle encoder 3003 to determine that the patient's movement state is in the swing extension gait phase. According to the preset program and the input signal of the control screen 1403, the hip and knee drive motor 1201 is controlled to reverse, the hip and knee reverse drive chain 1234 cooperates with the hip and knee drive sprocket 1223, the corresponding one-way clutch 1222 is in meshing state, the hip and knee reverse drive rope 1235 is pulled, the hip and knee forward drive sprocket 1223 cooperates with the hip and knee forward drive chain 1231, the corresponding one-way clutch 1222 is in overrun state, the hip and knee forward drive rope 1233 has no additional driving force, the reverse drive Bowden cable 2401 of the front side drive path assembly 2400 is pulled, the woven rope 2403 is displaced, and the front side tension sensor 2402 measures the pulling force in the front side drive path assembly 2400 in real time. At this time, the woven rope 2403 is in a tensioned state, simultaneously passes through the lower leg pulley 2221 in the lower leg wearing assembly 2200, and pulls the front side execution line 2305 through the front side line distributor 2404, respectively generating pressure on the lower leg pulley 2221 and tension on the thigh structure 2101, and further respectively generating assist torque on the patient's hip joint and knee joint.

[0084] Wherein the assist distribution of the exoskeleton to the patient's thigh can be achieved by changing the friction block 2225 and the positioning stud 2226 on the lower leg wearing assembly 2200 to press the woven rope 2403 in the wire slot of the lower leg pulley 2221, thereby greatly reducing the assist torque of the exoskeleton to the patient's hip joint. It is particularly important to note that when adjusting the positioning stud 2226, the woven rope and the front side execution line 2305 around the part should be in a relaxed state to prevent the exoskeleton from affecting the movement space of the patient's knee joint.

[0085] When the ankle joint is assisted in dorsiflexion or plantarflexion according to the patient's gait characteristics, the ankle drive motor 1301 rotates, drives the ankle chain rope assembly 1330 through the ankle drive sprocket 1322, causes the ankle drive rope I 1332 and the ankle drive rope II 1333 to move relative to the drive path, drives the ankle Bowden cable 3006 to drive the ankle line disc 3002 to rotate, and thus causes the foot structure 3001 to generate assist torque on the patient's ankle. When the exoskeleton system is in the starting state, the control screen 1403 displays the estimated angle values of the patient's lower limb hip, knee, and ankle joints and the estimated assist values on the patient's hip, knee, and ankle joints, and provides a control bar for correcting the preset program part parameters in the main control board 1401. The control bar should be adjusted step by step according to the feedback of the patient's walking training after wearing the exoskeleton.

[0086] In summary, those skilled in the art can easily understand that the above-mentioned advantageous technical features can be freely combined and superimposed without conflict.

[0087] The above merely describes the preferred embodiments of the present application, and is not intended to limit the present application in any form. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still falls within the scope of the technical solutions of the present application.

Claims

1. A multi-joint flexible lower limb exoskeleton for children with cerebral palsy, characterized by: It includes a drive system (1000), a hip-knee linkage rope drive mechanism (2000), and an ankle power-assisting mechanism (3000); The drive system (1000) includes a backpack frame assembly (1100), and a hip and knee drive module (1200), an ankle drive module (1300), a system electric control assembly (1400), and a backpack auxiliary assembly arranged on the backpack frame assembly (1100); the backpack frame assembly (1100) includes a backpack frame (1101), a front backpack shield (1102), and a rear backpack shield (1103); The system electric control component (1400) and the backpack auxiliary component are installed on the backpack frame component (1100); the front backpack shield (1102) is installed on the front side of the backpack frame (1101), and the rear backpack shield (1103) is installed on the rear side of the backpack frame (1101); The system electric control component (1400) includes a main control panel (1401), a Bluetooth module (1402), a control screen (1403) and a battery pack (1404). The main control panel (1401), the Bluetooth module (1402) and the battery pack (1404) are all fixedly mounted on the inner side of the backpack frame (1101), and the control screen (1403) is fixedly mounted on the front side of the front panel of the backpack frame (1101). The hip-knee driving module (1200) and the ankle driving module (1300) respectively include two symmetrical driving units on the left and right; The driving unit of the hip-knee driving module (1200) comprises a hip-knee driving motor (1201) and two transmission assemblies; The hip-knee linkage rope drive mechanism (2000) comprises two left-right symmetrical units, each unit comprising a thigh wear component (2100), a calf wear component (2200), a rear drive path component (2300) and a front drive path component (2400); The hip-knee drive motor (1201) generates pressure on the thigh wear component (2100) and tension on the calf wear component (2200) through a transmission component and a rear drive path component (2300), thereby generating power-assist torques for the hip joint and the knee joint respectively; the hip-knee drive motor (1201) generates pressure on the calf wear component (2200) and tension on the thigh wear component (2100) through another transmission component, a front drive path component (2400), thereby generating power-assist torques for the hip joint and the knee joint respectively; The ankle power-assisting mechanism (3000) comprises a foot structure (3001), an ankle cable drum (3002) and an ankle Bowden cable (3006); the foot structure (3001) is rotatably connected to the ankle axis hole of the calf wear component (2200) via a pin shaft; one end of the inner line of the ankle Bowden cable (3006) is connected to the drive unit of the ankle drive module (1300), and the other end is fixed to the ankle cable drum (3002); The ankle driving module (1300) drives the ankle Bowden cable (3006) to drive the ankle cable drum (3002) to rotate, thereby causing the foot structure (3001) to generate a power-assisting torque.

2. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 1, characterized in that: The transmission assembly of the driving unit of the hip-knee driving module (1200) comprises a hip-knee driving sprocket assembly (1220) and a hip-knee chain rope assembly (1230); The hip-knee drive sprocket assembly (1220) comprises a hip-knee drive coupling (1221), a one-way clutch (1222), a hip-knee drive sprocket (1223) and an axis end baffle (1224); wherein the hip-knee drive coupling (1221) is mounted on the output flange of the hip-knee drive motor (1201); the two hip-knee drive sprockets (1223) are sequentially sleeved on the axis diameter of the hip-knee drive coupling (1221) through the one-way clutch (1222); the two one-way clutches (1222) are mounted in opposite directions; the axis end baffle (1224) is mounted on the axis end of the hip-knee drive coupling (1221) by screws, thereby axially fixing the various components of the hip-knee drive sprocket assembly (1220); The hip-knee chain rope assembly (1230) includes a hip-knee forward drive chain (1231), a chain rope connecting block (1232), a hip-knee forward drive rope (1233), a hip-knee reverse drive chain (1234), and a hip-knee reverse drive rope (1235); the hip-knee forward drive chain (1231) and the hip-knee reverse drive chain (1234) are respectively matched with two hip-knee drive sprockets (1223) in a chain drive, and one end of the two chains is fixed to the fixing hole of the hip-knee drive sprocket (1223) by a pin, and the hip-knee forward drive rope (1233) and the hip-knee reverse drive rope (1235) are respectively connected to the other end of the hip-knee forward drive chain (1231) and the hip-knee reverse drive chain (1234) by the chain rope connecting block (1232).

3. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 2, characterized in that: The thigh wearable component (2100) comprises a thigh structural component (2101), an adjustable pressure block (2102), a thigh strap (2103) and a thigh gyroscope sensor (2104); the thigh structural component (2101) and the thigh strap (2103) are connected, the adjustable pressure block (2102) can be adjusted and assembled on the mounting hole array on the thigh structural component (2101), and the thigh gyroscope sensor (2104) is installed in the front slot of the thigh structural component (2101).

4. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 3, characterized in that: The calf wearable assembly (2200) comprises a calf structure (2201), a calf pulley assembly (2220), a calf strap (2203), a calf Bowden cable anchor point (2204) and a calf gyroscope sensor (2205); wherein the calf structure (2201) and the calf strap (2203) are connected, the calf pulley assembly (2220) is mounted on the upper cantilever of the calf structure (2201), the calf Bowden cable anchor point (2204) is fixed to the outside of the calf structure (2201), and the calf gyroscope sensor (2205) is mounted in a front slot of the calf structure (2201); The calf pulley assembly (2220) comprises a calf pulley (2221), a positioning shaft (2222), a swinging slot plate (2223), a line pressing wheel (2224), a friction block (2225) and a positioning stud (2226); the positioning shaft (2222) passes through the axial hole at the end of the cantilever of the calf structure (2201) and can rotate freely; the calf pulley (2221) is placed on the inner side of the cantilever of the calf structure (2201) and forms an axial hole clearance with the positioning shaft (2222) and can rotate freely; the slot holes on both sides of the swinging slot plate (2223) are sleeved and installed on both sides of the calf pulley (2221) and can swing freely; the line pressing wheel (2224) is installed in the long hole below the calf pulley (2221) by means of an axial screw and a nut; and the friction block (2225) and the positioning stud (2226) are positioned and installed in the hole of the support plate below the long hole by means of a nut.

5. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 4, characterized in that: The rear drive path component (2300) comprises a forward drive Bowden cable (2301), a rear tension sensor (2302), a rear splitter (2303), and a rear execution Bowden cable (2304); wherein the forward drive Bowden cable (2301) is connected to the hip and knee forward drive rope (1233) of the exoskeleton drive system (1000), and the other end is fixed to a mounting hole on one side of the rear tension sensor (2302), and the mounting hole on the other side of the rear tension sensor (2302) is connected to the rear execution Bowden cable (2304). The side wire splitter (2303) is fixed to the median axis, and the steel wire rope of the rear side Bowden cable (2304) passes through the arc tube of the rear side wire splitter (2303) and can slide freely. The steel wire rope of the rear side Bowden cable (2304) extending from its sheath on both sides of the thigh passes through the slide hole of the adjustable pressure block (2102) on the thigh wear component (2100), and at the end passes through the radial holes on both sides of the positioning shaft (2222) in the calf wear component (2200), and is locked by a set screw.

6. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 5, characterized in that: The front drive path assembly (2400) includes a reverse drive Bowden cable (2401), a front tension sensor (2402), a braided rope (2403), a front splitter (2404) and a front execution line (2305); wherein the reverse drive Bowden cable (2401) is connected to the hip and knee reverse drive rope (1235) of the exoskeleton drive system (1000), and the other end is fixed to a mounting hole on one side of the front tension sensor (2402), and the other end of the front tension sensor (2402) is fixed to a mounting hole on one side of the front tension sensor (2402). The end mounting hole is fastened with the braided rope (2403), and the path of the braided rope (2403) needs to pass through the limit groove of the swing groove plate (2223) in the calf wearing component (2200) in sequence, go around the calf pulley (2221), go out of the calf pulley (2221) and be connected to the front side splitter (2404), and the front side execution line (2305) should pass through the arc tube of the front side splitter (2404) and fasten both ends to both sides of the thigh structure (2101) in the thigh wearing component (2100).

7. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 6, characterized in that: The driving unit of the ankle driving module (1300) comprises an ankle driving motor (1301), an ankle driving sprocket assembly (1320), an ankle chain assembly (1330) and an ankle driving tensioning assembly (1340); wherein the ankle driving sprocket assembly (1320) is mounted on the output flange of the ankle driving motor (1301), and the ankle chain assembly (1330) and the ankle driving sprocket assembly (1320) are mounted in a chain drive manner; The ankle drive sprocket assembly (1320) comprises an ankle drive coupling (1321) and an ankle drive sprocket (1322), and the ankle drive sprocket (1322) is fixedly connected to the output flange of the ankle drive motor (1301) via the ankle drive coupling (1321); The ankle chain rope assembly (1330) includes an ankle drive chain (1331), a chain rope connecting block (1232), an ankle drive rope I (1332) and an ankle drive rope II (1333). The ankle drive chain (1331) cooperates with the ankle drive sprocket (1322) in a chain drive manner. The ankle drive rope I (1332) and the ankle drive rope II (1333) are respectively connected to the two ends of the ankle drive chain (1331) through the chain rope connecting block (1232).

8. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 7, characterized in that: The ankle power-assisting mechanism (3000) further comprises an ankle encoder (3003) and a foot strap (3005); The positioning holes on the upper ends of the vertical plates on both sides of the foot structure (3001) are rotatably connected to the ankle axis holes of the calf structure (2201) in the calf wearing assembly (2200) through pins, the ankle cable drum (3002) is fixed to the foot structure (3001), the ankle encoder (3003) shell is coaxially fixed to the outside of the ankle cable drum (3002), and the rotating shaft of the ankle encoder (3003) is fixed to the calf structure (2201) through a set screw; the cable sheath of the ankle Bowden cable (3006) is fixed to the calf Bowden cable anchor point (2204), one end of the inner cable is connected to the ankle drive rope I (1332) and the ankle drive rope II (1333) in the ankle drive module (1300), and the other end is fixed to the ankle cable drum (3002).

9. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 1, characterized in that: The backpack auxiliary component comprises a heat dissipation module (1501), a Bowden cable clamp (1502) and a waist support block (1503); wherein the two heat dissipation modules (1501) are respectively mounted on the front surface of the front backpack shield (1102) and the upper surface of the rear backpack shield (1103); the Bowden cable clamp (1502) is respectively mounted on the front plate of the backpack frame (1101) and the rear plate of the backpack frame (1101) for fixing the sheath of the Bowden cable; and the waist support block (1503) is adjusted and mounted on the rear backpack shield (1103).

10. The multi-joint flexible lower limb exoskeleton for children with cerebral palsy according to claim 8, characterized in that: The hip-knee drive module (1200) comprises a hip-knee drive tensioning assembly (1240), The hip-knee drive tensioning assembly (1240) comprises a chain pressing block I (1241), a chain pressing block II (1242), a tensioning connection block (1243), a constant force spring (1244), a tensioning assembly pin (1245) and a sliding positioning plate (1246). The chain pressing block I (1241) and the chain pressing block II (1242) are mounted in pairs on the front plate of the backpack frame (1101) to adjust and position the hip-knee forward drive chain (1231) and the hip The knee reverse drive chain (1234), the fixed hole ends of the two tensioning connecting blocks (1243) are respectively fixed to the two chain rope connecting blocks (1232) by set screws, the sub-plate of the constant force spring (1244) is fixed to the other end of the tensioning connecting block (1243) by screws, and the two constant force springs (1244) are rotated and installed on the tensioning assembly pin (1245) in sequence, and the tensioning assembly pin (1245) is fixed to the front plate of the backpack frame (1101).

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