Traveling power-assisted exoskeleton robot

Abstract

A marching assisting exoskeleton robot comprises a waist supporting structure module, a waist rod module, a joint driving module and a binding system. The waist rod module comprises two groups of waist rod module assemblies which are symmetrically arranged relative to the waist supporting structure module. According to the design scheme provided by the embodiment of the invention, parts can be changed into a whole, the structure of the whole machine is simplified, so that assembling procedures are reduced, the structural complexity can be reduced, and the stability of the machine body is improved. By applying the symmetrical telescopic adjusting module, the machine body can bring better wearing adaptability and comfort to people with different figures. Compared with an existing light walking-aiding exoskeleton robot, the light walking-aiding exoskeleton robot has the advantages of being comfortable and convenient to wear, convenient to operate, high in whole machine protection capacity and high in power-aiding capacity, and in addition, the light walking-aiding exoskeleton robot is small in size and light in mass and has high market competitiveness in exoskeleton robot products of the same type.

Description

Technical Field

[0001] The present invention relates to the technical field related to exoskeleton robots, and more specifically, to a walking-assisting exoskeleton robot. Background Art

[0002] As a type of service robot, the current exoskeleton robot industry has ushered in rapid development. More and more high-tech exoskeleton robot manufacturers have emerged, and a number of representative products have been launched on the market. According to different application fields, exoskeleton robots can be divided into medical exoskeletons, health care exoskeletons, industrial handling exoskeletons, emergency firefighting exoskeletons, and outdoor travel exoskeletons. According to different action mechanisms, they can also be divided into active power-assisted exoskeletons and passive power-assisted exoskeletons. According to different energy supply methods, exoskeletons can also be divided into active power-assisted exoskeletons and passive power-assisted exoskeletons, etc. Although there are many types of exoskeleton robots, there are few mature products on the market that can achieve the advantages of beautiful appearance, comfortable wearing, easy operation, and good power-assisted effect.

[0003] For exoskeleton robots, size and weight are important factors that affect the wearing comfort of exoskeleton robots. The larger the size and weight, the stronger the sense of burden during wearing, which reduces the comfort. At the same time, the whole binding method of the exoskeleton robot and the manufacturing process of the binding belt are also key links that affect the wearing comfort. In addition, the appearance can also directly affect the human-machine wearing experience. If the appearance of the exoskeleton can be highly consistent with the contour curve of the contact point of the human body, it will definitely make the human-machine fit higher and bring a more comfortable wearing experience. However, due to the high technical difficulty, there are currently few existing products on the market that can have the above advantages at the same time, and they are still lacking in various aspects.

[0004] In addition, no matter what scenario the exoskeleton robot is used in, there are certain requirements for the protection capabilities of the entire machine. The most important of these is the protection level of the outer shell. For general application requirements, it will be required to have a higher protection level (generally not less than IP55), so that the exoskeleton robot can adapt to use requirements in complex environments such as rain and snow, and will not be unable to work normally due to the entry of external water vapor. Summary of the invention

[0005] 1. Technical issues

[0006] In view of the many shortcomings of existing exoskeleton robots, how to provide an exoskeleton robot with a small size, light weight, beautiful appearance, reasonable and comfortable binding design, strong protection ability and assisted movement has become an urgent problem to be solved by technical personnel in this field.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned objectives, the present invention provides a walking-assisting exoskeleton robot, which belongs to the field of exoskeleton robots, specifically a walking-assisting exoskeleton robot that can provide the wearer with walking assistance, running assistance and stair-climbing assistance functions, thereby achieving the purpose of reducing physical exertion.

[0009] To achieve the above-mentioned purpose, the present invention provides a walking-assisting exoskeleton robot, comprising: a waist support structure module, a waist bar module, a joint drive module, a leg bar module and a binding system, wherein the binding system is arranged on the waist support structure module, and is used to stably wear the waist support structure module on the wearer's body and to fix it to the wearer's legs, the waist bar module is arranged on the waist support structure module and the joint drive module is fixedly arranged on the waist bar module, the waist bar module is used to provide an installation space for the joint drive module, the leg bar module is connected to the power end of the joint drive module, the leg bar module can output walking assistance and can transmit the assistance through The leg bar module is transmitted to the wearer's legs; the lumbar bar module includes a lumbar bar module assembly, which is provided with two groups and is symmetrically arranged relative to the lumbar support structure module. The lumbar bar module assembly includes lumbar bar parts, which include a hollow tubular rod structure designed according to the shape of the human waist, a joint driving module connection structure for fixing the joint driving module, and a joint driving module baffle structure. The joint driving module baffle structure corresponds to the power end of the joint driving module and is used to isolate the power end from the wearer. The manufacturing material of the lumbar bar parts is carbon fiber or metal material, and the lumbar bar parts are an integrated structure.

[0010] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, the hollow tubular rod structure is a hollow rod-shaped structure for cables to pass through; the joint drive module connection structure is a shell structure and is formed with an installation space, the joint drive module can be fixedly installed in the installation space, an assembly window is provided on the joint drive module connection structure, and a joint sealing plate extending parallel to and inwardly is provided on the outer edge of the assembly window, the joint sealing plate is used to press the joint drive module, and a sealing groove structure is provided on the joint drive module that can achieve static sealing with the joint drive module connection structure.

[0011] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, the joint driving module includes a control button for controlling its operation, and a button PCB is arranged below the control button. After receiving the pressure of the control button, the button PCB issues a corresponding operation instruction to the joint driving module; a mounting hole for installing the control button is arranged on the joint driving module connecting structure, and a waterproof edge structure is arranged at the inner end of the control button. The button PCB presses the waterproof edge structure of the control button onto the inner wall of the joint driving module connecting structure through a button pressing sheet.

[0012] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, a button thread frame is fixedly provided on the inner wall of the joint drive module connection structure, the control button and the button PCB are pressed on the button thread frame through a button pressing sheet, and the button pressing sheet is bolted to the button thread frame.

[0013] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, the waist support structure module includes an inner shell structure and an outer shell structure, the inner shell structure and the outer shell structure are sealed and fastened together, a battery unit, a main controller and a symmetrical telescopic adjustment module are arranged in the waist support structure module, the symmetrical telescopic adjustment module includes an adjustable telescopic end, the waist bar module assembly is fixedly arranged on the telescopic end, the symmetrical telescopic adjustment module also includes a telescopic adjustment button, the telescopic adjustment button is arranged at the upper end of the waist support structure module, the waist support structure module has a battery compartment for installing a battery unit, a battery compartment opening is arranged at the lower end of the waist support structure module, the battery unit is loaded into the battery compartment from the bottom of the waist support structure module, and a battery compartment cover is arranged on the battery compartment opening.

[0014] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, a rubber plug is filled in the hollow tubular rod structure to prevent water vapor from entering; and the main controller is an integrally sealed structure.

[0015] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, two telescopic adjustment buttons are provided, and the two telescopic adjustment buttons are respectively provided on both sides of the upper end of the waist support structure module.

[0016] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, the binding system includes a waist strap, which includes an outer waist strap and an inner waist strap. The outer waist strap is made of a hard material and is used to stabilize the waist support structure module. The inner waist strap is a flexible strap made of nylon cloth and filled with a foam sponge pad. The inner waist strap is installed on the inner side of the outer waist strap through Velcro. The inner waist strap is in direct contact with the wearer's waist and is used to improve the wearing comfort.

[0017] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, the binding system includes leg straps, and the leg straps include leg strap plates and leg strap plate buckles. The leg strap plates and leg strap plate buckles are plugged into each other for fixation and can be pressed and pulled out for release. The leg strap plates and leg strap plate buckles are both made of plastic material. The leg strap plates and the leg strap plate buckles each have an identical strip opening structure for fixing the leg straps. The leg straps are composed of nylon fabric belts, sponge pads and Velcro, which can better restrain the wearer's thighs.

[0018] Preferably, in the moving-assisting exoskeleton robot provided by the present invention, the leg rod module includes a leg rod, a first connecting end, and a second connecting end. The second connecting end is hinged to the power output end of the joint driving module through a pin shaft to form a passive rotational degree of freedom, which is used to provide the wearer with freedom of movement when the thigh performs abduction and adduction movements. The first connecting end is hinged to the leg strap plate of the binding system through a pin shaft to form a passive rotational degree of freedom, which is used to compensate for the discomfort caused by the misalignment between the rotation center of the power output end and the projection position of the human hip joint in the sagittal plane.

[0019] (III) Beneficial effects

[0020] From the above, it can be seen that the design scheme proposed in the embodiment of the present invention can not only simplify the overall structure by integrating parts into a whole, thereby reducing the assembly process, but also reduce the structural complexity and improve the stability of the body. By applying a symmetrical telescopic adjustment module, the body can provide better wearability and comfort for people of different body shapes.

[0021] Through the above structural design, the provided walking assistance exoskeleton robot has the advantages of being comfortable and convenient to wear, easy to operate, high overall protection capability, and strong assistance capability compared to existing light walking assistance exoskeleton robots. In addition, the present invention is small in size and light in weight, making it highly competitive in the market among similar exoskeleton robot products. In addition, the present invention designs the binding system to enhance the comfort of wearing and exercising. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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. Among them:

[0023] Figure 1 This is a schematic diagram of the back structure of the entire moving-assisting exoskeleton robot in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the overall side structure of the moving-assisting exoskeleton robot in an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the overall front structure of the moving-assisting exoskeleton robot in an embodiment of the present invention;

[0026] Figure 4 This is a schematic structural diagram of a waist support structure module in an embodiment of the present invention;

[0027] Figure 5 Schematic diagram of the structure of the waist bar module in an embodiment of the present invention;

[0028] Figure 6 It is a schematic diagram of the exploded structure of the silicone button and the button pressing sheet and other parts in the waist bar module in the embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the overall structure of the waist bar module assembly in an embodiment of the present invention;

[0030] Figure 8 This is a structural diagram of a joint driving module in an embodiment of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of a leg rod module in an embodiment of the present invention;

[0032] Fig.10 It is a schematic diagram of the partial structure of the leg rod module in an embodiment of the present invention;

[0033] Fig.11 is a schematic diagram of a waist strap according to an embodiment of the present invention;

[0034] Fig.12 is a schematic diagram of a leg strap according to an embodiment of the present invention;

[0035] Fig.13 This is a schematic diagram of the leg strap after the angle is changed in the embodiment of the present invention;

[0036] Fig.14 This is a schematic diagram of the effect of a wearer wearing the device and walking in an embodiment of the present invention;

[0037] Fig.15 This is a schematic diagram of the overall appearance structure of the joint driving module in an embodiment of the present invention;

[0038] Fig.16 It is a schematic diagram of the layout of the motor assembly, the actuator assembly and the joint frame in an embodiment of the present invention;

[0039] Fig.17 This is a cross-sectional view of the internal structure of the joint driving module in an embodiment of the present invention;

[0040] Fig.18 A schematic diagram of a gear sealing groove and a housing mounting sealing groove structure in an embodiment of the present invention;

[0041] Fig.19 It is a cross-sectional view of the joint driving module connected to the external structure (lumbar bar) in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present invention and does not limit the present invention. In fact, it will be clear to those skilled in the art that modifications and variations may be made in the present invention without departing from the scope or spirit of the present invention. For example, a feature shown or described as a part of one embodiment may be used in another embodiment to produce yet another embodiment. Therefore, it is desired that the present invention encompasses such modifications and variations within the scope of the appended claims and their equivalents.

[0043] In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and do not require that the present invention must be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention. The terms "connected" and "connected" used in the present invention should be understood in a broad sense. For example, they can be fixed connections or detachable connections; they can be directly connected or indirectly connected through intermediate components. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0044] The main purpose of the present invention is to provide a walking-assisting exoskeleton robot. The walking-assisting exoskeleton robot provided by the present invention has the advantages of small size, light weight, beautiful appearance, reasonable and comfortable binding design, and strong protection ability.

[0045] In order to achieve the above object, the present invention provides the following technical solutions:

[0046] The present invention provides a walking-assisting exoskeleton robot, hereinafter referred to as a robot, which includes a joint driving module 3, a waist bar module 2, a waist support structure module 1, a leg bar module 4 and a binding system 5.

[0047] In the present invention, the binding system 5 is arranged on the waist support structure module 1, and is used to stably wear the waist support structure module 1 on the wearer's body and to achieve fixation with the wearer's legs. In the present invention, the waist support structure module 1 is the basic structure. The waist support structure module 1 is worn on the waist of the human body relative to the human body. The other structures constituting the present invention are mainly installed through the waist support structure module 1. The installation can be direct installation, that is, directly connected to the waist support structure module 1, or indirectly connected to the waist support structure module 1 through other structures, such as the binding system 5 in the present invention. The binding system 5 is installed on the waist support structure module 1, but the binding system 5 will also maintain a connection relationship with other structures. Through the design of the binding system 5, the present invention uses three fixations of shoulder and back fixation, waist fixation and leg fixation to stabilize the waist support structure on the wearer's body. The waist bar module 2 is arranged on the waist support structure module 1 and the joint drive module 3 is fixedly arranged on the waist bar module 2. The waist bar module 2 is used to provide an installation space for the joint drive module 3. The joint drive module 3 can be fixedly installed on the waist bar module 2, and the waist bar module 2 is fixedly arranged on the waist support structure module 1, so that the joint drive module 3 can be fixed relative to the upper torso of the human body, and the power assist can be output through the joint drive module 3. The leg bar module 4 is connected to the power end of the joint drive module 3, and the joint drive module 3 can output the travel assist and transmit the assist to the legs of the wearer through the leg bar module 4. In the present invention, the lumbar module 2 includes a lumbar module assembly, which is provided with two groups and is symmetrically arranged relative to the lumbar support structure module 1. The lumbar module assembly includes a lumbar part (i.e., the lumbar 21), and the lumbar part includes a hollow tubular rod structure 21a designed according to the shape of the human waist, a joint driving module connection structure 21b for fixing the joint driving module 3, and a joint output baffle structure 21c. The joint output baffle structure 21c is arranged corresponding to the power end of the joint driving module 3 and is used to isolate the power end from the wearer. The manufacturing material of the lumbar part (i.e., the lumbar 21) is carbon fiber or metal material, and the lumbar part (i.e., the lumbar 21) is an integrated structure. The waist bar part (i.e. waist bar 21) is a hollow, tubular structure with a certain curve, which is made of lightweight materials with high structural strength, such as carbon fiber or aluminum alloy. The waist bar part (i.e. waist bar 21) is fixedly installed on the waist support structure module 1. In the actual wearing state, the waist bar part (i.e. waist bar 21) is tilted. According to ergonomics, the waist bar part (i.e. waist bar 21) can be designed with reference to the waist contour shape of the human body so that it can match the waist curve of most people. The joint drive module 3 is installed on the waist bar module 2 and is used as an actuator to provide a motion assistance effect for the wearer.The joint drive module 3 is internally provided with a multi-stage gear reduction mechanism, which can convert the small torque output by the motor into a larger torque output by the joint drive module 3 and act on the wearer's thigh through the leg rod module 4 to achieve a power-assisting effect. As a relatively independent structural component, the joint drive module 3 includes an actuator component 33 (the specific structure is not shown in the drawings) and a motor component 34 (the specific structure is not shown in the drawings). In addition, from the assembly level, the joint drive module 3 has a fixed end 31 and an output end 32, wherein the fixed end 31 includes a fixed installation plane 31b and a sealing groove 31a.

[0048] The waist module 2 is divided into two groups of components that are symmetrical on both sides, namely, waist module components. In the wearing state, the waist module components are symmetrically arranged on both sides of the human hip joint, and each group of waist module components includes waist parts (i.e. waist 21), on which structures such as silicone buttons 22, button PCB23, button threaded frame 24, button pressing plate 25 and joint sealing pressing plate 26 are installed. In the present invention, the joint drive module 3 is a power structure driven by electricity and can output a large torque, which includes a motor component 34 and a multi-stage reduction gear structure. Specifically, the joint drive module 3 includes a power output end (i.e., output end 32), which is power-connected to the multi-stage reduction gear structure (the motor drives the power output end to move through the multi-stage reduction gear structure), and the power output end can output a large torque to the outside. The present invention adopts a key control method for controlling the joint drive module 3, which specifically includes a control key (i.e., the above-mentioned silicone key 22) for controlling the operation of the joint drive module 3, a key PCB 23 is arranged below the control key, and the key PCB 23 issues a corresponding operation instruction to the joint drive module 3 after receiving the pressure of the control key; a mounting hole for installing the control key is arranged on the joint drive module connection structure 21b, and a waterproof edge structure is arranged at one end of the inner side of the control key, and the key PCB 23 presses the waterproof edge structure of the control key onto the inner wall of the joint drive module connection structure 21b through the key pressing sheet 25. Further, a key thread frame 24 is fixedly arranged on the inner wall of the joint drive module connection structure 21b, and the control key and the key PCB 23 are pressed onto the key thread frame 24 through the key pressing sheet 25, and the key pressing sheet 25 is bolted to the key thread frame 24.

[0049] There are two groups of waist bar module assemblies, and the waist bars 21 in the two groups of waist bar module assemblies are bilaterally symmetrical structures. The structural features of the waist bar 21 mainly include three parts: one is the hollow tubular rod structure 21a, the second is the joint drive module connection structure 21b, and the third is the joint output baffle structure 21c. In addition to being used for internal wiring, the hollow tubular rod structure 21a is also responsible for connecting with the waist support structure module 1, and the joint drive module connection structure 21b is responsible for connecting with the joint drive module 3. The joint output baffle structure 21c is used to isolate the joint drive module 3 from the human body to protect the wearer's body from accidental injuries caused by the movement of the joint output module output end 32. In addition, there is a strap connection structure on the joint output baffle structure 21c, which is used to provide a fixed point for the binding system 5. Two circular openings are provided on the joint drive module connection structure 21b for installing the silicone button 22. There are two groups of silicone buttons 22, and the structures of the two groups of silicone buttons 22 are exactly the same, and they are installed on the two groups of waist bar module assemblies respectively. Each group of silicone buttons 22 (control buttons arranged on the left and right) has two trigger keycaps. The silicone buttons 22 installed on the left lumbar module 2 have two trigger keycaps marked with "+" and "-", which respectively represent an increase in the power assist level and a decrease in the power assist level. The silicone buttons 22 installed on the right lumbar module 2 have two trigger keycaps marked with "power on / off symbol" and "M", which respectively represent the power on / off and power assist mode switching. The marking patterns on the trigger keycaps of the two groups of silicone buttons 22 are all made of translucent silicone material, and the rest are made of black opaque silicone material.

[0050] There are also two groups of button PCB23, which are installed in two groups of waist module assemblies respectively. A trigger switch is set on each group of button PCB23. Except for the trigger switch used for power on and off operation, which adopts a self-locking switch, the others adopt micro switches. An LED light is set next to each trigger switch. Whenever each trigger keycap is pressed, the control program will make the LED light next to the corresponding trigger switch light up, and the color of the light can be controlled. The light emitted can be dissipated through the translucent silicone material on the trigger keycap to the outside of the silicone key 22 and be recognized by the operator, which greatly enhances the human-computer interactivity.

[0051] In order to meet the requirements of high protection capability of the entire exoskeleton robot, the two groups of silicone buttons 22 need to have a certain dust and water resistance, and the protection capability is achieved in the following ways: first, the silicone buttons 22 are designed to have a waterproof edge structure; secondly, the waterproof edge of the silicone buttons 22 is pressed and installed on the inner plane of the two circular openings in the joint drive module connection structure 21b through the button pressing sheet 25, and the pressing method is to tighten the button pressing sheet 25 with screws.

[0052] The waist bar 21 can be made of carbon fiber or 3D printing aluminum alloy technology. No matter which processing technology is used, in order to make the inner plane of the two circular openings have a threaded hole structure that can install the button pressure plate 25, a small piece of threaded metal sheet is embedded in the inner side of the joint drive module connection structure 21b of each group of waist bars 21. The metal sheet is the button thread frame 24. The button thread frame 24 is fixed on the waist bar 21 (the joint drive module connection structure 21b is provided with a groove structure, and the button thread frame 24 is fixedly arranged on the inner side of the groove structure). If the waist bar 21 is processed by a carbon fiber mold, the button thread frame 24 is embedded and molded on the waist bar 21 through the mold, and is integrated with the waist bar 21. If it is processed by a 3D printing aluminum alloy process, the thread frame is bonded to the inner surface of the joint drive module connection structure 21b by a high-strength structural adhesive. The joint sealing plate 26 is fixed on the lumbar bar 21 in the same way. When the joint driving module 3 is fixedly mounted on the joint driving module connecting structure 21b of the lumbar bar 21, the joint sealing plate 26 can, with the help of its own planar structure, fit with the fixed mounting plane 31b with a circle of sealing groove 31a structure correspondingly designed on the joint driving module 3 at the mounting joint and press the sealing ring arranged in the groove, thereby achieving the purpose of sealing the mounting surface.

[0053] The waist support structure module 1 includes an inner shell structure 11 and an outer shell structure 12, and the inner shell structure 11 and the outer shell structure 12 are sealed and fastened together. A battery unit 14, a main controller 15 and a symmetrical telescopic adjustment module 16 are arranged in the waist support structure module 1. The symmetrical telescopic adjustment module 16 includes an adjustable telescopic end, and the waist bar module assembly is fixedly arranged on the telescopic end. The symmetrical telescopic adjustment module 16 also includes a telescopic adjustment button, which is arranged at the upper end of the waist support structure module 1. The waist support structure module 1 has a battery compartment for installing the battery unit 14, and a battery compartment opening is arranged at the lower end of the waist support structure module 1. The battery unit 14 is loaded into the battery compartment from the bottom of the waist support structure module 1, and a battery compartment cover 13 is arranged on the battery compartment opening.

[0054] Specifically, the lumbar support structure module 1 includes an inner shell structure 11, an outer shell structure 12, a battery compartment cover 13, a battery unit 14, a main controller 15, a symmetrical telescopic adjustment module 16, and external buttons (including a left external button 17a and a right external button 17b). The inner shell structure 11 and the outer shell structure 12 are made of plastic material, and the inner shell structure 11 and the outer shell structure 12 are installed and fixed together to accommodate the internal battery unit 14, the symmetrical telescopic adjustment module 16, and the main controller 15. The battery compartment cover 13 is set at the bottom of the lumbar support structure module 1, and the battery unit 14 can be quickly disassembled and replaced by plugging and unplugging.

[0055] The symmetrical telescopic adjustment module 16 is located in the upper part of the waist support structure module 1. The module is respectively connected to the hollow tubular rod structure parts of the two groups of waist bar module assemblies arranged symmetrically on the left and right, and can complete the symmetrical manual pulling and telescopic adjustment and locking of the two groups of waist bar module assemblies. The symmetrical telescopic adjustment module 16 in the present invention adopts the structure provided by the invention patent application with publication number CN116810764A. Based on the structure disclosed in the patent, the embodiment of the present invention has been further improved. By setting two symmetrical external buttons on the upper outer surface of the waist support structure module 1, the operation mode of the "tubular rod symmetrical telescopic adjustment mechanism based on multi-link" is changed from pressing a "button" described in the cited patent to pressing two "external buttons", which can make the operation adjustment more convenient. In the present invention, the specific structure of the symmetrical telescopic adjustment module 16 is as follows, including: an adjustment module shell structure (the adjustment module shell structure is actually composed of an inner shell structure 11 and an outer shell structure 12, which is a part of the combined structure of the inner shell structure 11 and the outer shell structure 12, and the shell formed by the inner shell structure 11 and the outer shell structure 12, and the upper part of the internal space of the shell is used to accommodate the symmetrical telescopic adjustment module), an adjustment module telescopic structure, an adjustment module adjustment structure and an adjustment module switch lock structure. Among them: the adjustment module shell structure is used to accommodate the adjustment module telescopic structure. The adjustment module telescopic structure includes a substrate (the main structure of the adjustment module telescopic structure), a pipe rod holding assembly (used to maintain the stability of the movement of the tubular rod), a tubular rod, a guide rail slider assembly and a pipe rod slider connector. The substrate is fixed in the adjustment module shell structure (in the internal space formed by the inner shell structure 11 and the outer shell structure 12). There are two groups of pipe rod holding assemblies, and the two groups of pipe rod holding assemblies are arranged along the first direction and fixed to the substrate. The guide rail slider assembly extends in a first direction, and one end is fixed to one group of pipe rod holding assemblies, and the other end is fixed to another group of pipe rod holding assemblies. The tubular rods correspond to the pipe rod holding assemblies one by one, and between each tubular rod and the corresponding pipe rod holding assembly, the tubular rod can be slidably installed in the pipe rod holding assembly along the first direction, and the first end extends between the two pipe rod holding assemblies, and the first end of the tubular rod is slidably connected to the guide rail slider assembly through the pipe rod slider connector. The adjustment module adjustment structure is connected to the adjustment module telescopic structure, and is used to keep the movements of the two tubular rods of the adjustment module telescopic structure symmetrical and consistent. The adjustment module switch lock structure is installed inside the adjustment module housing structure, and is used to control the locking or opening of the adjustment module adjustment structure. In the present invention, the adjustment module switch lock structure can be provided with a button on the adjustment module housing structure, which is used to control the movement of the adjustment module switch lock structure after pressing, and the button is provided at the middle position of the upper side of the adjustment module housing structure.Alternatively, the switch lock structure of the adjustment module can be provided with two buttons on the housing structure of the adjustment module. The two buttons can be pressed separately or simultaneously to control the action of the switch lock structure of the adjustment module after being pressed. When two buttons are provided, the two buttons are provided on both sides of the upper side of the housing structure of the adjustment module. When in use, the wearer can release the limit of the adjustment structure of the adjustment module by operating the switch lock structure of the adjustment module. At this time, the wearer can pull out or press in the tubular rod at one end to make the tubular rod slide in the tubular rod holding assembly. At the same time, since the two tubular rods are connected through the adjustment structure of the adjustment module, when the tubular rod at one end slides, it will simultaneously drive the tubular rod at the other end to move synchronously, thereby completing the telescopic adjustment of the tubular rod. At this time, the wearer releases the switch lock module to limit the adjustment structure of the adjustment module again. The tubular rods are restricted by the rod holding assembly, so that the two groups of tubular rods can be supported during use, so that they can be stably and reliably extended and adjusted, and the adjustment module adjustment structure can ensure that when the tubular rod at one end is extended and retracted, the tubular rod at the other end can be driven to extend and retract at the same time. Finally, the wearer only needs to operate the adjustment module switch lock structure to quickly lock and release the adjustment module adjustment structure, which is convenient to operate.

[0056] The present invention can also set a Type-C interface (not shown) on the inner shell structure 11 for electronically debugging the exoskeleton robot, and also set a charging port (not shown) for charging the exoskeleton robot. Both external interfaces have been well protected and are provided with rubber plugs to meet the requirements of high-level shell protection capabilities. In addition, in order to improve human-computer interaction, a power display light group (not shown) is also designed on the outer surface of the inner shell structure 11, which can cooperate with the internal power management circuit to realize real-time display of the robot's power.

[0057] The main controller 15 is fixedly installed in the internal cavity formed by the inner shell structure 11 and the outer shell structure 12, and is located between the battery unit 14 and the symmetrical telescopic adjustment module 16. The electric energy stored in the battery unit 14 is transmitted to the main controller 15 through the blade-type battery connector and supplies power to the joint drive module 3 through the main controller 15. The main controller 15 adopts an overall sealing process to achieve the high protection capability requirements of the whole machine.

[0058] The leg rod module 4 has two groups that are symmetrically arranged on the left and right. Each group of leg rod modules 4 includes a leg rod 41, a leg strap plate 42 and a leg strap plate buckle 43. The leg rod 41 also has two connecting ends, namely a first connecting end (numbered 41a) and a second connecting end (numbered 41b), which are respectively used to connect the leg strap plate 42 and the joint drive module 3. The leg rod 41 is made of 3D printed aluminum alloy or carbon fiber material. Since the first connecting end (numbered 41a) and the second connecting end (numbered 41b) each have a pin hole structure, when 3D printed aluminum alloy material is used for manufacturing, the two pin hole structures need to be refined with the help of a machine tool after printing and removing the support. If carbon fiber material is used for manufacturing, a piece of aluminum alloy material is embedded in each of the two connecting ends during mold opening, and then two pin holes are processed on the aluminum alloy material. Fig.11 and Fig.12 As shown, in the present invention, the leg rod 41 has a certain distortion in space (i.e., along the length direction of the push rod 41) (i.e., a spatial curve shape structure). The design of the leg rod 41 is based on ergonomics, and its purpose is to make the leg rod 41 match the contour of the human thigh as much as possible, thereby improving the fit between the leg rod 41 and the human thigh.

[0059] The binding system 5 includes a leg strap 53, a waist strap 52 and a shoulder strap 51. The leg strap 53 is used to bind the wearer's thigh, and the leg strap 53 is fixed to the leg rod module 4. The waist strap 52 is used to bind the wearer's waist, and the shoulder strap 51 functions similarly to a common backpack strap. The waist strap 52 is used to carry the exoskeleton robot on the wearer's body. Through the joint binding action of the leg strap 53, the waist strap 52 and the shoulder strap 51, the exoskeleton robot can be better bound to the wearer, so as to further implement the motion coordination assistance effect. The leg strap plate 42 and the leg strap plate buckle 43 are both made of plastic material, similar to the common backpack strap buckle, the leg strap plate buckle 43 can be fixedly connected to the leg strap plate 42 by inserting and locking, and can also be disassembled by pressing and pulling out. The leg strap plate 42 and the leg strap plate buckle 43 are used to fix and install the leg strap 53. By designing it to be pluggable, the exoskeleton robot can be quickly put on and taken off at the leg strap 53. The leg strap 53 is composed of a nylon fabric belt, a sponge pad 533 and Velcro, which can better restrain the wearer's thigh. The leg strap 53 has a fixed end and an adjustable end. The fixed end is directly passed through a strip hole and then fixed by Velcro. When worn, the adjustable end can be passed through another strip hole according to the wearer's thigh circumference, and then tightened and fixed by adhesive.

[0060] When the user wears the exoskeleton robot and moves, the swing of the exoskeleton robot leg rod 41 and the swing of the user's thigh cannot be completely consistent, resulting in a relative movement trend between the leg strap 53 and the user's thigh. In order to make the leg strap plate 42 more effectively transmit the power of the joint drive module 3 and apply it to the human thigh, and also for the sense of consistency of human-machine collaborative movement, a rotational freedom is designed at the connection between the first connection end (numbered 41a) of the leg rod 41 and the leg strap plate 42. The pin 45 is inserted into the corresponding first connection end (numbered 41a) and the pin hole on the leg strap plate 42 to achieve hinge connection and form this freedom. The pin 45 cooperates with the shaft elastic retaining ring 44 to achieve axial locking. The second connection end (numbered 41b) of the leg rod 41 is also hinged to the output end 32 in the joint drive module 3 by the pin 45 hinged to form a rotational freedom. The setting of this freedom can meet the adduction and abduction movement of the thigh when the user wears the exoskeleton, so that the human-machine collaborative movement is more comfortable.

[0061] The waist strap 52 is designed in a binding method similar to that of a tactical waistband. The waist strap 52 includes an outer waist strap 522 and an inner waist strap 521. The outer waist strap 522 is a hard strap used to stabilize the exoskeleton body so that the exoskeleton can be better bound to the human waist and maintain stability when worn and exercised. A PP plastic plate is embedded inside the outer waist strap 522 for shaping. At the same time, a buckle is provided on the outer waist strap 522 to overlap and lock the straps on both sides together and bind them to the human waist when worn. The inner waist strap 521 is a flexible strap made of nylon fabric and filled with foam sponge pads. The inner waist strap 521 directly contacts the human waist when the exoskeleton robot is worn and used to provide a better wearing comfort for the human body. There are three fixing positions on the outer waist strap 522, namely the left joint fixing area 522a, the right joint fixing area 522b and the waist fixing area 522c. The left joint fixing area 522a and the right joint fixing area 522b are respectively fixed to the strap connecting structure on the waist bar 21 by screws, and the waist fixing area 522c is fixed to the inner shell structure 11 by screws. By fixing the above three positions, the outer waist strap 522 can be firmly fixed on the exoskeleton robot, thereby ensuring the coordinated movement stability when the user wears it.

[0062] The shoulder strap 51 is made of nylon fabric and is connected to the outer waist strap 522 through three connection points. The connection is detachable, two of which are fixed at both sides of the outer waist strap 522, and the other is fixed at the middle of the back of the waist of the outer waist strap 522. The shoulder strap 51 can play a role similar to a backpack strap, and is used to carry the entire exoskeleton robot on the shoulders of the human body, so that the weight of the exoskeleton is distributed to the shoulders of the human body. If there is no shoulder strap 51, the weight of the entire machine will be transferred to the human body by the waist strap 52. Since the exoskeleton robot of the embodiment of the present invention is relatively light, the user can decide whether to install the shoulder strap 51 based on the wearing experience.

[0063] It can be seen from the analysis that the present invention discloses an embodiment of a walking-assisting exoskeleton robot, which achieves the following technical effects:

[0064] (1) The present invention designs a walking-assisting exoskeleton robot. Compared with existing light-duty walking-assisting exoskeleton robots, the present invention has the advantages of being comfortable and convenient to wear, easy to operate, having high protection capability of the whole machine, and having strong assisting capability. In addition, the overall structure of the present invention is small in size and light in weight, which makes it have strong market competitiveness among similar exoskeleton robot products.

[0065] (2) The present invention designs a walking assistance exoskeleton robot. The wearing comfort and convenience of the present invention are mainly reflected in the design scheme of the whole machine binding system, the design scheme of the leg rod module and the symmetrical telescopic adjustment module used in the waist support structure module. The design scheme of the whole machine binding system is the final scheme summarized after multiple rounds of iterative design and improvement. The wearing process can be described by a simple "one back and two buckles", where "one back" refers to carrying the exoskeleton shoulder strap on the shoulder in the way of a backpack, and "two buckles" refers to inserting and overlapping the buckles of the waist straps on the one hand, and inserting and connecting the buckles of the leg straps on the other hand, so as to realize the binding of the waist and legs of the wearer, thereby completing the convenient wearing. The two rotational degrees of freedom set at the first connection end and the second connection end of the leg rod in the leg rod module not only provide the wearer's thigh with a range of activities for inward and outward abduction, but also provide the thigh with a margin of activity during flexion and extension, so that the sense of consistency of human-machine coordinated movement is enhanced, and the comfort of wearing movement is further enhanced. In addition, by applying a symmetrical telescopic adjustment module, the body can provide better wear adaptability and comfort for people of different body shapes.

[0066] (3) The present invention designs a walking-assisting exoskeleton robot, which has a pair of left-right symmetrical waist bar module assemblies. The waist bar includes a hollow tubular rod structure, a joint drive module connection structure and a joint drive module baffle structure. The waist bar with the above three structural components can be integrally processed by a carbon fiber mold or a 3D aluminum alloy printing process. The design scheme proposed in the embodiment of the present invention can not only simplify the overall structure by integrating parts into a whole and thus reduce the assembly process, but also reduce the structural complexity and improve the stability of the body.

[0067] (4) The present invention designs a walking-assisting exoskeleton robot, which has a group of symmetrically arranged waist bar module components and joint drive modules. In order to ensure the protection performance of the whole machine from the design perspective, the present invention not only designs the waist bar to have a hollow internal wiring structure, but also realizes static sealing at the connection between the waist bar and the joint drive module by designing a joint sealing pressing plate installed on the waist bar to press the sealing groove structure designed on the fixed installation plane of the joint drive module.

[0068] (5) The present invention designs a walking-assisting exoskeleton robot, and two symmetrically arranged, integrally manufactured waist parts are each designed with two circular openings for installing silicone buttons. In order to be consistent with the goal of achieving a higher protection level for the whole machine, a corresponding protection scheme design is also required here. To solve this problem, a waterproof edge structure is first designed on the silicone button. This skirt structure with a circle of protrusions can achieve a protective effect by pressing the outer skirt. The silicone button is installed from the inside to the outside on the inner wall of the cavity where the driving module connection structure of the waist is located. To achieve the pressing operation, the simplest way is to design a button pressing sheet and tighten it on the inner wall through threads. However, since the waist parts are manufactured by carbon fiber molds or 3D aluminum alloy printing, it is impossible to directly process threaded holes on the inner wall. Therefore, a button thread frame with a thread embedded in it is used to solve this problem. Therefore, the silicone button and the button PCB can be tightened on the button thread frame through the button pressing sheet using screws, so that the outer waterproof edge of the silicone button is pressed on the inner wall.

[0069] (6) The present invention designs a walking assistance exoskeleton robot. In order to meet the requirements of high protection capability of the whole machine, after solving the protection problems of the joint drive module and the waist bar module, the protection problem of the waist support structure module also needs to be considered. To solve this problem, a design scheme of internal and external double protection is proposed in the waist support structure module. The external protection refers to the design of the shell to make the shell joints as close as possible while avoiding the design of too many opening structures. In addition, the disassembly scheme of the battery unit adopts the method of installation and disassembly from bottom to top. The battery compartment is set at the bottom, and the blade-type battery connector set at the top of the battery unit is used to supply power to the main controller, which avoids the entry of water and dust to a certain extent. In addition, at the internal connection between the waist bar and the waist support structure module, the outlet end of the hollow tubular structure of the waist bar is filled with a rubber plug, which effectively avoids the water vapor inside the waist support structure module from entering the waist bar and causing water to enter the joint drive module. Internal protection refers to the treatment by sealing the main controller as a whole and coating each internal circuit board with light-curing adhesive. Before treatment, all internal circuit board connections are designed without plugs and replaced with direct welding connections.

[0070] (7) The present invention designs a walking-assisting exoskeleton robot. In order to meet the wearing needs of people of different fat and thin sizes, the waist width is required to be adjustable. Currently, similar exoskeleton robot products with adjustable waist width are available on the market, but there is a problem of complicated operation. Not only is the adjustment process time-consuming and labor-intensive, but it is also impossible to achieve symmetry and consistency in the left and right adjustment dimensions. To address the above problems, the embodiment of the present invention adopts a symmetrical telescopic adjustment module. This structure can complete the symmetrical manual pull-out telescopic adjustment and locking of the two sets of waist modules. By adopting this solution, not only can the waist width adjustment operation be simplified, but the left and right adjustment dimensions can also be consistent.

[0071] (8) The present invention designs a walking-assisting exoskeleton robot. In order to meet the requirements of reasonable and comfortable binding design and good overall stability when the exoskeleton robot is worn for exercise, the waist strap is designed to have two parts, an outer waist strap and an inner waist strap. The outer waist strap is made of hard material and can effectively stabilize the body, while the inner waist strap is a flexible strap made of nylon cloth and filled with foam sponge pad. The inner waist strap is installed on the inner side of the outer waist strap through Velcro, and is used to directly contact the wearer's waist, which can bring better wearing comfort.

[0072] (9) The present invention designs a walking-assisting exoskeleton robot. To achieve the purpose of quick donning and doffing, the specific binding method of the leg straps is designed as a scheme in which the leg strap plate and the leg strap plate buckle are plugged in and fixed to each other and pressed and pulled out to release. The leg strap plate and the leg strap plate buckle are both made of plastic material. The leg strap plate and the leg strap plate buckle each have an identical strip opening structure for fixing the leg straps. The leg straps are composed of nylon fabric belts, sponge pads and Velcro, which can better restrain the wearer's thighs. The leg straps have a fixed end and an adjustable end. The fixed end is directly passed through a strip hole and then fixed by Velcro. The adjustable end can be passed through another strip hole according to the wearer's thigh circumference when worn, and then tightened and fixed by Velcro. When worn, the fixed end and the adjustment end are fixed to the leg strap plate and the leg strap plate buckle respectively. The leg strap plate and the leg strap plate buckle can be plugged and fixed to each other first, and then the adjustment end of the leg strap is pulled to tightly bind the thigh and then bonded and fixed.

[0073] (10) The present invention designs a walking-assisting exoskeleton robot. In order to meet the requirements of small size, light weight and high protection capability of the whole machine, the joint drive module, as the most important driving actuator, adopts an overall design scheme different from other common exoskeleton products. For the specific scheme, please refer to the invention patent application with publication number CN118721158A. By adopting this scheme, a reasonable layout design of the motor component (the specific structure is not shown), the actuator component (the specific structure is not shown) and the drive controller is achieved in a limited space, so that the structure is compact and has performance characteristics that other joint drive component products do not have, such as light weight and high protection capability. In addition, the module also integrates a programmable annular color light strip to enhance human-computer interactivity, which is also an advantage that most exoskeleton joint drive component products do not have.

[0074] like Figure 1-3 As shown, an embodiment of the present invention provides a walking-assisting exoskeleton robot, comprising: a waist support structure module 1, a waist bar module 2, a joint drive module 3, a leg bar module 4 and a binding system 5.

[0075] The binding system 5 includes shoulder straps 51, waist straps 52 and leg straps 53. The shoulder straps 51, waist straps 52 and leg straps 53 are used to fix the present invention at three locations: shoulders, waist and legs of the wearer, thereby improving the wearing stability of the present invention.

[0076] like Figure 4As shown, the waist support structure module 1 includes an inner shell structure 11, an outer shell structure 12, a battery compartment cover 13, a battery unit 14, a main controller 15, a symmetrical telescopic adjustment module 16 and external buttons (left external button 17a, right external button 17b), wherein the inner shell structure 11 and the outer shell structure 12 are made of plastic material and are fixed together by screws to form an internal cavity for accommodating the symmetrical telescopic adjustment module 16, the battery unit 14 and the main controller 15. The battery unit 14 is a detachable module, which is inserted into the interior of the waist support structure module 1 from bottom to top during installation (after the inner shell structure 11 and the outer shell structure 12 are assembled, a socket is set at the bottom of the shell, and the battery unit 14 is inserted or pulled out from the bottom socket), and the opposite is true during disassembly, thereby realizing the battery replacement operation, and the battery compartment cover 13 is used to seal and protect the disassembly port after installation.

[0077] like Figure 1-3 and Figure 5 As shown, an embodiment of the present invention provides a walking-assisting exoskeleton robot, including a lumbar module 2, wherein the lumbar module 2 has lumbar module components that are symmetrically arranged on the left and right sides, and the lumbar module components are arranged on both sides of the waist support structure module 1, and are fixedly connected to the internal symmetrical telescopic adjustment module 16, so as to realize the telescopic adjustment function.

[0078] like Figure 8 As shown, the joint driving module 3 includes a fixed end 31 (the fixed end 31 has a sealing groove 31a and a fixed mounting plane 31b), an output end 32, an actuator component 33 (the specific structure is not shown) and a motor component 34 (the specific structure is not shown). The joint driving module 3 has a built-in motor and a reducer, and is the actuator of the exoskeleton robot. It can output torque through the output end 32 and act on the human body to achieve assistance.

[0079] In addition to the above structure, the joint drive module is also integrated with a driver PCB (not shown in the figure) for receiving the command program of the main controller 15 and controlling the operation of the joint drive module 3. The motor assembly 34 is mainly composed of a stator and a rotor.

[0080] Please refer to Figure 8The joint drive module 3 provided in the embodiment of the present invention is adapted to the requirements of small size, light weight and high protection capability of the whole exoskeleton robot. It adopts a joint design scheme different from other exoskeleton robot products. For details, please refer to the invention patent application with publication number CN118721158A (citing another invention patent application submitted, "An electric joint assembly with high protection capability for exoskeleton robot", which should be submitted to the office before this patent). The scheme adopts an inner rotor frameless motor with a reducer system composed of a fixed-axis gear train and a planetary gear train, realizing the reasonable layout design of the motor assembly 34 (specific structure not shown), the actuator assembly 33 (specific structure not shown) and the drive controller (not shown) in a limited space. At the same time, through the design of several mechanical sealing structures, the module as a whole has a higher shell protection level than other joint drive modules for exoskeleton robots. In addition, the module also integrates a programmable annular color light strip to enhance human-computer interactivity. It should be pointed out that the joint drive module design should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. Any exoskeleton robot that adopts the technical solution provided in the invention patent application with publication number CN118721158A cited in the embodiment of the present invention and uses it as a drive module for any joint of the exoskeleton robot (which can be a hip joint, knee joint, shoulder joint, elbow joint, etc.) can be considered to achieve the same technical effect as the embodiment of the present invention in terms of the performance of the joint drive module.

[0081] Specifically, refer to Figure 5 and Figure 6 The waist bar module 2 includes a waist bar 21, a silicone button 22, a button PCB 23, a button threaded frame 24, a button pressing sheet 25 and a joint sealing pressing sheet 26, wherein the waist bar 21 is divided into two parts that are symmetrical on the left and right, and each waist bar 21 part has a hollow tubular rod structure 21a, a joint drive module connection structure 21b and a joint drive module baffle structure 21c. The hollow tubular rod structure 21a is used to meet the internal routing of the exoskeleton robot so that the routing is not exposed. The joint drive module connection structure 21b is used to connect and install the joint drive module 3, and the joint drive module baffle structure 21c is used to separate the output end 32 of the joint drive module 3 from the human hip, so that the output end 32 will not collide or squeeze with the human body when it is working normally and rotating rapidly, thereby causing harm to the human body, thereby playing a protective role for the human body.

[0082] Please refer to Figure 6The waist bar module 2 includes a waist bar 21, which has a hollow tubular rod structure 21a, a joint drive module connection structure 21b and a joint drive module baffle structure 21c. The waist bar 21 as a whole can be integrally processed by a carbon fiber mold or a 3D aluminum alloy printing process (the above-mentioned integrated processing technology adopted by the present invention has been verified by small-batch trial production, and there are waist bar parts for exoskeleton robots with similar structures and corresponding functions on the market, but there is no precedent for designing the three structural parts on the same waist bar part and adopting an integrated processing scheme). It should also be pointed out that the structural form of the waist bar 21 should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. The specific shapes and sizes of the three functional structures contained therein can have a variety of design options. For example, the cross-section of the hollow tubular rod structure 21a can be circular, square or rectangular, etc., and the joint drive module baffle structure 21c can also be circular, elliptical or square, etc. No matter what shape or size is used, as long as the above three functional structures are designed and processed as an integrated whole, the design scheme that simplifies the overall structure and reduces the assembly process by integrating the parts into a whole is applicable to the scope protected by the embodiments of the present invention.

[0083] like Figure 5-7 As shown, the joint drive module 3 is fixedly mounted on the lumbar module 2. Since the motor assembly 34 in the joint drive module 3, the driver PCB (not shown in the figure) and the button PCB 23 on the lumbar module 2 all have electrical cables that need to be laid through the inside of the lumbar 21 to the main controller 15 in the lumbar support structure module 1, in order to meet the requirements of higher shell protection capabilities of the whole machine, corresponding structural designs are performed on the mounting surface: first, a group of mounting joint surfaces are respectively designed on the lumbar module 2 and the drive module 3, namely the outer surface of the joint sealing pressure piece 26 and the fixed mounting plane 31b. During installation, this group of joint surfaces will be compressed as the screws are tightened; secondly, in order to further achieve the sealing effect, a circle of sealing grooves 31a are designed in the compressed joint surfaces by adopting the traditional mechanical static sealing method, and the sealing operation at this joint surface is finally achieved by installing an O-ring in the sealing groove 31a and squeezing it by the joint surface.

[0084] In addition, there are solutions for fixedly connecting the joint drive module and the waist bar and corresponding mature exoskeleton robot products on the market, but there is no precedent for a solution specially designed for improving the protection capability. It should be pointed out that the sealed connection method between the waist bar module 2 and the joint drive module 3 proposed in the embodiment of the present invention should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. For exoskeleton robot products, their joint drive modules can be fixedly connected with any waist bar, leg bar, arm bar, etc. with a hollow structure and internal wiring scheme, and the joint surface can also have any shape. As long as the sealing groove and O-ring are set at the joint surface, the same effect as the embodiment of the present invention can be achieved.

[0085] refer to Figure 5 and Figure 6 Two circular openings are designed on the two waist bars 21 arranged symmetrically on the left and right for installing the silicone button 22. In order to avoid the influence of the opening structure on the protection performance of the whole machine, a protection scheme is also designed here: the design adopts a silicone button 22 with a circle of outer waterproof edge structure and is installed from the inside to the outside on the inner wall of the cavity where the driving module connection structure 21b of the waist bar 21 is located. The protection effect can be achieved by pressing the waterproof edge with a circle of raised structure.

[0086] Specifically, since the lower part of the silicone button 22 is in close contact with the button PCB 23, and the outer contour of the button PCB 23 is designed to be consistent with the contour of the waterproof edge of the silicone button 22, the waterproof edge of the silicone button 22 can be indirectly pressed by evenly pressing the button PCB 23. Therefore, a button pressing sheet 25 and a button threaded frame 24 are designed. Since it is impossible to directly process the threaded hole on the inner wall of the cavity where the drive module connection structure 21b is located, the solution of embedding the threaded button threaded frame 24 on the inner wall of the cavity is adopted. If the waist bar 21 is processed by 3D aluminum alloy printing, the embedded fixing method can be selected by gluing. If carbon fiber processing is used, the button threaded frame 24 can be molded together with the inner wall of the cavity through a mold. Further, by adopting the above-mentioned structural scheme, the silicone button 22 and the button PCB 23 can be tightened on the button threaded frame 24 through the button pressing sheet 25 by screws, so that the outer ring waterproof edge of the silicone button 22 is pressed on the inner wall, thereby achieving a protective effect. It is a common design method to set buttons on the body of an exoskeleton robot, but most of them do not have protective capabilities. It should be pointed out that the protection and installation method of the above-mentioned buttons should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. The silicone button 22, button PCB23 and button threaded frame 24 can be of any shape. As long as the button pressing sheet 25 is tightened by tightening the screws to press the waterproof edges of the button PCB23 and the silicone button 22, the method is consistent with the technical solution provided in the embodiment of the present invention and can achieve the same effect.

[0087] refer to Figure 1-4 The embodiment of the present invention provides a symmetrical telescopic adjustment module 16, which is installed and arranged inside the waist support structure module 1, and a group of symmetrically designed waist bar modules 2 are fixedly connected on the left and right sides, which can realize symmetrical telescopic adjustment of the left and right waist bars 21, so that the exoskeleton of the embodiment of the present invention can meet the wearing needs of different fat and thin people. The specific structural principle and functional implementation method of the module can refer to the invention patent application with publication number CN116810764A. Further, there is no precedent for the adjustment module with similar structure and function to the symmetrical telescopic adjustment module 16 provided in the embodiment of the present invention being applied to mature products or scientific research prototypes on the market. It should be pointed out that the telescopic adjustment scheme proposed in the embodiment of the present invention should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. Any telescopic adjustment module applied to the exoskeleton robot product and having symmetrical telescopic adjustment of the left and right waist bars and locking and button pressing unlocking functions can be considered to have the same technical effect as the embodiment of the present invention.

[0088] refer to Fig. 9 An embodiment of the present invention provides a moving-assisting exoskeleton robot, wherein the leg rod module 4 includes a leg rod 41, a first connecting end (numbered 41a in the drawing), a second connecting end (numbered 41b in the drawing), a leg strap plate 42, a leg strap plate buckle 43, an elastic retaining ring 44 for the shaft, and a pin 45. The leg rod 41 is manufactured by 3D aluminum alloy metal printing or carbon fiber mold processing technology, and the leg rod 41 has a first connection end (numbered 41a in the figure) and a second connection end (numbered 41b in the figure). The second connection end (numbered 41b in the figure) is hinged together with the output end 32 through a pin shaft to form a passive rotational freedom, which is used to provide the wearer with freedom of movement when the thigh is abducted and adducted, and the first connection end (numbered 41a in the figure) is hinged together with the leg strap plate 42 through a pin shaft 45 and an elastic retaining ring 44 for the shaft to form a passive rotational freedom. This degree of freedom can compensate for the discomfort caused by the misalignment of the rotation center of the output end 32 and the projection position of the human hip joint in the sagittal plane. The leg strap plate buckle 43 is installed and connected to the leg strap plate 42 by inserting and locking and pressing and unlocking and pulling out. The leg strap plate buckle 43 and the leg strap plate 42 are both made of plastic material.

[0089] refer to Fig.12 and Fig.13The leg strap 53 includes a strap fixing end 531, a strap adjusting end 532 and a sponge pad 533. The strap fixing end 531 is sewn and fixed somewhere on the sponge pad 533. The strap adjusting end 532 is the narrower end of the sponge pad 533. The leg strap 53 is actually different parts of a whole. The sponge pad 533 is wider and is used to contact the thigh and provide comfort when binding. The leg strap plate 42 and the leg strap plate buckle 43 are each designed with a same strip opening structure. In order to achieve rapid donning and doffing of the walking-assisting exoskeleton robot in an embodiment of the present invention, the strap fixing end 531 and the strap adjusting end 532 are respectively passed through the strip openings on the leg strap plate 42 and the leg strap plate buckle 43 and are reversely bonded and fixed to themselves through Velcro. Based on the above structural design, when the present invention is worn, the leg strap plate buckle 43 together with the strap adjustment end 532 fixed thereon can be pressed and pulled out first, and then the sponge pad 533 can be passed around the thigh and reinserted into the leg strap plate 42, and finally the strap adjustment end 532 can be adjusted and tightened to achieve the restraint of the thigh. When taking it off, the leg strap plate buckle 43 can be pressed and pulled out from the leg strap plate 42 again to release the restraint of the thigh, thereby achieving the quick on and off function of the leg strap 53. It should be pointed out that the quick on and off solution for the leg strap proposed in the embodiment of the present invention should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. Any binding design scheme applied to the wearable exoskeleton robot and having similar leg strap plates, leg strap plate buckles, strap fixing ends, strap adjustment ends and sponge pads can be considered to have the same technical effect as the embodiment of the present invention.

[0090] refer to Fig.11 The waist strap 52 includes an inner waist strap 521 and an outer waist strap 522. The outer waist strap 522 is made of embedded hard materials, such as PC, PP, and PVC. It is fixed together with the joint drive module 3 (left), the joint drive module (right) and the waist support structure module 1 of the exoskeleton body by screws in the left joint fixing area 522a, the right joint fixing area 522b and the waist fixing area 522c, respectively, so as to achieve better wearing movement stability. The inner waist strap 521 is a flexible strap, which is made of nylon fabric and filled with foam sponge pads. The inner waist strap 521 is installed on the inner side of the outer waist strap 522 through Velcro, which is used to directly contact the wearer's waist, which can bring better wearing comfort. It should be pointed out that the design and fixing method of this waist strap should be understood as an optional embodiment and should not be a limitation of the patent of the present invention. Any waist binding scheme applied to an exoskeleton robot, having a hard outer waist strap and a flexible inner waist strap and fixedly installed on the back of the waist and on both sides of the hip joint can be considered to have the same technical effect as the embodiment of the present invention.

[0091] The structure of the joint driving module in the present invention is as follows, including a housing 35, a joint frame 36, a motor assembly 34, an actuator assembly 33, a light belt assembly and an encoder assembly.

[0092] The housing 35 is sealed and buckled on one side of the joint frame 36. The joint frame 36 is formed with a mounting portion 361 on the side facing the housing 35, and a gear sealing end cover 336 is sealed and buckled on the mounting portion 361. The surface of the joint frame 36 facing away from the housing 35 is formed with a motor mounting portion 367 and an output portion. The motor assembly 34 includes a motor end cover 341. The motor end cover 341 is buckled on the side of the motor mounting portion 367 facing away from the housing 35. The actuator assembly 33 includes an output sealing end cover 3311. The output sealing end cover 3311 is sealed and buckled on the side of the output portion facing away from the housing 35. A first accommodation space is formed between the housing 35 and the gear sealing end cover 336. A second accommodation space is formed between the gear sealing end cover 336 and the joint frame 36. A third accommodation space is formed between the gear sealing end cover 336 and the motor end cover 341. A fourth accommodation space is formed between the gear sealing end cover 336 and the output sealing end cover 3311. The third accommodation space and the fourth accommodation space are connected through the second accommodation space. The motor assembly 34 is arranged in the second accommodating space and the third accommodating space. The actuator assembly 33 is arranged in the second accommodating space and the fourth accommodating space. A first sealing structure is arranged on the joint surface between the joint frame 36 and the housing 35 for sealing the first accommodating space. A second sealing structure is arranged at the joint surface between the mounting portion 361 and the gear sealing end cover 336. A third sealing structure is arranged between the output portion and the output sealing end cover 3311. The second sealing structure is used to cooperate with the third sealing structure to achieve sealing of the second accommodating space and the fourth accommodating space. The joint frame 36 has a fixed mounting plane 363. The fixed mounting plane 363 is used as a joint surface when the electric joint device is connected to the body structure of the exoskeleton robot. A fourth sealing structure is arranged on the fixed mounting plane 363. The fourth sealing structure is used to cooperate with the body structure of the exoskeleton robot to achieve sealing of the third accommodating space.

[0093] Specifically, the housing 35 can be made of plastic material. After the housing 35 and the joint frame 36 are buckled, the two can be fixed by screws. The first sealing structure includes a housing mounting sealing groove 365 and a first sealing ring. The housing mounting sealing groove 365 is provided on the joint surface where the joint frame 36 and the housing 35 contact. The first sealing ring is arranged in the housing mounting sealing groove 365. The first sealing structure is used for sealing between the housing 35 and the joint frame 36. The sealing between the housing 35 and the joint frame 36 is achieved by the first sealing structure, and the sealing protection of the electronic components inside the electric joint assembly is achieved. The motor assembly 34 includes a motor end cover 341, a motor stator 342, a motor shaft 343 and a motor rotor 344. The motor stator 342 and the motor rotor 344 are both arranged in the third accommodation space. The two ends of the motor shaft 343 are respectively located in the second accommodation space and the third accommodation space, and the motor shaft 343 is mounted on the motor end cover 341 and the joint frame 36 through a bearing to achieve axial positioning. The motor stator 342 is fixedly connected to the motor mounting portion 367. The motor rotor 344 is fixedly connected to the motor shaft 343 and is disposed between the motor stators 342 after being connected.

[0094] Specifically, the motor stator 342 is fixed to the joint frame 36 by high-strength structural adhesive, and is assisted by several screws. The motor shaft 343 is also tightly bonded and fixed to the motor rotor 344 by high-strength structural adhesive, and the motor end cover 341 is screwed and matched with two deep groove ball bearings to axially fix the motor shaft 343 to the joint frame 36. The actuator 33 also includes: a first gear 332, a second gear 334, a third gear 337, an inner gear ring 338, a planetary gear 339, a planetary carrier 3310, an output end cover pressure plate 3313 and an output connector 331. The first gear 332, the second gear 334 and a part of the third gear 337 are located in the second accommodation space. Another part of the third gear 337, as well as the inner gear ring 338, the planetary gear 339, and the planetary carrier 3310 are all arranged in the fourth accommodation space. The first gear 332 includes a first gear 332. The second gear 334 includes a second gear 334. The first gear 332, the second gear 334 and the third gear 337 are meshed in sequence in the second accommodation space. The inner ring gear 338 is fixedly connected to the joint frame 36. There are multiple planetary gears 339. Each planetary gear 339 is meshed between the inner ring gear 338 and the portion of the third gear 337 located in the fourth accommodation space. The planetary carrier 3310 is coaxially arranged with the third gear 337. The rotating shaft of each planetary gear 339 is rotatably connected to the planetary carrier 3310, so that the planetary gear 339 can drive the planetary carrier 3310 to rotate while rotating. The output end cover pressure plate 3313 is installed on the output sealing end cover 3311, and is used to cooperate with the gear sealing end cover 336 to achieve axial positioning of the third gear 337 and the planetary carrier 3310. The output connecting member 331 is installed on the side of the planetary carrier 3310 away from the third gear 337, and is used for connecting the planetary carrier 3310 with the exoskeleton robot.

[0095] Specifically, the first gear 332 and the second gear 334 are both spur gears with single-layer gear teeth. The third gear 337 is a double gear, and the gear teeth portion with a larger pitch circle diameter (the portion located in the second accommodating space) on it forms a first-stage fixed-axis reduction gear train with the first gear 332 and the second gear 334. The gear teeth portion of the third gear 337 with a smaller pitch circle diameter (the portion located in the fourth accommodating space) participates in the transmission process as the input sun gear of the second-stage planetary reduction gear train. That is, the first gear 332 is coaxially connected to the motor shaft 343, the second gear 334 is meshed with the first gear 332, and the gear teeth portion of the third gear 337 with a larger pitch circle diameter is meshed with the second gear 334. The gear teeth portion of the third gear 337 with a smaller pitch circle diameter is meshed with the planetary gear 339, and the planetary gear 339 is meshed with the outer gear ring. More specifically, the rotating shaft of the planetary gear 339 penetrates into the planetary carrier 3310 and is rotationally connected to the planetary carrier 3310 , so that when the planetary gear 339 revolves around the third gear 337 , the rotating shaft of the planetary gear 339 drives the planetary carrier 3310 to rotate.

[0096] It should be pointed out that the above-mentioned structural design scheme should be understood as an optional embodiment and should not be a limitation on the application. Any electric joint assembly for an exoskeleton robot that has the same structural layout (including the same gear reduction mechanism form, the same motor type, the same housing 35 layout, the same external installation method, etc.) as the electric joint assembly described in the embodiment of the present invention can be considered to have the same technical effect as the embodiment of the present invention.

[0097] The second sealing structure includes a gear sealing groove 364 and a second sealing ring. The gear sealing groove 364 is provided on the joint surface where the mounting portion 361 contacts the gear sealing end cover 336. The second sealing ring is arranged in the gear sealing groove 364. The second sealing structure is used for sealing between the gear sealing end cover 336 and the mounting portion 361.

[0098] Specifically, the mounting portion 361 is a structure composed of three intersecting circular grooves. The three circular grooves are used to accommodate the first gear 332, the second gear 334 and the third gear 337 respectively, and do not hinder the meshing between the first gear 332, the second gear 334 and the third gear 337. The gear sealing groove 364 is opened around the side of the mounting portion 361 facing the housing 35, that is, the joint surface where the mounting portion 361 contacts the gear sealing cover. When the second sealing ring is placed in the gear sealing groove 364, the gear sealing end cover 336 is buckled with the mounting portion 361, and the mounting portion 361 and the gear sealing end cover 336 are sealed. The gear sealing end cover 336 can be fixed to the mounting portion 361 by screws, or after being fixed to the joint frame 36 by the housing 35, the gear sealing end cover 336 is pressed onto the mounting portion 361 by the housing 35. The third sealing structure includes an output sealing groove 3312 and a third sealing ring. The output sealing groove 3312 is opened on the peripheral side of the output sealing end cover 3311. The third sealing ring is arranged in the output sealing groove 3312. The third sealing structure is used for sealing between the output sealing end cover 3311 and the output part. Specifically, the output part is in a hollow cylindrical shape as a whole. After the gear sealing end cover 336, the third gear 337, the planetary gear 339, the planetary carrier 3310, the output sealing end cover 3311, and the output end cover pressing plate 3313 are all installed in place, a bearing is provided between the gear sealing end cover 336 and the third gear 337, a bearing is provided between the lower end of the third gear 337 and the planetary carrier 3310, and a bearing is provided between the planetary carrier 3310 and the output sealing end cover 3311. The output end cover pressing plate 3313 limits the axial displacement of the bearing between the planetary carrier 3310 and the output sealing end cover 3311, thereby limiting the axial displacement of the planetary carrier 3310. The gear sealing end cover 336 limits the axial displacement of the bearing between the gear sealing end cover 336 and the third gear 337, thereby limiting the axial displacement of the third gear 337. Finally, the axial positioning of the third gear 337 and the planet carrier 3310 is achieved, that is, the third gear 337 and the planet carrier 3310 can only rotate around their own axis and cannot be displaced along their own axial direction. The static sealing of the two-stage gear reduction mechanism in the actuator 33 is achieved through the second sealing structure and the third sealing structure. The fourth sealing structure includes a sealing groove 362 for external installation and a fourth sealing ring. The sealing groove 362 for external installation is opened on the fixed installation plane 363. The fourth sealing ring is arranged in the sealing groove 362 for external installation. The fourth sealing structure is used for sealing between the joint frame 36 and the body structure of the exoskeleton robot. Specifically, the fixed installation plane 363 is used as a mounting joint surface when connecting the body structure of the exoskeleton robot, and is suitable for connecting the external connection structure 38. The external connection structure 38 can be a tubular rod 382 with a hollow structure, and then the motor assembly 34 will be located in the inner cavity of the connected tubular rod 382, ​​and the tubular rod 382 is fixed to the joint frame 36 by screws and a pressure plate structure 381.Therefore, the installation sealing groove on the fixed installation plane 363 can achieve sealing protection here when used in conjunction with the fourth sealing ring. Through the fourth sealing structure, the fixed installation plane 363 as the joint surface when the electric joint assembly is connected to the exoskeleton robot body structure is sealed.

[0099] It should be pointed out that the sealing scheme when the electric joint assembly is connected to the exoskeleton body structure should be understood as an optional embodiment and should not be a limitation of the present invention. The external installation schematic parts shown in the figure have a pressure plate structure 381 and a hollow tubular rod 382. They can have any specific structural shape. As long as they have a similar internal hollow tubular structure and a pressure plate structure 381, and can cover the motor assembly 34 as a whole on the joint frame 36, they can be considered to have the same technical effect as the embodiment of the present invention.

[0100] In summary, through the first to fourth sealing structures, the overall sealing of the electric joint assembly is achieved, so that it can at least meet the requirements of the protection capability of the IP54 level, so that the electric joint assembly has a high protection capability. The motor assembly 34 also includes a motor control module 37, whose control function can be integrated in the PCB board, and is used to control the operating parameters of the motor. The motor control module 37 is located in the first accommodating space, that is, between the housing 35 and the gear sealing end cover 336. The light strip assembly includes an LED indicator light strip and a light strip control module 352, and also includes a light guide plate 351. The LED indicator light strip is fixedly connected to the side of the housing 35 away from the joint frame 36. The light strip control module 352 can be integrated in the PCB board. The light strip control module 352 is connected to the LED indicator light strip in communication. The light strip control module 352 is connected to the motor control module 37 in communication. The light strip control module 352 is arranged in the first accommodating space. The light strip control module 352 can be fixed to the housing 35 by bolts, or can be installed by gluing, clamping or other reasonable methods. Specifically, the LED indicator light strip is tightly glued to the outer shell 35 by gluing, and strict testing is required during the gluing process to ensure the sealing of the outer shell 35. The light guide plate 351 is located on the outside of the LED indicator light strip and is tightly bonded and fixed to the outer shell 35 by structural glue. The power supply line and signal line of the light strip control module 352 are connected to the motor control module 37 through the wiring. The light strip control module 352 and the motor control module 37 can be connected to a main control module for coordinating and controlling the light strip control module 352 and the motor control module 37 at the same time. The LED indicator light strip can be annular, and its center coincides with the rotation axis of the planet carrier 3310. Through the light strip control module 352, the color and flashing mode of the LED indicator light strip can be freely programmable and controlled, thereby improving the human-computer interaction characteristics of the exoskeleton robot.

[0101] It should be pointed out that the design, installation and wiring scheme of this annular indicator light belt for human-machine interaction should be understood as an optional embodiment and should not be a limitation of the present invention. Any electric joint device for an exoskeleton robot having the same annular indicator light belt layout position, the same display function, and the same installation method as the electric joint assembly described in the embodiment of the present invention can be considered to have the same technical effect as the embodiment of the present invention. In addition, the high-protection electric joint device for an exoskeleton robot of the present invention also includes an encoder assembly. The encoder assembly includes a first magnetic steel 333, a second magnetic steel 335, a first Hall sensor probe 371 and a second Hall sensor probe 372. The first magnetic steel 333 is coaxially arranged on the first gear 332. The second magnetic steel 335 is coaxially arranged on the second gear 334. The first Hall sensor probe 371 and the second Hall sensor probe 372 are both arranged in the first accommodation space, and are respectively opposite to the first magnetic steel 333 and the second magnetic steel 335, thereby respectively obtaining the single-turn position information of the first gear 332 and the second gear 334. Specifically, the first magnetic steel 333 and the second magnetic steel 335 belong to two different encoders, and the corresponding first Hall sensor probe 371 and the second Hall sensor probe 372 are installed on the motor control module 37, and are respectively located above the first magnetic steel 333 and the second magnetic steel 335. In this way, the relationship between the single-turn absolute position difference of the first gear 332 and the second gear 334 and the rotation angle of the output connector 331 (usually less than 360° on the exoskeleton) can be pre-calibrated, so that the current position of the output connector 331 can be found in real time by obtaining the single-turn position information of the first gear 332 and the second gear 334. Different from the encoder setting scheme in the common electric joint assembly for robots, this scheme does not need to power the two encoders separately, nor does it need to add an external mechanical structure. It should be pointed out that the setting scheme of the dual encoders in the electric joint assembly of the exoskeleton robot should be understood as an optional embodiment and should not be a limitation of the present invention. There are no restrictions on whether the encoder magnet is installed by gluing or interference fit, whether the gear is a spur gear or a helical gear, etc. As long as the encoder position layout is the same as that in the embodiment of the present invention, it can be considered to have the same technical effect as the embodiment of the present invention.

[0102] In summary, the joint drive module of the present invention realizes the sealing between the housing 35 and the joint frame 36 through the first sealing structure, and realizes the sealing protection of the electronic components inside the electric joint assembly; through the second sealing structure and the third sealing structure, the static sealing of the two-stage gear reduction mechanism in the actuator 33 is realized; through the fourth sealing structure, the fixed installation plane 363 as the joint surface when the electric joint assembly is connected to the body structure of the exoskeleton robot is sealed. Then the high protection capability electric joint device for the exoskeleton robot is sealed as a whole, so that it has an overall protection capability not lower than the IP54 level. In addition, the high protection capability electric joint device for the exoskeleton robot of the present invention is provided with a light belt assembly on the housing 35, and the color and flashing mode of the LED indicator light belt can be freely programmed and controlled through the light belt control module 352, the motor control module 37, or the main control module, which can improve the human-machine interaction characteristics of the exoskeleton robot. The joint drive module provided by the present invention adopts a dual encoder design, and there is no need to power the two encoders separately, and there is no need to increase the external mechanical structure, so that the high protection capability electric joint device for the exoskeleton robot is compact in layout and has high reliability.

[0103] The above are only preferred embodiments of the present invention and are 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 walking-assisting exoskeleton robot, characterized in that: The invention comprises: a waist support structure module, a waist bar module, a joint drive module, a leg bar module and a binding system, wherein the binding system is arranged on the waist support structure module, and is used to stably wear the waist support structure module on the wearer's body and to fix it to the wearer's legs, the waist bar module is arranged on the waist support structure module, and the joint drive module is fixedly arranged on the waist bar module, the waist bar module is used to provide an installation space for the joint drive module, the leg bar module is connected to the power end of the joint drive module, and the leg bar module can output a travel assisting force and can transmit the assisting force to the wearer's legs through the leg bar module; The lumbar module includes a lumbar module assembly, which includes two groups and is symmetrically arranged relative to the lumbar support structure module. The lumbar module assembly includes lumbar parts, which include a hollow tubular rod structure designed according to the shape of the human waist, a joint driving module connection structure for fixing the joint driving module, and a joint driving module baffle structure. The joint driving module baffle structure is arranged corresponding to the power end of the joint driving module and is used to isolate the power end from the wearer. The manufacturing material of the lumbar parts is carbon fiber or metal material, and the lumbar parts are an integrated structure.

2. The walking-assisting exoskeleton robot according to claim 1, characterized in that: The hollow tubular rod structure is a hollow rod-shaped structure for cables to pass through; The joint drive module connection structure is a shell structure and forms an installation space. The joint drive module can be fixedly installed in the installation space. An assembly window is arranged on the joint drive module connection structure. A joint sealing plate extending parallel to the inside is arranged on the outer edge of the assembly window. The joint sealing plate is used to press the joint drive module. A sealing groove structure is arranged on the joint drive module and can achieve static sealing with the joint drive module connection structure.

3. The walking-assisting exoskeleton robot according to claim 1, characterized in that: The joint driving module includes a control button for controlling its operation, and a button PCB is arranged below the control button. The button PCB sends a corresponding operation instruction to the joint driving module after receiving pressure from the control button; A mounting hole for mounting the control button is provided on the joint drive module connection structure, a waterproof edge structure is provided at the inner end of the control button, and the button PCB presses the waterproof edge structure of the control button onto the inner wall of the joint drive module connection structure through a button pressing sheet.

4. The walking-assisting exoskeleton robot according to claim 3, characterized in that: A button thread frame is fixedly arranged on the inner wall of the joint driving module connection structure, the control button and the button PCB are pressed on the button thread frame through the button pressing sheet, and the button pressing sheet is bolted to the button thread frame.

5. The walking-assisting exoskeleton robot according to claim 1, characterized in that: The waist support structure module includes an inner shell structure and an outer shell structure, and the inner shell structure is sealed and buckled together with the outer shell structure. A battery unit, a main controller and a symmetrical telescopic adjustment module are arranged in the waist support structure module. The symmetrical telescopic adjustment module includes an adjustable telescopic end, and the waist bar module assembly is fixedly arranged on the telescopic end. The symmetrical telescopic adjustment module also includes a telescopic adjustment button, and the telescopic adjustment button is arranged at the upper end of the waist support structure module. The waist support structure module has a battery compartment for installing the battery unit, and a battery compartment opening is arranged at the lower end of the waist support structure module. The battery unit is loaded into the battery compartment from the bottom of the waist support structure module, and a battery compartment cover is arranged on the battery compartment opening.

6. The walking-assisting exoskeleton robot according to claim 5, characterized in that: The hollow tubular rod structure is filled with a rubber plug to prevent water vapor from entering; The main controller is an integrally sealed structure.

7. The walking-assisting exoskeleton robot according to claim 6, characterized in that: The telescopic adjustment buttons are provided with two, and the two telescopic adjustment buttons are respectively provided on both sides of the upper end of the waist support structure module.

8. The walking-assisting exoskeleton robot according to claim 1, characterized in that: The binding system includes a waist strap, which includes an outer waist strap and an inner waist strap. The outer waist strap is made of hard material and is used to stabilize the waist support structure module. The inner waist strap is a flexible strap made of nylon cloth and filled with a foam sponge pad. The inner waist strap is installed on the inner side of the outer waist strap through Velcro. The inner waist strap is in direct contact with the wearer's waist and is used to improve the wearing comfort.

9. The walking-assisting exoskeleton robot according to claim 8, characterized in that: The binding system includes a leg strap, and the leg strap includes a leg strap plate and a leg strap plate buckle. The leg strap plate and the leg strap plate buckle are plugged into each other for fixation and can be pressed and pulled out for release. The leg strap plate and the leg strap plate buckle are both made of plastic material. The leg strap plate and the leg strap plate buckle each have an identical strip opening structure for fixing the leg strap. The leg strap is composed of a nylon fabric belt, a sponge pad and Velcro, and can better restrain the wearer's thigh.

10. The walking-assisting exoskeleton robot according to any one of claims 1 to 9, characterized in that: The leg rod module includes a leg rod, a first connecting end, and a second connecting end. The second connecting end is hinged to the power output end of the joint driving module through a pin shaft to form a passive rotational freedom, which is used to provide the wearer with freedom of movement when the thigh performs abduction and adduction movements. The first connecting end is hinged to the leg strap plate of the binding system through a pin shaft to form a passive rotational freedom, which is used to compensate for the discomfort caused by the misalignment between the rotation center of the power output end and the projection position of the human hip joint in the sagittal plane.

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