Gait assistance exoskeleton robot

Abstract

A kind of walking power-assisted exoskeleton robot, comprising: waist support structure module, waist rod module, joint drive module and binding system.Waist rod module includes waist rod module assembly, and waist rod module assembly is provided with two groups and is symmetrically arranged relative to waist support structure module.The design scheme proposed in the embodiment of the application can not only simplify the structure of the whole machine by reducing assembly process, but also reduce the complexity of the structure and improve the stability of the machine.By applying symmetric telescopic adjustment module, the machine can provide better wearing adaptability and comfort for people of different body shapes.Compared with the existing light walking exoskeleton robot, the present application has the advantages of wearing comfort and convenience, easy operation, high whole machine protection ability and strong power-assisted ability.In addition, the present application has small size and light weight, so it has strong market competitiveness in the same type of exoskeleton robot products.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of exoskeleton robots, and more particularly, to a walking-assisted exoskeleton robot. BACKGROUND

[0002] As a kind of service robot, the current exoskeleton robot industry has ushered in rapid development, and more and more high-tech exoskeleton robot manufacturers have emerged, and have successively launched a number of representative products on the market. According to different application fields, exoskeleton robots can be divided into medical exoskeletons, rehabilitation exoskeletons, industrial carrying exoskeletons, emergency fire-fighting exoskeletons, and outdoor travel exoskeletons, etc. According to different action mechanisms, exoskeletons can also be divided into active-assisted exoskeletons and passive-assisted exoskeletons. According to different energy supply methods, exoskeletons can also be divided into active-assisted exoskeletons and passive-assisted exoskeletons, etc. Although there are many types of exoskeleton robots, there are still few mature products on the market that can simultaneously achieve the advantages of attractive appearance, comfortable wearing, easy operation, and good assistance effect, etc.

[0003] For exoskeleton robots, size and weight are important factors affecting 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 binding method and binding belt manufacturing process of the exoskeleton robot are also a key link affecting the wearing comfort. In addition, the appearance model can directly affect the human-machine wearing experience. If the contour curve of the exoskeleton in contact with the human body is consistent, the human-machine fit will be higher, and a more comfortable wearing feeling will be brought. However, due to the high technical difficulty, there are few existing products on the market that can simultaneously have the above advantages, and there are still some deficiencies in various aspects.

[0004] In addition, regardless of the application scenario, the exoskeleton robot has certain requirements for the overall protection capability, of which the most important is the shell protection level. For general application requirements, it is required to have a high protection level (generally not less than IP55), so that the exoskeleton robot can meet the 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

[0005] (I) Technical problem

[0006] In view of the many shortcomings of existing exoskeleton robots, how to provide an exoskeleton robot with small volume, light weight, attractive appearance, reasonable and comfortable binding design, strong protection capability, and walking assistance has become a problem to be solved by those skilled in the art.

[0007] (II) Technical solution

[0008] In order to achieve the above-mentioned purpose, the application provides a walking assistance exoskeleton robot, which belongs to the field of exoskeleton robots and specifically relates to a walking assistance exoskeleton robot.

[0009] In order to achieve the above-mentioned purpose, the application provides a walking assistance exoskeleton robot, which includes a waist support structure module, a waist rod module, a joint driving module, a leg rod module and a binding system. The binding system is arranged on the waist support structure module and is used for stably wearing the waist support structure module on the body of a wearer and realizing the fixation with the legs of the wearer. The waist rod module is arranged on the waist support structure module and the joint driving module is fixedly arranged on the waist rod module. The waist rod module is used for providing a mounting space for the joint driving module. The leg rod module is connected with the power end of the joint driving module. The leg rod module can output walking assistance and can transmit the assistance to the legs of the wearer through the leg rod module. The waist rod module includes a waist rod module assembly. The waist rod module assembly is arranged in two groups and is symmetrically arranged relative to the waist support structure module. The waist rod module assembly includes a waist rod part. The waist rod part includes a hollow tubular rod structure designed according to the shape of the waist of a human body, a joint driving module connecting structure used for fixedly mounting 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 for isolating the power end from the wearer. The manufacturing material of the waist rod part is carbon fiber or metal material. The waist rod part is an integral structure.

[0010] Preferably, in the walking assistance exoskeleton robot provided by the application, the hollow tubular rod structure is a hollow rod structure used for the cable to pass through. The joint driving module connecting structure is a shell structure and is formed with a mounting space. The joint driving module can be fixedly mounted in the mounting space. An assembly window is arranged on the joint driving module connecting structure. A joint sealing pressing piece extending inward in parallel is arranged on the outer edge of the assembly window. The joint sealing pressing piece is used for pressing the joint driving module. A sealing groove structure achieving static sealing with the joint driving module connecting structure is arranged on the joint driving module.

[0011] Preferably, in the walking assistance exoskeleton robot provided by the application, the joint driving module includes a control button used for controlling the operation thereof. A button PCB is arranged below the control button. The button PCB sends corresponding operation instructions to the joint driving module after being pressed by the control button. An installation hole used for mounting the control button is arranged on the joint driving module connecting structure. A waterproof edge structure is arranged on the inner side of one end of the control button. The waterproof edge structure of the control button is pressed on the inner wall of the joint driving module connecting structure by the button pressing piece.

[0012] Preferably, in the walking-assisted exoskeleton robot provided by the application, a key threaded frame is fixedly arranged on the inner wall of the joint driving module connecting structure, and the control key and the key PCB are pressed and combined on the key threaded frame through a key pressing sheet, and the key pressing sheet is bolted with the key threaded frame.

[0013] Preferably, in the walking-assisted exoskeleton robot provided by the application, the waist support structure module comprises an inner shell structure and an outer shell structure, the inner shell structure and the outer shell structure are sealed and buckled together, a battery unit, a main controller and a symmetrical telescopic adjusting module are arranged in the waist support structure module, the symmetrical telescopic adjusting module comprises an adjustable telescopic end, a waist rod module assembly is fixedly arranged on the telescopic end, the symmetrical telescopic adjusting module further comprises a telescopic adjusting key, the telescopic adjusting key is arranged at the upper end of the waist support structure module, the waist support structure module has a battery compartment for mounting the battery unit, a battery compartment opening is arranged at the lower end of the waist support structure module, the battery unit is mounted 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 walking-assisted exoskeleton robot provided by the application, the hollow tubular rod structure is filled with a rubber plug to prevent water vapor from entering; and the main controller is a whole encapsulation sealed structure.

[0015] Preferably, in the walking-assisted exoskeleton robot provided by the application, two telescopic adjusting keys are arranged, and the two telescopic adjusting keys are arranged on the two sides of the upper end of the waist support structure module respectively.

[0016] Preferably, in the walking-assisted exoskeleton robot provided by the application, the binding system comprises a waist belt, the waist belt comprises an outer waist belt and an inner waist belt, the outer waist belt is made of hard material and is used for stabilizing the waist support structure module, the inner waist belt is a flexible belt made of nylon fabric and filled with a foamed sponge pad, the inner waist belt is mounted on the inner side of the outer waist belt through a magic tape, and the inner waist belt directly contacts the waist of the wearer to improve the comfort of wearing.

[0017] Preferably, in the walking-assisted exoskeleton robot provided by the application, the binding system comprises a leg belt, the leg belt comprises a leg belt plate and a leg belt plate plug, the leg belt plate and the leg belt plate plug are fixedly inserted and pressed and pulled out to release, the leg belt plate and the leg belt plate plug are made of plastic material, each of the leg belt plate and the leg belt plate plug has a same strip-shaped opening structure for fixing the leg belt, and the leg belt is composed of a nylon fabric belt, a sponge pad and a magic tape, and can better bind the thighs of the wearer.

[0018] Preferably, in the walking-assistance exoskeleton robot provided by the application, the leg bar module comprises a leg bar, a first connecting end and a second connecting end, the second connecting end is hinged together with the power output end of the joint driving module through a pin shaft and forms a passive rotation freedom degree, which is used to provide the freedom degree of activity of the wearer when the thigh is outwardly and inwardly moved, and the first connecting end is hinged together with the leg band plate of the binding system through a pin shaft and forms a passive rotation freedom degree, which is used to compensate for the discomfort of the wearer caused by the fact that the rotation center of the power output end and the projection position of the human hip joint in the sagittal plane do not coincide.

[0019] (III) Beneficial Effects

[0020] As can be seen from the above, the design scheme provided by the embodiment of the application can not only simplify the whole machine structure by changing the whole into parts, thereby reducing the assembly process, but also reduce the structural complexity and improve the stability of the machine body. By applying the symmetrical telescopic adjustment module, the machine body can bring better wearing adaptability and comfort to people of different body sizes.

[0021] Through the above structural design, compared with the existing light walking-assistance exoskeleton robot, the walking-assistance exoskeleton robot provided by the application has the advantages of wearing comfort and convenience, easy operation, high whole machine protection capability and strong assistance capability. In addition, the application has a small volume and light weight, so it has strong market competitiveness in the same type of exoskeleton robot products. In addition, the binding system is designed in the application, which can enhance the comfort of wearing movement. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the application, and together with the description of the exemplary embodiments of the application given below, make an explanation of the application, and do not constitute an improper limitation of the application. Among them:

[0023] Figure 1 It is a schematic diagram of the back structure of the whole walking-assistance exoskeleton robot in the embodiment of the application;

[0024] Figure 2 It is a schematic diagram of the side structure of the whole walking-assistance exoskeleton robot in the embodiment of the application;

[0025] Figure 3 It is a schematic diagram of the front structure of the whole walking-assistance exoskeleton robot in the embodiment of the application;

[0026] Figure 4 It is a schematic diagram of the waist support structure module in the embodiment of the application;

[0027] Figure 5 It is a schematic diagram of the waist bar module in the embodiment of the application;

[0028] Figure 6 The exploded structural schematic view of the silica gel button and the button pressing sheet in the waist rod module in the embodiment of the present application;

[0029] Figure 7 The overall structural schematic view of the waist rod module assembly in the embodiment of the present application;

[0030] Figure 8 The structural schematic view of the joint driving module in the embodiment of the present application;

[0031] Figure 9 The structural schematic view of the leg rod module in the embodiment of the present application;

[0032] Figure 10 The enlarged schematic view of the local structure of the leg rod module in the embodiment of the present application;

[0033] Figure 11 The schematic view of the waist belt in the embodiment of the present application;

[0034] Figure 12 The schematic view of the leg belt in the embodiment of the present application;

[0035] Figure 13 The schematic view of the leg belt after the angle is changed in the embodiment of the present application;

[0036] Figure 14 The effect schematic view when the wearer wears and walks in the embodiment of the present application;

[0037] Figure 15 The overall appearance structural schematic view of the joint driving module in the embodiment of the present application;

[0038] Figure 16 The layout schematic view of the motor assembly, the execution assembly and the joint frame in the embodiment of the present application;

[0039] Figure 17 The internal structural sectional view of the joint driving module in the embodiment of the present application;

[0040] Figure 18 The schematic view of the gear sealing groove and the housing installation sealing groove structure in the embodiment of the present application;

[0041] Figure 19 The sectional view when the joint driving module is connected with the external structure (the waist rod) in the embodiment of the present application. DETAILED DESCRIPTION

[0042] The present application will be described in detail below with reference to the drawings and in conjunction with embodiments. Each example is provided by way of explanation of the present application and is not intended to limit the present application. In fact, those skilled in the art will appreciate that modifications and variations to the present application can be made without departing from the scope or spirit of the present application. For example, features shown or described as part of one embodiment can be used in another embodiment to create yet another embodiment. It is therefore intended that the present application encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.

[0043] In the description of the present application, the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", etc. indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and do not require the present application to be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application. The terms "connected", "connected" used in the present application should be interpreted broadly, for example, it can be fixed connection, or detachable connection; it can be directly connected, or indirectly connected through intermediate components, and those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

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

[0045] In order to achieve the above purpose, the present application provides the following technical scheme:

[0046] The present application provides a walking assistance exoskeleton robot, hereinafter referred to as robot, which comprises a joint driving module 3, a waist rod module 2, a waist support structure module 1, a leg rod module 4 and a binding system 5.

[0047] In the present application, the binding system 5 is arranged on the waist support structure module 1 for stabilizing the waist support structure module 1 to be worn on the wearer's body and achieving fixation with the wearer's legs. In the present application, the waist support structure module 1 is the basic structure, which is worn on the waist of the human body relative to the human body, and the other structures of the present application are mainly installed through the waist support structure module 1. The installation can be direct installation, that is, direct connection with the waist support structure module 1, or indirect connection with the waist support structure module 1 through other structures, such as the binding system 5 in the present application. The binding system 5 is installed on the waist support structure module 1, but the binding system 5 also maintains a connection relationship with other structures. Through the design of the binding system 5, the present application adopts shoulder back fixation, waist fixation and leg fixation to stabilize the waist support structure to the wearer's body. The waist rod module 2 is arranged on the waist support structure module 1 and the joint driving module 3 is fixedly arranged on the waist rod module 2. The waist rod module 2 is used to provide installation space for the joint driving module 3. The joint driving module 3 can be fixedly installed on the waist rod module 2. The waist rod module 2 is fixedly arranged on the waist support structure module 1. In this way, the joint driving module 3 can be fixed relative to the upper torso of the human body, and the joint driving module 3 can output power assistance. The leg rod module 4 is connected with the power end of the joint driving module 3. The joint driving module 3 can output walking assistance and can transmit the assistance to the wearer's legs through the leg rod module 4. In the present application, the waist rod module 2 includes a waist rod module assembly. The waist rod module assembly is provided with two groups and is symmetrically arranged relative to the waist support structure module 1. The waist rod module assembly includes a waist rod part (i.e. waist rod 21). The waist rod part includes a hollow tubular rod structure 21a designed according to the shape of the human waist, a joint driving module connecting structure 21b for fixedly installing the joint driving module 3, and a joint output baffle structure 21c arranged corresponding to the power end of the joint driving module 3 for isolating the power end from the wearer. The manufacturing material of the waist rod part (i.e. waist rod 21) is carbon fiber or metal material. The waist rod part (i.e. waist rod 21) is a one-piece structure. The waist rod part (i.e. waist rod 21) is a hollow and tubular structure with a certain curve. It is made of lightweight material with high structural strength, such as carbon fiber or aluminum alloy. The waist rod part (i.e. waist rod 21) is fixedly installed on the waist support structure module 1. In the actual wearing state, the waist rod part (i.e. waist rod 21) is arranged obliquely. According to ergonomics, the waist rod part (i.e. waist rod 21) can be designed according to the contour shape of the human waist to match the waist curve of most people. The joint driving module 3 is installed on the waist rod module 2 and serves as an actuator to provide motion assistance effect for the wearer.The joint driving 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 driving module 3 and act on the wearer's thigh through the leg bar module 4 to achieve the effect of assisting. As a relatively independent structural component, the joint driving module 3 includes an execution 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), and in addition from the assembly level, the joint driving module 3 has a fixed end 31 and an output end 32, wherein the fixed end 31 further includes a fixed mounting plane 31b and a sealing groove 31a.

[0048] The waist bar module 2 is divided into two symmetrical groups of components, i.e. waist bar module components. In the wearing state, the waist bar module components are symmetrically arranged on both sides of the human hip joint, and each waist bar module component includes a waist bar part (i.e. waist bar 21) on which a silica gel button 22, a button PCB 23, a button threaded frame 24, a button pressing piece 25 and a joint sealing pressing piece 26 are mounted. In the present application, the joint driving module 3 is a power structure driven by electricity and capable of outputting a larger torque, which includes a motor component 34 and a multi-stage reduction gear structure. Specifically, the joint driving module 3 includes a power output end (i.e. output end 32), which is power connected with the multi-stage reduction gear structure (the motor drives the power output end to act through the multi-stage reduction gear structure), and the power output end can output a larger torque externally. The present application adopts a button control mode for controlling the joint driving module 3, which specifically includes a control button (i.e. the silica gel button 22 mentioned above) for controlling the operation of the joint driving module 3, a button PCB 23 is arranged below the control button, and the button PCB 23 sends corresponding operation instructions to the joint driving module 3 after being pressed by the control button; a mounting hole for mounting the control button is arranged on the joint driving module connecting structure 21b, a waterproof edge structure is arranged on the inner side of one end of the control button, and the waterproof edge structure of the control button is pressed on the inner wall of the joint driving module connecting structure 21b by the button pressing piece 25. Further, the button threaded frame 24 is fixedly arranged on the inner wall of the joint driving module connecting structure 21b, and the control button and the button PCB 23 are pressed on the button threaded frame 24 by the button pressing piece 25, and the button pressing piece 25 is bolted with the button threaded frame 24.

[0049] The waist rod module assembly is provided with two groups, and the waist rods 21 in the two groups of waist rod module assemblies are left-right symmetrical structures. The structural features of the waist rod 21 mainly include three parts: one is a hollow tubular rod structure 21a, the second is a joint driving module connecting structure 21b, and the third is a joint output baffle structure 21c. The hollow tubular rod structure 21a is responsible for being connected with the waist support structure module 1 except for being used for internal wiring, the joint driving module connecting structure 21b is responsible for being connected with the joint driving module 3, and the joint output baffle structure 21c is used for isolating the joint driving module 3 from the human body, protecting the two sides of the wearer's body from accidental injury caused by the movement of the joint output module output end 32. In addition, the joint output baffle structure 21c also has a binding strap connecting structure for providing a fixing point for the binding system 5. The joint driving module connecting structure 21b is provided with two circular holes for installing the silica gel button 22. The silica gel button 22 has two groups, and the structures of the two groups of silica gel buttons 22 are completely same, which are installed on the two groups of waist rod module assemblies. Each group of silica gel buttons 22 (left and right control buttons) has two trigger keycaps, and the silica gel button 22 installed on the left waist rod module 2 has two trigger keycaps marked with "+" and "-", which respectively represent one step increase and one step decrease of the assistance size, and the silica gel button 22 installed on the right waist rod module 2 has two trigger keycaps marked with "power symbol" and "M", which respectively represent power on and off and assistance mode switching. The mark patterns on the trigger keycaps of the two groups of silica gel buttons 22 are all light-transmitting silica gel materials, and the rest are all black opaque silica gel materials.

[0050] The button PCB 23 also has two groups, which are installed in the two groups of waist rod module assemblies. Each button PCB 23 is provided with a trigger switch. Except that the trigger switch used for power on and off operation is a self-locking switch, the others are all micro switches. An LED lamp is arranged beside each trigger switch. When each trigger keycap is pressed, the control program will make the LED lamp beside the corresponding trigger switch light up. The light color can be controlled, and the light emitted can be dispersed to the outside of the silica gel button 22 through the light-transmitting silica gel material on the trigger keycap and recognized by the operator, which greatly enhances the human-computer interaction.

[0051] In order to meet the requirement of high protection ability of the exoskeleton robot, the two groups of silica gel buttons 22 need to have certain dustproof and waterproof ability. The protection ability is realized through the following ways: first, the silica gel button 22 is designed to have a waterproof edge structure; second, the waterproof edge of the silica gel button 22 is pressed and installed on the inner side plane of the two circular holes of the joint driving module connecting structure 21b through the button pressing sheet 25, and the pressing mode is screwing the button pressing sheet 25.

[0052] The waist rod 21 can be made of carbon fiber or 3D printed aluminum alloy. Regardless of the processing technology, to ensure that the inner planes of the two circular openings have threaded holes for mounting the button pressure plate 25, a small threaded metal piece is embedded inside the joint drive module connection structure 21b of each waist rod 21. This metal piece serves as the button threaded frame 24. The button threaded frame 24 is fixed to the waist rod 21 (the joint drive module connection structure 21b has a groove structure, and the button threaded frame 24 is fixedly set on the inner side of the groove structure). If the waist rod 21 is processed using a carbon fiber mold, the button threaded frame 24 is embedded and formed into the waist rod 21 through the mold, becoming an integral part of the waist rod 21. If it is processed using a 3D printed aluminum alloy process, the threaded frame is bonded to the inner surface of the joint drive module connection structure 21b using high-strength structural adhesive. The joint sealing plate 26 is fixed to the waist bar 21 in the same way. When the joint drive module 3 is fixedly installed on the joint drive module connection structure 21b of the waist bar 21, the joint sealing plate 26 can press the sealing ring set in the groove by means of its own planar structure at the installation joint and the fixed installation plane 31b with a sealing groove 31a structure designed on the joint drive module 3, thereby achieving the purpose of sealing the installation surface.

[0053] The waist support structure module 1 includes an inner shell structure 11 and an outer shell structure 12, which are sealed together. A battery unit 14, a main controller 15, and a symmetrical telescopic adjustment module 16 are disposed inside the waist support structure module 1. The symmetrical telescopic adjustment module 16 includes an adjustable telescopic end, on which the waist rod module assembly is fixedly disposed. The symmetrical telescopic adjustment module 16 also includes a telescopic adjustment button, which is disposed 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. A battery compartment opening is provided at the lower end of the waist support structure module 1. The battery unit 14 is inserted into the battery compartment from the bottom of the waist support structure module 1. A battery compartment cover 13 is provided on the battery compartment opening.

[0054] Specifically, 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 (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 and are 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 located at the bottom of the waist support structure module 1, allowing for quick disassembly and replacement of the battery unit 14 via a plug-in method.

[0055] The symmetric telescopic adjustment module 16 is located in the upper half of the waist support structure module 1, which is connected to the hollow tubular rod structure parts of the two symmetrically arranged waist rod module assembly groups, and can complete the symmetric manual pulling telescopic adjustment and locking of the two waist rod module assembly groups. The symmetric telescopic adjustment module 16 in the application adopts the structure provided in the patent application with the publication number CN116810764A. Based on the structure disclosed in the patent, the embodiments of the application are further improved. By setting two left and right symmetric external keys on the outer surface of the upper part of the waist support structure module 1, the operation mode of the "symmetric telescopic adjustment mechanism of the tubular rod based on multiple connecting rods" is changed from pressing one "key" as described in the cited patent to pressing two "external keys". This makes the operation and adjustment more convenient. In the application, the specific structure of the symmetric telescopic adjustment module 16 includes: 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 part of the combined structure of the inner shell structure 11 and the outer shell structure 12. The shell formed by the inner shell structure 11 and the outer shell structure 12 has an upper part inside the space for accommodating the symmetric 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 base plate (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 connecting piece. The base plate 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). The pipe rod holding assembly has two groups, and the two groups of pipe rod holding assemblies are arranged along the first direction and fixed to the base plate. The guide rail slider assembly extends along the first direction and is fixed to one group of pipe rod holding assemblies at one end and to the other group of pipe rod holding assemblies at the other end. The tubular rod corresponds to the pipe rod holding assembly one by one. Between each tubular rod and the corresponding pipe rod holding assembly, the tubular rod is 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 connecting piece. The adjustment module adjustment structure is connected to the adjustment module telescopic structure, which is used to keep the actions of the two tubular rods of the adjustment module telescopic structure symmetrically consistent. The adjustment module switch lock structure is installed inside the adjustment module shell structure, which is used to control the locking or opening of the adjustment module adjustment structure. In the application, the adjustment module switch lock structure can be provided with a key on the adjustment module shell structure, which is used to control the action of the adjustment module switch lock structure after being pressed. The key is arranged on the upper side of the adjustment module shell structure in the middle position.Alternatively, the adjusting module switch lock structure can be provided with two buttons on the adjusting module shell structure, which can be pressed down or simultaneously pressed down, for pressing the adjusting module switch lock structure to act. When provided with two buttons, the two buttons are arranged on the upper side of the adjusting module shell structure. In use, the wearer can operate the adjusting module switch lock structure to release the limiting of the adjusting module adjusting structure. At this time, the wearer pulls out or presses into the tubular rod member at one end, so that the tubular rod member can slide in the pipe rod retaining assembly. At the same time, since the two tubular rod members are connected through the adjusting module adjusting structure, when the tubular rod member at one end slides, the tubular rod member at the other end will be simultaneously driven to act synchronously, so that the telescopic adjustment of the tubular rod member is completed. At this time, the wearer releases the switch lock module, so as to re-limit the adjusting module adjusting structure. The tubular rod member is limited by the pipe rod retaining assembly, so that it can provide support for the two groups of tubular rod members during use, so that they can be stably and reliably telescoped. Moreover, the adjusting module adjusting structure can ensure that when the tubular rod member at one end is telescoped, the tubular rod member at the other end can be simultaneously telescoped. Finally, the wearer only needs to operate the adjusting module switch lock structure to quickly lock and release the adjusting module adjusting structure, which is convenient to operate.

[0056] The present application can also be provided with a Type-C interface (not shown) on the inner shell structure 11 for electric control debugging of the exoskeleton robot, and a charging port (not shown) for charging the exoskeleton robot. Both external interfaces are well protected, and a rubber plug is arranged thereon to meet the requirements of high-grade shell protection. In addition, in order to improve the human-computer interaction, an electric quantity display lamp group (not shown) is designed on the outer surface of the inner shell structure 11, which can realize real-time display of the electric quantity of the robot in cooperation with the internal power management circuit.

[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 adjusting 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 is supplied to the joint driving module 3 through the main controller 15. The main controller 15 adopts an overall encapsulation process to realize the requirement of high protection capability of the whole machine.

[0058] The leg bar module 4 has two groups arranged symmetrically left and right, each group of leg bar module 4 includes a leg bar 41, a leg strap plate 42 and a leg strap plate insert buckle 43, and the leg bar 41 also has two connection ends, i.e. a first connection end (numbered 41a) and a second connection end (numbered 41b), respectively used for connecting the leg strap plate 42 and the joint driving module 3. The leg bar 41 is made of 3D printed aluminum alloy material or carbon fiber material. Since the first connection end (numbered 41a) and the second connection end (numbered 41b) each have a pin hole structure, when made of 3D printed aluminum alloy material, the two pin hole structures need to be finely finished by machine after printing and support removal. If made of carbon fiber material, an aluminum alloy material is embedded in each of the two connection ends during mold opening processing, and then two pin holes are processed on the aluminum alloy material. As shown in Figure 11 and Figure 12 In the present application, the leg bar 41 has a certain twist in space (i.e. along the length direction of the push rod 41) (i.e. a spatial curve modeling structure). This design is based on ergonomics of the leg bar 41, and the purpose is to make the leg bar 41 as much as possible to match the contour of the human thigh, and to improve the fitting degree of the leg bar 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 on the leg bar module 4. The waist strap 52 is used to bind the wearer's waist, and the shoulder strap 51 has a function similar to the common double-shoulder bag strap. The waist strap 52 is used to carry the exoskeleton robot on the wearer's body. Through the combined binding action of the leg strap 53, the waist strap 52 and the shoulder strap 51, the exoskeleton robot can be better bound on the wearer's body, so as to further implement the motion coordination and assistance effect. The leg strap plate 42 and the leg strap plate insert buckle 43 are made of plastic material, similar to the common backpack strap buckle. The leg strap plate insert buckle 43 can be fixedly connected with the leg strap plate 42 by insertion locking, and can also be detached by pressing and pulling out. The leg strap plate 42 and the leg strap plate insert buckle 43 are used to fix and install the leg strap 53. Through the design of the plug-in and pull-out form, the purpose of quickly putting on and taking off the exoskeleton robot at the leg strap 53 can be achieved. The leg strap 53 is composed of a nylon fabric belt, a sponge pad 533 and a magic tape, which can better bind the wearer's thigh. The leg strap 53 has a fixed end and an adjustment end. The fixed end is directly inserted through a slot and then fixed by the magic tape. The adjustment end can be inserted through another slot after the thigh circumference of the wearer is adjusted, and then fixed by the magic tape.

[0060] Because the swing of the exoskeleton robot leg bar 41 and the swing of the user's thigh are not completely consistent when the user wears the exoskeleton robot, there is a relative movement trend between the leg band 53 and the user's thigh. In order to make the leg band plate 42 more effectively transmit the assistance of the joint driving module 3 and apply to the human thigh, and also to increase the consistency of the coordinated movement of man and machine, a rotational degree of freedom is designed at the connection between the first connection end (numbered 41a) of the leg bar 41 and the leg band plate 42. The hinge is realized by inserting the pin shaft 45 into the pin hole on the corresponding first connection end (numbered 41a) and the leg band plate 42, and the degree of freedom is formed. The pin shaft 45 cooperates with the elastic retaining ring 44 for the shaft to realize axial locking. The second connection end (numbered 41b) of the leg bar 41 is also hinged with the output end 32 in the joint driving module 3 by the pin shaft 45 and forms a rotational degree of freedom. The setting of this degree of freedom can meet the thigh adduction and abduction movement of the user when wearing the exoskeleton, so that the coordinated movement of man and machine is more flexible.

[0061] The waist band 52 is designed in a similar way to the tactical waist seal. The waist band 52 includes an outer waist band 522 and an inner waist band 521. The outer waist band 522 is a hard bandage, which is used to stabilize the exoskeleton body, so that the exoskeleton can be better bound to the human waist and maintain stability when wearing and moving. A PP material plastic plate is embedded inside the outer waist band 522 for shaping, and a buckle is provided on the outer waist band 522 for lapping and locking the two sides of the band together and binding to the human waist when wearing. The inner waist band 521 is a flexible bandage made of nylon fabric and filled with foam sponge. The inner waist band 521 directly contacts the human waist when the exoskeleton robot is worn and used, and is used to provide better wearing comfort to the human body. The outer waist band 522 has three fixed positions, which are the left joint fixed area 522a, the right joint fixed area 522b and the waist fixed area 522c. The left joint fixed area 522a and the right joint fixed area 522b are fixed on the band connection structure of the waist bar 21 by screws, and the waist fixed area 522c is fixed on the inner shell structure 11 by screws. Through the fixation of the above three positions, the outer waist band 522 can be firmly fixed on the exoskeleton robot, thereby ensuring the stability of the coordinated movement of the user when wearing.

[0062] The shoulder strap 51 is made of nylon fabric belt material, and the shoulder strap 51 is connected with the outer waist strap 522 through three connection points in a detachable manner, two of which are located on the two sides of the outer waist strap 522, and the other is located in the middle of the back waist of the outer waist strap 522. The shoulder strap 51 can play a role similar to a backpack strap, which is used to carry the whole exoskeleton robot on the human shoulder, so that the weight of the exoskeleton is distributed to the human shoulders. Without the shoulder strap 51, the whole machine weight will be transmitted to the human body by the waist strap 52. Since the whole exoskeleton robot of the embodiment of the application has a light weight, the user can decide whether to install the shoulder strap 51 according to the wearing experience.

[0063] Analysis shows that the embodiment of the exoskeleton robot for walking assistance realizes the following technical effects:

[0064] (1) The exoskeleton robot for walking assistance is designed, which has the advantages of wearing comfort and convenience, easy operation, high whole machine protection ability, and strong assistance ability compared with the existing light walking type exoskeleton robot. In addition, the whole structure of the application has a small size and a light weight, so it has strong market competitiveness in the same type of exoskeleton robot products.

[0065] (2) The exoskeleton robot for walking assistance is designed, and the wearing comfort and convenience of the application mainly reflect in the design scheme of the whole machine binding system, the design scheme of the leg bar module and the symmetric telescopic adjustment module applied in the waist support structure module. The design scheme of the whole machine binding system is the final scheme summarized based on multiple iterative design improvements. The wearing process can be described as "one back and two buckles". "One back" means that the exoskeleton shoulder strap is worn on the shoulder by wearing a backpack, and "two buckles" means that the buckles of the waist strap are inserted and overlapped together, and the leg strap plate is inserted and buckled together, so as to bind the waist and legs of the wearer, thereby completing the convenient wearing. The two rotation degrees provided at the first and second connection ends of the leg bar module not only provide the thigh with an activity range of outward extension and inward extension, but also provide the thigh with an activity margin when bending forward and stretching backward, so that the consistency of human-machine cooperative motion is enhanced, and the wearing comfort of the motion is further enhanced. In addition, the application of the symmetric telescopic adjustment module can make the machine have good wearing adaptability and comfort for people of different sizes.

[0066] (3) The application designs a walking assistance exoskeleton robot, the application has a pair of left-right symmetrical waist rod module assemblies, the waist rod comprises a hollow tubular rod structure, a joint driving module connecting structure and a joint driving module baffle structure, the waist rod with the above three structural components can be integrally processed and formed by carbon fiber mold or 3D aluminum alloy printing process, the design scheme of the embodiment of the application can not only simplify the whole machine structure by reducing the assembly process, but also reduce the structural complexity and improve the stability of the machine body.

[0067] (4) The application designs a walking assistance exoskeleton robot, the application has a pair of symmetrical waist rod module assemblies and joint driving modules, in order to ensure the protection performance of the whole machine in design, the application not only adopts the structure form that the waist rod is designed to have a hollow internal wiring, but also realizes static sealing by designing the joint sealing gasket installed on the waist rod to press the sealing groove structure installed on the joint driving module fixed installation plane.

[0068] (5) The application designs a walking assistance exoskeleton robot, two integrated and manufactured waist rod parts arranged left-right symmetrically are each designed with two circular holes for installing silica gel buttons, in order to be consistent with the target requirement of realizing a high protection level of the whole machine, a corresponding protection scheme design is also required here, in order to solve this problem, first, a waterproof edge structure is designed on the silica gel button, this skirt structure with a ring of protrusions can realize the protection effect by pressing the outer peripheral skirt, the silica gel button is installed from the inside to the outside on the inner wall of the cavity of the driving module connecting structure of the waist rod, in order to realize the pressing operation, the simplest way is to design a button pressing piece and screw it on the inner wall by threads, but since the waist rod part is made of carbon fiber mold or 3D aluminum alloy printing, it is impossible to directly machine a threaded hole on the inner wall, therefore, a button threaded frame with threads is embedded to solve this problem, in this way, the silica gel button, button PCB and button pressing piece can be screwed on the button threaded frame by screws, so that the outer waterproof edge of the silica gel button is pressed on the inner wall.

[0069] (6) The application designs a walking assistance exoskeleton robot, in order to meet the requirement of high protection ability of the whole machine, after solving the protection problems of the joint driving module and the waist rod module, the protection problem of the waist support structure module also needs to be considered, in order to solve this problem, the design scheme of double protection inside and outside is proposed in the waist support structure module, wherein the outer protection refers to making the joint of the shell as tight as possible and avoiding designing too many opening structures when designing the shell, in addition, the way of installing and dismounting from bottom to top is adopted in the dismounting scheme design of the battery unit, the battery compartment is arranged at the bottom, the blade type battery connector arranged 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. And in the internal connection between the waist rod and the waist support structure module, the hollow tubular structure of the waist rod is filled with a rubber plug at the outlet end, which effectively avoids the water entering the joint driving module caused by the water vapor entering the waist rod inside the waist support structure module. The internal protection refers to the treatment of the main controller by overall potting and the treatment of each internal circuit board by coating light curing glue, before the treatment, all internal circuit board connections adopt the plugless design, and the direct welding connection form is adopted.

[0070] (7) The application designs a walking assistance exoskeleton robot, in order to meet the wearing requirements of different fat and thin people, the adjustable requirement of the waist width is proposed, and there are similar exoskeleton robot products on the market that can adjust the waist width, but there is a problem of complex operation, which not only takes time and effort in the adjustment process, but also cannot achieve the symmetry of the left and right adjustment sizes, in view of the above problems, the symmetric telescopic adjustment module is adopted in the embodiment of the application, which can complete the symmetric manual telescopic adjustment and locking of the two groups of waist rod modules, by adopting this scheme, the waist width adjustment operation can be more convenient, and the left and right adjustment sizes are consistent.

[0071] (8) The application designs a walking assistance exoskeleton robot, in order to meet the requirements of reasonable and comfortable binding design, good overall stability when wearing the exoskeleton robot and the like, the waist belt is designed as two parts of an outer waist belt and an inner waist belt, the outer waist belt is made of hard material and can well stabilize the body, and the inner waist belt is a flexible belt made of nylon fabric and filled with foam sponge pad, the inner waist belt is installed on the inner side of the outer waist belt by magic tape and used for direct contact with the wearer's waist, which can bring good wearing comfort.

[0072] (9) The application designs a walking assistance exoskeleton robot, in order to achieve the purpose of quick putting on and taking off, the specific binding mode of the leg binding belt is designed as a scheme of mutual insertion and fixation and pressing and pulling out release through the leg binding belt plate and the leg binding belt plate insert buckle, the leg binding belt plate and the leg binding belt plate insert buckle are both made of plastic material, the leg binding belt plate and the leg binding belt plate insert buckle each have a same strip-shaped hole structure for fixing the leg binding belt, the leg binding belt is composed of a nylon fabric belt, a sponge pad and a magic tape, and can better bind the wearer's thigh, the leg binding belt has a fixed end and an adjusting end, the fixed end is directly inserted through a strip-shaped hole and then is fixed by the magic tape, and the adjusting end can be inserted through another strip-shaped hole after the thigh circumference of the wearer is determined, and then is fixed after being pulled tight. When wearing, the fixed end and the adjusting end are fixed on the leg binding belt plate and the leg binding belt plate insert buckle respectively, the leg binding belt plate and the leg binding belt plate insert buckle can be inserted and fixed with each other, and then the adjusting end of the leg binding belt is pulled out to tightly bind the thigh and then is fixed.

[0073] (10) The application designs a walking assistance exoskeleton robot, in order to adapt to the requirements of small size, light weight and high protection ability, as the most important driving execution mechanism, the joint driving module adopts a whole design scheme different from other common exoskeleton products, for specific scheme, see the invention patent application with publication number CN118721158A, by adopting this scheme, the reasonable layout design of the motor assembly (the specific structure is not shown), the execution assembly (the specific structure is not shown) and the driving controller in the limited space is realized, so that the structure is compact, and at the same time has the performance characteristics of light weight, high protection ability and other joint driving assembly products do not have, in addition, the module also integrates a programmable ring color light belt, enhances the human-computer interaction, which is also an advantage that most exoskeleton joint driving assembly products do not have.

[0074] As Figures 1-3 shown, the application embodiment provides a walking assistance exoskeleton robot, which comprises a waist support structure module 1, a waist rod module 2, a joint driving module 3, a leg rod module 4 and a binding system 5.

[0075] The binding system 5 comprises a shoulder binding belt 51, a waist binding belt 52 and a leg binding belt 53, and the three places of the wearer's shoulders, waist and legs are fixed through the shoulder binding belt 51, the waist binding belt 52 and the leg binding belt 53, so as to improve the stability of the application.

[0076] As 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 and right external button 17b), wherein the inner shell structure 11 and the outer shell structure 12 are made of plastic material and are fixedly connected together by screws, and can 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 inside of the waist support structure module 1 from bottom to top when installed (after the inner shell structure 11 and the outer shell structure 12 are assembled, a socket is arranged at the bottom of the shell, and the battery unit 14 is inserted or pulled out from the bottom socket), and is removed in the opposite way, thereby realizing the battery replacement operation, and the battery compartment cover 13 is used to close and protect the disassembly port after installation.

[0077] As shown in Figures 1-3 and Figure 5 The embodiment of the present application provides a walking assistance exoskeleton robot, which comprises a waist rod module 2, the waist rod module 2 has left and right symmetrical waist rod module assemblies, the waist rod module assemblies are arranged on both sides of the waist support structure module 1 and are fixedly connected with the symmetrical telescopic adjustment module 16 in the inside, and can realize the telescopic adjustment function.

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

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

[0080] Please refer to Figure 8The joint driving module 3 provided by the embodiment of the present application is adapted to the requirements of small volume, light weight and high protection capability of the whole exoskeleton robot, adopts a joint design scheme different from other exoskeleton robot products, and specifically refers to the invention patent application with the publication number CN118721158A (another submitted invention patent application “High-protection-capability electric joint assembly for exoskeleton robot” is cited, which is prior to the present patent in the office). The scheme adopts an inner rotor frameless motor matched with a reducer system composed of a fixed shaft gear train and a planetary gear train, realizes the reasonable layout design of the motor assembly 34 (the specific structure is not shown), the execution assembly 33 (the specific structure is not shown) and the drive controller (not shown) in the limited space, and at the same time, through the design of a plurality of mechanical seal structures, the module as a whole has a higher housing protection level than other exoskeleton robot joint driving modules. In addition, the module also integrates a programmable annular color light belt, which enhances the human-computer interaction. It should be pointed out that the joint driving module design scheme should be understood as an optional embodiment and should not be a limitation of the present invention patent. Any exoskeleton robot that adopts the technical scheme provided in the invention patent application with the publication number CN118721158A cited by the embodiment of the present application and uses it as the driving module of any joint (which can be a hip joint, a knee joint, a shoulder joint, an elbow joint, etc.) of the exoskeleton robot can be considered to achieve the same technical effect as the embodiment of the present application in the performance of the joint driving module.

[0081] Specifically, referring to Figure 5 and Figure 6 , the waist rod module 2 includes a waist rod 21, a silica gel button 22, a button PCB 23, a button threaded frame 24, a button pressing sheet 25 and a joint sealing pressing sheet 26. The waist rod 21 is divided into two symmetrical parts, each waist rod 21 part has a hollow tubular rod structure 21a, a joint driving module connecting structure 21b and a joint driving module baffle structure 21c. The hollow tubular rod structure 21a is used to satisfy the internal wiring of the exoskeleton robot, realize the wiring not exposed, the joint driving module connecting structure 21b is used to connect and install the joint driving module 3, and the joint driving module baffle structure 21c is used to separate the output end 32 of the joint driving module 3 from the human hip, so that the output end 32 does not collide or extrude with the human body when it works normally and rotates quickly, thereby protecting the human body from being hurt.

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

[0083] As shown in Figures 5-7 , the joint driving module 3 is fixedly installed on the waist bar module 2. Since the motor assembly 34 in the joint driving module 3, the driver PCB (not shown in the figure) and the button PCB 23 on the waist bar module 2 all have electrical cables that need to be laid through the inside of the waist bar 21 to the main controller 15 in the waist support structure module 1, in order to meet the requirements of the higher overall shell protection ability of the machine, the corresponding structure design is made at the installation surface: first, a set of installation joint surfaces corresponding to the outer surface of the joint sealing gasket 26 and the fixed installation plane 31b are designed on the waist bar module 2 and the driving module 3 respectively, which will be pressed tightly with the tightening of the screws during installation; secondly, in order to further realize the sealing effect, a ring of sealing grooves 31a is designed in the joint surface which is pressed tightly by using the traditional mechanical static sealing method, and the sealing operation at the joint surface is finally realized by installing an O-ring in the sealing groove 31a and pressing it tightly by the joint surface.

[0084] In addition, there are joint driving modules and waist rods fixedly connected on the market at present, and corresponding mature exoskeleton robot products, but there is no precedent for designing a sealing structure to improve protection capability. It should be pointed out that the sealing connection mode of the waist rod module 2 and the joint driving module 3 provided in the embodiment of the present application should be understood as an optional embodiment and should not be a limitation on the present patent. For exoskeleton robot products, the joint driving module can be fixedly connected with any waist rod, leg rod, arm rod or the like having a hollow structure and an internal wiring scheme, and the combination surface can also have any shape. As long as the sealing groove and O-ring are arranged at the combination surface, the same effect as the embodiment of the present application can be achieved.

[0085] Reference Figure 5 and Figure 6 Two waist rods 21 arranged symmetrically left and right are each designed with two circular holes for mounting silica gel buttons 22. In order to avoid affecting the protection performance of the whole machine due to the hole structure, a protection scheme is also designed here: the silica gel button 22 with a waterproof edge structure is mounted on the inner wall of the cavity of the driving module connecting structure 21b of the waist rod 21 from the inside to the outside, and the waterproof edge with a protruding structure is pressed to achieve the protection effect.

[0086] Specifically, since the silica gel button 22 is tightly attached to the button PCB 23 below, and the outer contour of the button PCB 23 is designed to be consistent with the waterproof edge contour of the silica gel button 22, the waterproof edge of the silica gel button 22 can be indirectly pressed by uniformly pressing the button PCB 23. Therefore, a button pressing piece 25 and a button threaded frame 24 are designed. Since it is not possible to directly machine threaded holes on the inner wall of the cavity of the driving module connecting structure 21b, the button threaded frame 24 with threads is embedded in the inner wall of the cavity. If the waist rod 21 is 3D aluminum alloy printing, the embedded fixing method can be selected by gluing. If carbon fiber is used, the button threaded frame 24 and the inner wall of the cavity can be formed together by a mold. Further, by using the above structure scheme, the silica gel button 22 and the button PCB 23 can be tightened on the button threaded frame 24 through the button pressing piece 25 using a screw, so that the outer waterproof edge of the silica gel button 22 is pressed on the inner wall, thereby achieving the protection effect. It is common to set buttons on the exoskeleton robot body, but most of them do not have protection capability. It should be pointed out that the protection and installation mode of the above-mentioned button should be understood as an optional embodiment and should not be a limitation on the present patent. The silica gel button 22, the button PCB 23 and the button threaded frame 24 can be of any shape. As long as the waterproof edge of the button PCB 23 and the silica gel button 22 is pressed by tightening the screw through the button pressing piece 25, the technical scheme provided in the embodiment of the present application is consistent, and the same effect can be achieved.

[0087] Reference Figures 1-4 The embodiment of the present application provides the symmetrical telescopic adjusting module 16 which is arranged in the inside of the waist support structure module 1 and is fixedly connected with a group of symmetrically designed waist rod modules 2 on the left and right sides, so that the symmetrical telescopic adjustment of the left and right waist rods 21 can be realized, the exoskeleton of the embodiment of the present application can meet the wearing needs of different people with different body shapes, and the specific structural principle and function implementation mode of the module are referred to the invention patent application with the publication number CN116810764A. Further, the adjusting module with similar structure and function as the symmetrical telescopic adjusting module 16 provided by the embodiment of the present application has not been applied to the mature products or research prototypes on the current market, and it should be pointed out that the telescopic adjusting scheme provided by the embodiment of the present application should be understood as an optional embodiment and should not be a limitation of the present application patent, and any telescopic adjusting module applied to the exoskeleton robot product and having the functions of symmetrical telescopic adjustment, locking and key pressing unlocking of the left and right waist rods can be considered to have the same technical effect as the embodiment of the present application.

[0088] Reference Figure 9 The embodiment of the present application provides a walking power-assisted exoskeleton robot, and a leg rod module 4 of the walking power-assisted exoskeleton robot comprises a leg rod 41, a first connecting end (the figure number is 41a), a second connecting end (the figure number is 41b), a leg binding strap plate 42, a leg binding strap plate plug buckle 43, an elastic retaining ring 44 for shaft and a pin shaft 45. The leg rod 41 is manufactured by using a 3D aluminum alloy metal printing or a carbon fiber mold processing technology, the leg rod 41 has a first connecting end (the figure number is 41a) and a second connecting end (the figure number is 41b), the second connecting end (the figure number is 41b) is hinged together with the output end 32 through the pin shaft and forms a passive rotation degree of freedom, which is used for providing the wearer with the activity degree of freedom when the thigh performs abduction and adduction action, and the first connecting end (the figure number is 41a) is hinged together with the leg binding strap plate 42 through the pin shaft 45 and the elastic retaining ring 44 for shaft and forms a passive rotation degree of freedom, the degree of freedom can compensate the wearing discomfort caused by the fact that the rotation center of the output end 32 and the projection position of the human hip joint in the sagittal plane do not coincide, the leg binding strap plate plug buckle 43 is installed and connected with the leg binding strap plate 42 in a way that the leg binding strap plate plug buckle 43 is inserted, locked, pressed and unlocked and pulled out, and the leg binding strap plate plug buckle 43 and the leg binding strap plate 42 are both made of plastic material.

[0089] Reference Figure 12 and Figure 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 fixed on the sponge pad 533 at a certain position. The strap adjusting end 532 is a narrower end of the sponge pad 533. The sponge pad 533 is wider and used to contact the thigh and provide comfort during binding. The leg strap plate 42 and the leg strap plate insert buckle 43 are designed with the same strip-shaped opening structure. In order to achieve the quick wearing and taking off of the walking-assisted exoskeleton robot, the strap fixing end 531 and the strap adjusting end 532 are respectively threaded through the strip-shaped openings of the leg strap plate 42 and the leg strap plate insert buckle 43 and reversely fixed by the magic tape. Based on the above structure design, when wearing, the leg strap plate insert buckle 43 and the strap adjusting end 532 fixed thereon are first pressed and pulled out, then the sponge pad 533 is wrapped around the thigh and reinserted into the leg strap plate 42, and finally the strap adjusting end 532 is adjusted and tightened to bind the thigh. When taking off, the leg strap plate insert buckle 43 is pressed and pulled out from the leg strap plate 42 to release the binding of the thigh. Thus, the quick wearing and taking off function of the leg strap 53 is realized. It should be pointed out that the quick wearing and taking off scheme of the leg strap proposed in the embodiment of the present application should be understood as an optional embodiment and should not be a limitation of the present patent. Any binding design scheme applied to the wearable exoskeleton robot and having similar leg strap plate, leg strap plate insert buckle, strap fixing end, strap adjusting end and sponge pad can be considered to have the same technical effect as the embodiment of the present application.

[0090] Reference Figure 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 material, such as PC, PP or PVC. The left joint fixing area 522a, the right joint fixing area 522b and the waist fixing area 522c are fixed to the joint driving module 3 (left), the joint driving module (right) and the waist support structure module 1 of the exoskeleton body by screws, respectively, to achieve better wearing and motion stability. The inner waist strap 521 is made of flexible strap, such as nylon fabric filled with foam sponge pad. The inner waist strap 521 is installed on the inner side of the outer waist strap 522 by magic tape, used to directly contact the waist of the wearer and bring better wearing comfort. It should be pointed out that the design scheme and fixing method of the waist strap should be understood as an optional embodiment and should not be a limitation of the present patent. Any waist binding scheme applied to the exoskeleton robot, having hard outer waist strap and flexible inner waist strap and fixedly installed on the waist and the two sides of the hip joint of the body can be considered to have the same technical effect as the embodiment of the present application.

[0091] The joint driving module in the application has the following structure, including a shell 35, a joint frame 36, a motor assembly 34, an execution assembly 33, a light strip assembly and an encoder assembly.

[0092] The shell 35 is sealed and fastened to one side of the joint frame 36. The side of the joint frame 36 facing the shell 35 is provided with a mounting portion 361, and a gear seal end cover 336 is sealed and fastened to the mounting portion 361. The surface of the joint frame 36 away from the shell 35 is provided 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 fastened to the side of the motor mounting portion 367 away from the shell 35. The execution assembly 33 includes an output seal end cover 3311. The output seal end cover 3311 is sealed and fastened to the side of the output portion away from the shell 35. The shell 35 and the gear seal end cover 336 form a first containing space. The gear seal end cover 336 and the joint frame 36 form a second containing space. The gear seal end cover 336 and the motor end cover 341 form a third containing space. The gear seal end cover 336 and the output seal end cover 3311 form a fourth containing space. The third containing space and the fourth containing space are communicated through the second containing space. The motor assembly 34 is arranged in the second containing space and the third containing space. The execution assembly 33 is arranged in the second containing space and the fourth containing space. The joint frame 36 is provided with a first sealing structure on the joint surface with the shell 35, which is used for sealing the first containing space. The second sealing structure is arranged at the joint surface of the mounting portion 361 and the gear seal end cover 336. The third sealing structure is arranged between the output portion and the output seal end cover 3311. The second sealing structure cooperates with the third sealing structure to seal the second containing space and the fourth containing space. The joint frame 36 has a fixed mounting plane 363. The fixed mounting plane 363 is used as a joint surface when the motor joint device is connected with the exoskeleton robot body structure. The fourth sealing structure is arranged on the fixed mounting plane 363. The fourth sealing structure cooperates with the exoskeleton robot body structure to seal the third containing space.

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

[0094] Specifically, the motor stator 342 is fixed on the joint frame 36 by high-strength structural adhesive bonding and is additionally fixed by several screws. The motor shaft 343 is tightly bonded with the motor rotor 344 by high-strength structural adhesive, and the motor end cover 341 axially fixes the motor shaft 343 on the joint frame 36 by screws and two deep groove ball bearings. The execution assembly 33 further comprises a first gear 332, a second gear 334, a third gear 337, an inner ring gear 338, a planetary gear 339, a planetary carrier 3310, an output cover pressing plate 3313, and an output connecting piece 331. Part of the first gear 332, the second gear 334, and the third gear 337 is located in the second accommodating space. Another part of the third gear 337, as well as the inner ring gear 338, the planetary gear 339, and the planetary carrier 3310 are arranged in the fourth accommodating space. The first gear 332 comprises the first gear 332. The second gear 334 comprises the second gear 334. The parts of the first gear 332, the second gear 334, and the third gear 337 located in the second accommodating space are sequentially meshed. The inner ring gear 338 is fixedly connected to the joint frame 36. The number of the planetary gears 339 is plural. Each planetary gear 339 is meshed between the inner ring gear 338 and the part of the third gear 337 located in the fourth accommodating space. The planetary carrier 3310 is coaxially arranged with the third gear 337. The rotation axis of each planetary gear 339 is rotationally connected with the planetary carrier 3310, so that the planetary gear 339 can drive the planetary carrier 3310 to rotate while self-rotating. The output cover pressing plate 3313 is installed on the output sealing end cover 3311, used to cooperate with the gear sealing end cover 336 to realize the axial positioning of the third gear 337 and the planetary carrier 3310. The output connecting piece 331 is installed on the side of the planetary carrier 3310 away from the third gear 337, used for the connection of the planetary carrier 3310 and the exoskeleton robot.

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

[0096] It should be noted that the above structural design scheme should be understood as an optional embodiment and should not be a limitation on the application. Any exoskeleton robot electric joint assembly with the same structural layout as the electric joint assembly described in the embodiment of the application (including the same gear reduction mechanism form, the same motor type, the same shell 35 layout, the same external mounting method, etc.) can be considered to have the same technical effects as the embodiment of the application.

[0097] The second sealing structure includes a gear sealing groove 364 and a second sealing ring. The gear sealing groove 364 is arranged on the joint surface of the mounting portion 361 and 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 interfere with the meshing between the first gear 332, the second gear 334 and the third gear 337. The gear sealing groove 364 is formed around the mounting portion 361 towards the side of the housing 35, i.e. on 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 and the gear sealing end cover 336 is fastened with the mounting portion 361, the mounting portion 361 and the gear sealing end cover 336 are sealed. The gear sealing end cover 336 can be fixed with the mounting portion 361 by screws, or can be pressed on the mounting portion 361 by the housing 35 after the housing 35 and the joint frame 36 are fixed. The third sealing structure includes an output sealing groove 3312 and a third sealing ring. The output sealing groove 3312 is formed 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 portion. Specifically, the output portion is in the shape of a hollow cylinder as a whole. After the gear sealing end cover 336, the third gear 337, the planetary gear 339, the planet carrier 3310, the output sealing end cover 3311 and the output end cover pressing plate 3313 are all installed in place, bearings are arranged between the gear sealing end cover 336 and the third gear 337, bearings are arranged between the lower end of the third gear 337 and the planet carrier 3310, and bearings are arranged between the planet carrier 3310 and the output sealing end cover 3311. The output end cover pressing plate 3313 limits the axial displacement of the bearings between the planet carrier 3310 and the output sealing end cover 3311, thereby limiting the axial displacement of the planet carrier 3310. The gear sealing end cover 336 limits the axial displacement of the bearings 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, i.e. the third gear 337 and the planet carrier 3310 can only rotate around their own axes and cannot displace axially. Through the second sealing structure and the third sealing structure, the static sealing of the two-stage gear reduction mechanism in the actuating assembly 33 is achieved. The fourth sealing structure includes an external mounting sealing groove 362 and a fourth sealing ring. The external mounting sealing groove 362 is formed on the fixed mounting plane 363. The fourth sealing ring is arranged in the external mounting sealing groove 362. The fourth sealing structure is used for sealing between the joint frame 36 and the exoskeleton robot body structure. Specifically, the fixed mounting plane 363 is used as a mounting joint surface when connecting the exoskeleton robot body structure, and is suitable for connecting the external connecting structure 38. The external connecting structure 38 can be a tubular rod member 382 with a hollow structure, and then the motor assembly 34 will be located in the inner cavity of the connected tubular rod member 382. The tubular rod member 382 is fixed to the joint frame 36 by screws and a pressing plate structure 381.Therefore, the installation sealing groove on the fixed installation plane 363 can be used in cooperation with the fourth sealing ring to achieve sealing protection here. 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 noted 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 application. The external installation schematic shown in the figure has a pressing plate structure 381 and a hollow tubular rod 382, which can have any specific structure and shape as long as they have similar internal hollow tubular structures and pressing plate structures 381, and can cover the motor assembly 34 on the joint frame 36 as a whole. It can be considered that the embodiments of the present application have the same technical effect.

[0100] In summary, through the first to fourth sealing structures, the overall sealing of the electric joint assembly is achieved, which can at least meet the IP54 level protection requirement, so that the electric joint assembly has high protection capability. The motor assembly 34 further comprises a motor control module 37, the control function of which can be integrated in the PCB board for controlling the operating parameters of the motor. The motor control module 37 is located in the first containing space, i.e. between the housing 35 and the gear sealing end cover 336. The lamp strip assembly comprises an LED indicator lamp strip and a lamp strip control module 352, and further comprises a light guide plate 351. The LED indicator lamp strip is fixedly connected to the side of the housing 35 away from the joint frame 36. The lamp strip control module 352 can be integrated in the PCB board. The lamp strip control module 352 is in communication connection with the LED indicator lamp strip. The lamp strip control module 352 is in communication connection with the motor control module 37. The lamp strip control module 352 is arranged in the first containing space. The lamp strip control module 352 can be fixed on the housing 35 by bolts, or can be installed by gluing, clamping or other reasonable ways. Specifically, the LED indicator lamp strip is tightly glued on the housing 35 by gluing, and strict tests are required during the gluing process to ensure the sealing of the housing 35. The light guide plate 351 is located outside the LED indicator lamp strip and is tightly bonded and fixed with the housing 35 by structural glue. The power supply line and signal line of the lamp strip control module 352 are connected with the motor control module 37 through the wire harness. The lamp strip control module 352 and the motor control module 37 can be commonly connected to a total control module for simultaneously coordinating and controlling the lamp strip control module 352 and the motor control module 37. The LED indicator lamp strip can be annular, with its center coinciding with the rotation axis of the planet carrier 3310. Through the lamp strip control module 352, the color and flashing mode of the LED indicator lamp strip can be freely programmed and controlled, thereby improving the human-machine interaction characteristics of the exoskeleton robot.

[0101] It should be noted that the design, installation and wiring scheme of the ring-shaped indicator light band of the human-computer interaction should be understood as an optional embodiment and should not be a limitation of the present application. Any electric joint assembly for an exoskeleton robot with the same ring-shaped indicator light band layout position, the same display function, and the same installation method as the electric joint assembly described in the embodiment of the present application can be considered to have the same technical effect as the embodiment of the present application. In addition, the high-protection electric joint device for an exoskeleton robot of the present application further comprises an encoder assembly. The encoder assembly comprises 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 accommodating space and are opposite to the first magnetic steel 333 and the second magnetic steel 335, respectively, thereby acquiring the single-turn position information of the first gear 332 and the second gear 334, respectively. 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 second Hall sensor probe 372 are installed on the motor control module 37 and are located above the first magnetic steel 333 and the second magnetic steel 335, respectively. 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 connecting piece 331 (usually less than 360° on the exoskeleton) can be calibrated in advance, so that the current position of the output connecting piece 331 can be obtained by acquiring the single-turn position information of the first gear 332 and the second gear 334. Unlike 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 increase external mechanical structures. It should be noted that the setting scheme of the double encoder in the electric joint assembly for the exoskeleton robot should be understood as an optional embodiment and should not be a limitation of the present application. Whether the encoder magnetic steel is glued or interference-pressed, whether the gear is a spur gear or a helical gear, etc. are not restricted, as long as the encoder position layout is the same as the embodiment of the present application, it can be considered to have the same technical effect as the embodiment of the present application.

[0102] In summary, the joint driving module of the present application realizes the sealing between the shell 35 and the joint frame 36 through the first sealing structure, realizes the sealing protection of the electronic components inside the electric joint assembly, realizes the static sealing of the two-stage gear reduction mechanism in the execution assembly 33 through the second sealing structure and the third sealing structure, realizes the sealing of the fixed installation plane 363 which is the joint surface when the electric joint assembly is connected with the exoskeleton robot body structure through the fourth sealing structure. Further, the high protection capability electric joint device for exoskeleton robot is integrally sealed, and has an overall protection capability of not less than IP54 level. In addition, the high protection capability electric joint device for exoskeleton robot of the present application can freely program the color and flashing mode of the LED indicator light band through the lamp band control module 352, the motor control module 37, or the total control module, by setting the lamp band assembly on the shell 35, which can improve the human-computer interaction characteristics of the exoskeleton robot. The joint driving module provided by the present application adopts a double encoder design, without the need for separate power supply for the two encoders, and without the need for increasing external mechanical structure, thereby making the high protection capability electric joint device for exoskeleton robot compact in layout and high in reliability.

[0103] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A walking-assistance exoskeleton robot, characterized in that, it comprises a waist support structure module, a waist rod module, a joint drive module, a leg rod module and a binding system, the binding system is arranged on the waist support structure module and is used to stably wear the waist support structure module on the body of a wearer and realize fixation with the legs of the wearer, the waist rod module is arranged on the waist support structure module and the joint drive module is fixedly arranged on the waist rod module, the waist rod module is used to provide a mounting space for the joint drive module, the leg rod module is connected with the power end of the joint drive module, the leg rod module can output walking assistance and can transmit the assistance to the legs of the wearer through the leg rod module; the waist rod module comprises a waist rod module assembly, the waist rod module assembly is arranged in two groups and is symmetrically arranged relative to the waist support structure module, the waist rod module assembly comprises a waist rod part, the waist rod part comprises a hollow tubular rod structure designed according to the shape of the waist of a human body, a joint drive module connecting structure used to fixedly mount the joint drive module and a joint drive module baffle structure, the joint drive module baffle structure is arranged corresponding to the power end of the joint drive module and is used to isolate the power end from the wearer, the manufacturing material of the waist rod part is carbon fiber or metal material, and the waist rod part is an integral structure; the joint drive module comprises a control button used to control the operation thereof, a button PCB is arranged below the control button, and the button PCB sends corresponding operation instructions to the joint drive module after being pressed by the control button; an installation hole used to install the control button is arranged on the joint drive module connecting structure, a waterproof edge structure is arranged at one end of the inner side of the control button, and the waterproof edge structure of the control button is pressed and combined on the inner wall of the joint drive module connecting structure by the button pressing sheet of the button PCB; a button threaded frame is fixedly arranged on the inner wall of the joint drive module connecting structure, and the control button and the button PCB are pressed and combined on the button threaded frame by the button pressing sheet, and the button pressing sheet is bolted with the button threaded frame.

2. The walking-assistance exoskeleton robot according to claim 1, characterized in that, the hollow tubular rod structure is a hollow rod structure and is used for cable passing; the joint drive module connecting structure is a shell structure and forms a mounting space, the joint drive module can be fixedly mounted in the mounting space, an assembly window is arranged on the joint drive module connecting structure, a joint sealing pressing sheet extending inward in parallel is arranged at the outer edge of the assembly window, the joint sealing pressing sheet is used to press the joint drive module, and a sealing groove structure achieving static sealing with the joint drive module connecting structure is arranged on the joint drive module.

3. The walking-assistance exoskeleton robot according to claim 1, characterized in that, The waist support structure module comprises an inner shell structure and an outer shell structure, the inner shell structure is sealed and buckled with the outer shell structure, a battery unit, a main controller and a symmetrical telescopic adjusting module are arranged in the waist support structure module, the telescopic adjusting module comprises an adjustable telescopic end, the waist rod module assembly is fixedly arranged on the telescopic end, the telescopic adjusting module further comprises a telescopic adjusting button, the telescopic adjusting button is arranged at the upper end of the waist support structure module, the waist support structure module has a battery compartment for mounting the battery unit, a battery compartment opening is arranged at the lower end of the waist support structure module, the battery unit is arranged in the battery compartment from the bottom of the waist support structure module, and a battery compartment cover is arranged on the battery compartment opening.

4. The walking-assist exoskeleton robot according to claim 3, wherein, The hollow tubular rod structure is filled with a rubber plug to prevent water vapor from entering; The main controller is a whole encapsulation sealing structure.

5. The walking-assist exoskeleton robot according to claim 4, wherein, The telescopic adjusting button is provided with two, and the two telescopic adjusting buttons are arranged on the two sides of the upper end of the waist support structure module.

6. The walking-assist exoskeleton robot according to claim 1, wherein, The binding system comprises a waist belt, the waist belt comprises an outer waist belt and an inner waist belt, the outer waist belt is made of hard material and is used for stabilizing the waist support structure module, the inner waist belt is made of flexible belt, is made of nylon cloth and is filled with foam sponge pad, the inner waist belt is mounted on the inner side of the outer waist belt through a magic tape, and the inner waist belt directly contacts the waist of the wearer and is used for improving the comfort of wearing.

7. The walking-assist exoskeleton robot according to claim 6, wherein, The binding system comprises a leg belt, the leg belt comprises a leg belt plate and a leg belt plate plug, the leg belt plate and the leg belt plate plug are mutually inserted and fixed and pressed out of release, the leg belt plate and the leg belt plate plug are made of plastic material, the leg belt plate and the leg belt plate plug each have a same strip-shaped opening structure for fixing the leg belt, and the leg belt is composed of a nylon fabric belt, a sponge pad and a magic tape, and can better bind the thigh of the wearer.

8. The walking-assist exoskeleton robot according to any one of claims 1 to 7, wherein, The leg bar module comprises a leg bar, a first connecting end, and a second connecting end. The second connecting end is hinged together with the power output end of the joint driving module through a pin shaft and forms a passive rotation freedom degree, which is used for providing the wearer with the freedom degree of movement when the thigh is outwardly and inwardly moved. The first connecting end is hinged together with the leg band plate of the binding system through a pin shaft and forms a passive rotation freedom degree, which is used for making up for the discomfort of wearing movement caused by the fact that the rotation center of the power output end and the projection position of the human hip joint in the sagittal plane do not coincide.

Images