Motion enhancing device using exoskeleton robot

Abstract

The invention provides a motion enhancing device utilizing an exoskeleton robot, which comprises a hip exoskeleton, first drivers are respectively mounted on the left side and the right side of the hip exoskeleton, the output ends of the first drivers are connected with hip joint connecting plates, second drivers are mounted at the lower ends of the hip joint connecting plates, and the output ends of the second drivers are connected with leg exoskeletons. The first driver is used for controlling the hip joint connecting plate to swing in the left-right direction, and the second driver is used for controlling the leg exoskeleton to swing in the front-back direction; the leg exoskeleton comprises a thigh joint, the upper end of the thigh joint is connected to the output end of the second driver, a third driver is installed at the lower end of the thigh joint, the output end of the third driver is connected with a shank joint, and leg wearing pieces are installed on the thigh joint and the shank joint correspondingly. The second driver is used for controlling the thigh joint to swing in the front-back direction, and the third driver is used for controlling the shank joint to swing in the front-back direction.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a motion enhancement device utilizing an exoskeleton robot. Background Art

[0002] With the rapid development of science and technology, the application scope of exoskeleton robots has become more extensive, especially in the field of mining assistance. These robots can provide miners with additional strength and support in harsh environments such as coal mines, especially in working conditions that require long periods of standing, walking and carrying heavy objects, which can significantly reduce the physical burden of miners and improve work efficiency.

[0003] In the field of mining assistance, exoskeleton robots are particularly suitable for miners who need to work in extreme conditions, such as in narrow or dangerous environments. These robots can assist miners in completing heavy physical labor and reduce musculoskeletal injuries caused by long-term high-intensity work. However, in actual applications, when miners use existing exoskeleton robots, they often need multiple people to assist in wearing and operating training, and need to constantly exchange information with others. In the process of information interaction and operation, it is easy to cause information bias, affect work efficiency, and even cause accidental injuries to miners.

[0004] Therefore, it is necessary to provide a motion enhancement device using an exoskeleton robot to solve the problems raised in the above background technology. This device should be able to simplify the wearing and operation process, reduce the dependence on multi-person collaboration, and at the same time improve the accuracy and reliability of information transmission to ensure the safety and efficiency of miners during use. Through technological innovation, a more intelligent and automated power-assisted walking solution can be provided for miners to meet the special needs of mining operations. Summary of the invention

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a motion enhancement device using an exoskeleton robot, comprising a hip exoskeleton, wherein a first driver is installed on the left and right sides of the hip exoskeleton respectively, the output end of the first driver is connected to a hip joint connecting plate, a second driver is installed at the lower end of the hip joint connecting plate, the output end of the second driver is connected to a leg exoskeleton, and the first driver is used to control the swing of the hip joint connecting plate in the left and right directions, and the second driver is used to control the swing of the leg exoskeleton in the front and back directions; the leg exoskeleton comprises a thigh joint, the upper end of the thigh joint is connected to the output end of the second driver, a third driver is installed at the lower end of the thigh joint, the output end of the third driver is connected to a calf joint, and leg wearable parts are installed on both the thigh joint and the calf joint, the second driver is used to control the swing of the thigh joint in the front and back directions, and the third driver is used to control the swing of the calf joint in the front and back directions.

[0006] Preferably, the leg wearable component includes an adjustment seat, on which a driving shaft is vertically rotatably mounted, and two groups of driving shafts are symmetrically arranged front to back, a fourth driver is connected to the upper end of the driving shaft, a rotating plate is fixedly sleeved on the driving shaft, and a semicircular cover is fixedly mounted on the outer end of the rotating plate.

[0007] Preferably, the semicircular cover includes an arc ring and an elastic silicone cloth, a sealed cavity is provided inside the arc ring, an inner convex ring is provided on the inner arc cavity wall of the sealed cavity, the inner convex ring is provided with concave holes distributed at equal angles, and an air guide tube passes through the concave hole, the air guide tube is slidably connected to the concave hole, and the inner and outer ends of the air guide tube are respectively provided with an inner limit block and an outer limit block, the outer limit block is located inside the sealed cavity, and the inner limit block is located inside the concave hole; the elastic silicone cloth is sealed and covered on the inner ring surface of the arc ring, and the inner end of the air guide tube is bonded to the elastic silicone cloth, and an air port is provided between the inner end of the air guide tube and the inner limit block; an air valve is installed on the adjustment seat, and the air valve is connected to the sealed cavity through the air pipe.

[0008] Preferably, vertical leg adjustment rails are provided on both the thigh joint and the calf joint, and the adjustment seat is installed on the leg adjustment rails.

[0009] Preferably, a distance sensor for monitoring the distance between the outer limit block and the inner convex ring is provided on the outer limit block.

[0010] Preferably, a pressure sensor for monitoring the pressure applied to the airway is installed at the inner end of the airway.

[0011] Preferably, the elastic silicone cloth includes a first elastic silicone cloth and a second elastic silicone cloth, a square second elastic silicone cloth is provided in the center of the first elastic silicone cloth, and the corner ends of the square second elastic silicone cloth and the corner ends of the first elastic silicone cloth are connected by the oblique second elastic silicone cloth, and the elastic modulus of the second elastic silicone cloth is greater than the elastic modulus of the first elastic silicone cloth.

[0012] Preferably, the hip exoskeleton includes a hip joint wearing plate and a locking plate, and positioning plates and elastic clip covers are respectively installed at both ends of the hip joint, and the ends of the locking plate are used for assembling and fixing the positioning plate.

[0013] Compared with the prior art, the present invention provides a motion enhancement device using an exoskeleton robot, which has the following beneficial effects:

[0014] 1. The present invention adopts the design structure of the leg wearable parts, wherein the thigh joint and the calf joint can be fully fixed by arranging the semicircular cover. On the one hand, it is beneficial to improve the safety of coal mine workers, and on the other hand, it also makes the coal mine workers more convenient to wear.

[0015] 2. In the present invention, the structure of the semicircular cover is designed so that the structure that contacts and fixes the legs of coal miners is a fixing air bag composed of a gas medium. On the one hand, it is beneficial to improve the contact degree with the legs of coal miners, enhance the reception and feedback of the movement information of the legs of coal miners, and improve the accuracy of the movement information transmission. On the other hand, that is to say, the fixing air bag between the legs of coal miners and the circular cover is relatively flexible. During the movement of the thighs and calves of coal miners, the radial thickness of the fixing air bag serves as a micro-displaceable amount of their movement, thereby improving the wearing comfort of coal miners and avoiding problems such as leg swelling caused by fixed wearing of the thighs and calves of coal miners. Moreover, the changes in the leg shape of coal miners can be known in real time, so as to adjust the air pressure value in time, so that the legs of coal miners are subjected to the best degree of applied force again, thereby making the enhanced training of the leg movement of coal miners more accurate and efficient.

[0016] 3. In the present invention, by combining the settings of pressure sensors and distance sensors, the degree of assistance for leg activities is made more flexible and more efficient, thereby assisting the movement of the legs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a motion enhancement device using an exoskeleton robot according to the present invention;

[0019] Figure 2 A schematic diagram of the partial structure of a motion enhancement device using an exoskeleton robot according to the present invention;

[0020] Figure 3 It is a schematic diagram of the structure of the leg wearable article of the present invention;

[0021] Figure 4 It is a schematic diagram of the semicircular cover structure of the present invention;

[0022] Figure 5 It is a partial cross-sectional structural schematic diagram of the semicircular cover of the present invention;

[0023] Figure 6 It is a schematic diagram of the unfolded structure of the elastic silicone cloth of the present invention.

[0024] The above drawings include the following reference numerals:

[0025] 1. Hip exoskeleton; 2. Leg exoskeleton;

[0026] 3. First driver; 4. Hip joint connection plate;

[0027] 5. Second driver; 6. Thigh joint;

[0028] 7. Third drive; 8. Calf joint;

[0029] 9. Leg wearable parts; 10. Leg adjustment rails;

[0030] 11. Hip joint wear plate; 12. Positioning plate;

[0031] 13. Locking plate; 14. Elastic clip cover;

[0032] 91. Adjustment seat; 92. Semicircular cover;

[0033] 93. arc ring; 94. air valve; 95. air pipe;

[0034] 921, fourth driver; 922, drive shaft;

[0035] 923. rotating plate; 924. elastic silicone cloth;

[0036] 9241, first elastic silicone cloth; 9242, second elastic silicone cloth;

[0037] 931, sealing chamber; 932, inner convex ring; 933, concave hole;

[0038] 934, air guide tube; 935, outer limit block; 936, inner limit block;

[0039] 937. Air port; 938. Distance sensor; 939. Pressure sensor. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0041] Reference Figure 1-6The present invention provides a technical solution: a motion enhancement device using an exoskeleton robot, comprising a hip exoskeleton 1, a first driver 3 is respectively installed on the left and right sides of the hip exoskeleton 1, an output end of the first driver 3 is connected to a hip joint connecting plate 4, a second driver 5 is installed at the lower end of the hip joint connecting plate 4, an output end of the second driver 5 is connected to a leg exoskeleton 2, and the first driver 3 is used to control the swing of the hip joint connecting plate 4 in the left and right directions, and the second driver 5 is used to control the swing of the leg exoskeleton 2 in the front and back directions;

[0042] The leg exoskeleton 2 includes a thigh joint 6, the upper end of the thigh joint 6 is connected to the output end of the second driver 5, the lower end of the thigh joint 6 is installed with a third driver 7, the output end of the third driver 7 is connected to the calf joint 8, and leg wearable parts 9 are installed on both the thigh joint 6 and the calf joint. The second driver 5 is used to control the swing of the thigh joint 6 in the front-to-back direction, and the third driver 7 is used to control the swing of the calf joint 8 in the front-to-back direction.

[0043] In this embodiment, the leg wearable component 9 includes an adjustment seat 91, on which a drive shaft 922 is vertically rotatably installed, and two groups of drive shafts 922 are symmetrically arranged front to back, and the upper end of the drive shaft 922 is connected to a fourth driver 921, and a rotating plate 923 is fixedly sleeved on the drive shaft 922, and a semicircular cover 92 is fixedly installed on the outer end of the rotating plate 923. That is to say, each adjustment seat 91 is provided with two semicircular covers 92, and the two semicircular covers 92 can be combined to form a circular cover, which can comprehensively fix the thigh joint 6 and the calf joint 8. On the one hand, it is beneficial to improve the safety of coal mine workers, and on the other hand, it also makes it more convenient for coal mine workers to wear.

[0044] Furthermore, the semicircular cover 92 includes an arc ring 93 and an elastic silicone cloth 924. A sealed cavity 931 is provided inside the arc ring 93. An inner convex ring 932 is provided on the inner arc cavity wall of the sealed cavity 931. The inner convex ring 932 is provided with concave holes 933 distributed at equal angles, and an air guide tube 934 runs through the concave hole 933. The air guide tube 934 is slidably connected to the concave hole 933. The inner and outer ends of the air guide tube 934 are respectively provided with an inner limit block 936 and an outer limit block 935. The outer limit block 935 is located inside the sealed cavity 931, and the inner limit block 936 is located inside the concave hole 933. In other words, during the sliding process of the air guide tube 934 in the concave hole 933, the air guide tube 934 is combined with the inner and outer ends of the air guide tube 934. Figure 5As shown, when the air guide tube 934 slides to the right, the outer limit block 935 limits the left end of the air guide tube 934 to be inside the sealed cavity 931, and when the air guide tube 934 slides to the left, the inner limit block 936 limits the right end of the air guide tube 934 to be inside the concave hole 933; the elastic silicone cloth 924 is sealed and covered on the inner ring surface of the arc ring 93, and the inner end of the air guide tube 934 is bonded and connected to the elastic silicone cloth 924, and an air port 937 is provided between the inner end of the air guide tube 934 and the inner limit block 936; wherein, the edge of the elastic silicone cloth 924 is bonded and sealed to the edge of the inner ring surface of the arc ring 93, that is, when the sealed cavity 931 When filled with gas, the gas enters from the left end of the air guide tube 934 and is discharged from the air port 937, which will cause the elastic silicone cloth 924 to swell and expand, and a retention air bag composed of a gas medium is formed between the legs of the coal mine workers and the circular sleeve. On the one hand, it is beneficial to improve the degree of contact with the legs of the coal mine workers, enhance the reception and feedback of the movement information of the legs of the coal mine workers, and improve the accuracy of the movement information transmission. On the other hand, that is to say, the retention air bag between the legs of the coal mine workers and the circular sleeve has relatively high flexibility. During the activities of the thighs and calves of the coal mine workers, the radial thickness of the retention air bag serves as The minute displacement amount of the leg wearable device during movement and activity can improve the wearing comfort of coal miners and avoid problems such as leg swelling caused by fixed wear of coal miners' thighs and calves; an air valve 94 is installed on the adjustment seat 91, and the air valve 94 is connected to the sealing cavity 931 through an air pipe 95; that is, the air pressure of the sealing cavity 931 in the two semicircular covers 92 is controlled by the air valve 94 to control the bulging, expansion and contraction of the elastic silicone cloth 924; that is, when coal miners wear the leg wearable device, the air pressure is used as a force to fix the legs of the coal miners, and a fixing air bag is gradually formed. During the process, the legs of the coal mine workers can better feel the overall pressure on their legs, so that the degree of force applied to fix the legs of the coal mine workers can be more regulated and the degree of force applied is more appropriate; moreover, with the process of enhanced leg movement training, the leg shape of the coal mine workers will also change. Therefore, by monitoring the change in air pressure, the changes in the leg shape of the coal mine workers can be known in real time, so as to adjust the air pressure value in time, so that the legs of the coal mine workers are subjected to the best degree of force again, thereby making the enhanced training of the leg movement of the coal mine workers more accurate and efficient.

[0045] In this embodiment, vertical leg adjustment rails 10 are provided on the thigh joint 6 and the calf joint 8, and the adjustment seat 91 is installed on the leg adjustment rails 10 to adjust the position of the leg wearing piece 9 on the thigh joint 6 and the calf joint 8, thereby improving the wearing comfort of the coal mine workers and improving the adaptation accuracy of the leg wearing piece 9 to the thigh and calf of the coal mine workers.

[0046] In this embodiment, a distance sensor 938 for monitoring the distance between the outer limit block 935 and the inner convex ring 932 is provided on the outer limit block 935; that is, when the coal mine worker wears the leg wear piece 9, the distance between the leg and the inner convex ring 932 is monitored by the distance sensor 938 as the initial monitoring distance. Figure 5 As shown, when the coal mine worker's legs move, the distance sensor 938 monitors the real-time monitoring distance between the left end of the air duct 934 and the inner convex ring 932 in real time, compares it with the initial monitoring distance, and feeds back to the first driver 3, the second driver 5 and the third driver 7, so that the real-time monitoring distance is consistent with the initial monitoring distance, so that the leg exoskeleton can move in coordination with the coal mine worker's legs.

[0047] In the present embodiment, a pressure sensor 939 for monitoring the pressure thereon is installed at the inner end of the air guide tube 934; that is to say, by setting the pressure sensor 939, it is possible to assist the user's legs in the coal mine usage scenario, that is, when assistance is needed, the required assistance training intensity value is preset, and when the pressure sensor 939 reaches the preset assistance intensity value, the first driver 3, the second driver 5 and the third driver 7 are fed back to each other, and the monitoring value of the pressure sensor 939 is within the assistance intensity value range, so that the legs of the coal mine workers can be assisted.

[0048] In this embodiment, the elastic silicone cloth 924 includes a first elastic silicone cloth 9241 and a second elastic silicone cloth 9242. A square second elastic silicone cloth 9242 is provided in the center of the first elastic silicone cloth 9241, and the corner ends of the square second elastic silicone cloth 9242 and the corner ends of the first elastic silicone cloth 9241 are connected by oblique second elastic silicone cloth 9242, and the elastic modulus of the second elastic silicone cloth 9242 is greater than the elastic modulus of the first elastic silicone cloth 9241; so that during the process of the elastic silicone cloth 924 swelling, it is easier to form an annular retention capsule ring structure, which is conducive to forming a relatively stable retention capsule ring morphological structure.

[0049] In this embodiment, the hip exoskeleton 1 includes a hip joint wearing plate 11 and a locking plate 13. The two ends of the hip joint wearing plate 11 are respectively installed with a positioning plate 12 and an elastic clip cover 14. The end of the locking plate 13 is used to assemble and fix the positioning plate 12.

[0050] When implemented specifically, it includes the following steps:

[0051] S1. The semicircular cover 92 is unfolded by controlling the fourth driver 921, and the position of the leg wear member 9 is adjusted by the leg adjustment rail 10, and is clamped in the thigh and calf of the coal mine worker;

[0052] S2. Fill the sealed cavity 931 with gas through the gas valve 94 to increase pressure, so that the elastic silicone cloth 924 swells and expands until the legs of the coal miner feel the best comfort, and then stop inflating. During this process, the legs of the coal miner need to remain as still as possible;

[0053] S3. The distance sensor 938 reads the initial monitoring data, that is, the distance sensor 938 monitors the distance between it and the inner convex ring 932 as the initial monitoring distance and records it. When the coal mine worker's legs move, the distance sensor 938 monitors the real-time monitoring distance between the left end of the air guide tube 934 and the inner convex ring 932 in real time, and compares it with the corresponding initial monitoring distance. Among them, at the moment of the coal mine worker's leg movement, among the fluctuation data (variation) monitored by multiple distance sensors 938, the distance sensor 938 with the largest fluctuation data is selected as the direction distance sensor, and mutual feedback is performed to the first driver 3, the second driver 5 and the third driver 7, so that the real-time monitoring distance is consistent with the initial monitoring distance, so that the leg exoskeleton and the coal mine worker's legs can move in coordination;

[0054] S4. When it is necessary to select to assist the legs, the distance sensor 938 is paused to perform the mutual feedback procedure to the first driver 3, the second driver 5 and the third driver 7, and the required assistance intensity value is preset. When the pressure sensor 939 reaches the preset assistance intensity value, and at the moment when the coal mine worker's leg moves, among the fluctuation data (variation) monitored by multiple pressure sensors 939, the pressure sensor 939 with the largest fluctuation data is selected as the directional pressure sensor, and mutual feedback is performed with the first driver 3, the second driver 5 and the third driver 7, so that the monitoring value of the pressure sensor 939 is within the assistance intensity value range, so as to assist the coal mine worker's legs.

[0055] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0056] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0057] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0058] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0059] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A motion enhancement device using an exoskeleton robot, comprising a hip exoskeleton (1), characterized in that: The left and right sides of the hip exoskeleton (1) are respectively provided with a first driver (3); the output end of the first driver (3) is connected to a hip joint connecting plate (4); the lower end of the hip joint connecting plate (4) is provided with a second driver (5); the output end of the second driver (5) is connected to a leg exoskeleton (2); the first driver (3) is used to control the swing of the hip joint connecting plate (4) in the left-right direction; and the second driver (5) is used to control the swing of the leg exoskeleton (2) in the front-back direction; The leg exoskeleton (2) comprises a thigh joint (6), the upper end of the thigh joint (6) is connected to the output end of the second driver (5), the lower end of the thigh joint (6) is installed with a third driver (7), the output end of the third driver (7) is connected to the calf joint (8), and the thigh joint (6) and the calf joint (8) are both installed with a leg wearable component (9), the second driver (5) is used to control the swing of the thigh joint (6) in the front-back direction, and the third driver (7) is used to control the swing of the calf joint (8) in the front-back direction.

2. The motion enhancement device using an exoskeleton robot according to claim 1, characterized in that: The leg wearable component (9) comprises an adjustment seat (91), a driving shaft (922) is vertically rotatably mounted on the adjustment seat (91), and two groups of driving shafts (922) are symmetrically arranged front and back, a fourth driver (921) is connected to the upper end of the driving shaft (922), a rotating plate (923) is fixedly sleeved on the driving shaft (922), and a semicircular cover (92) is fixedly mounted on the outer end of the rotating plate (923).

3. The motion enhancement device using an exoskeleton robot according to claim 2, characterized in that: The semicircular cover (92) comprises an arc ring (93) and an elastic silicone cloth (924); a sealed cavity (931) is provided inside the arc ring (93); an inner convex ring (932) is provided on the inner arc cavity wall of the sealed cavity (931); a plurality of concave holes (933) are provided on the inner convex ring (932); an air guide tube (934) penetrates through the concave holes (933); the air guide tube (934) is slidably connected to the concave holes (933); an inner limit block (936) and an outer limit block (935) are respectively provided at the inner and outer ends of the air guide tube (934); the outer limit block (935) is located inside the sealed cavity (931); and the inner limit block (936) is located inside the concave holes (933); The elastic silicone cloth (924) is sealingly covered on the inner annular surface of the arc-shaped ring (93), and the inner end of the air guide tube (934) is bonded and connected to the elastic silicone cloth (924), and an air port (937) is provided between the inner end of the air guide tube (934) and the inner limit block (936); An air valve (94) is installed on the adjustment seat (91), and the air valve (94) is connected to the sealing cavity (931) through an air pipe (95).

4. The motion enhancement device using an exoskeleton robot according to claim 2, characterized in that: The thigh joint (6) and the calf joint (8) are both provided with vertical leg adjustment rails (10), and the adjustment seat (91) is installed on the leg adjustment rails (10).

5. The motion enhancement device using an exoskeleton robot according to claim 3, characterized in that: The outer limit block (935) is provided with a distance sensor (938) for monitoring the distance between the outer limit block (935) and the inner convex ring (932).

6. The motion enhancement device using an exoskeleton robot according to claim 3, characterized in that: A pressure sensor (939) for monitoring the pressure applied to the airway (934) is installed at the inner end of the airway (934).

7. The motion enhancement device using an exoskeleton robot according to claim 3, characterized in that: The elastic silicone cloth (924) includes a first elastic silicone cloth (9241) and a second elastic silicone cloth (9242), wherein a square second elastic silicone cloth (9242) is provided at the center of the first elastic silicone cloth (9241), and the corner ends of the square second elastic silicone cloth (9242) and the corner ends of the first elastic silicone cloth (9241) are connected by the oblique second elastic silicone cloth (9242).

8. The motion enhancement device using an exoskeleton robot according to claim 7, characterized in that: The elastic modulus of the second elastic silicone cloth (9242) is greater than the elastic modulus of the first elastic silicone cloth (9241).

9. The motion enhancement device using an exoskeleton robot according to claim 1, characterized in that: The hip exoskeleton (1) comprises a hip joint wearing plate (11) and a locking plate (13), wherein a positioning plate (12) and an elastic clip cover (14) are respectively installed at both ends of the hip joint wearing plate (11), and the end of the locking plate (13) is used for assembly and fixation with the positioning plate (12).

10. The motion enhancement device using an exoskeleton robot according to claim 3, characterized in that: The plurality of recessed holes (933) are distributed at equal intervals along the circumference of the inner convex ring (932).

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