Lower extremity power-assisted exoskeleton robot

Abstract

The application relates to a lower-limb assisting exoskeleton robot, which comprises a box-type backrest assembly, the two sides of the box-type backrest assembly are connected with leg assemblies through hip joint movement mechanisms, each leg assembly comprises, from top to bottom, a thigh exoskeleton mechanism, a shank exoskeleton mechanism and a foot assisting mechanism; the thigh exoskeleton mechanism comprises a first end and a second end, the shank exoskeleton mechanism comprises a third end and a fourth end, the first end is connected with the hip joint movement mechanism, and the fourth end is connected with the foot assisting mechanism; the second end and the third end are connected through an assisting spring to form a knee joint assisting mechanism. Compared with the prior art, the application has the advantages of good wearing assisting effect, good cooperation with a wearer and simple control.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of exoskeleton robots, in particular to a lower limb assisting exoskeleton robot. BACKGROUND

[0002] An exoskeleton robot is a wearable mechanical device that can enhance human movement ability, assist or restore physical function. With the development of biomedical engineering technology, exoskeleton robots are widely used in rehabilitation medicine, elderly care, military fields and industrial production, and have great application potential in helping patients with difficulty in movement to restore motor function and providing external assistance for workers.

[0003] According to the driving mode, the exoskeleton assisting device can be divided into active exoskeleton device and passive exoskeleton device. The passive exoskeleton device generally stores the energy consumed passively in movement through an energy storage mechanism or appropriate force transmission, and releases the energy and outputs assistance when the human muscle needs to do positive work. This kind of device has simple structure and light weight, but the assistance effect is limited, and it is usually suitable for light assistance demand. The active exoskeleton device uses electric or pneumatic system to drive, so that each joint in the device actively generates movement. This technology can greatly improve the load capacity of the wearer, and the assistance effect is obvious, especially suitable for rehabilitation treatment and heavy physical labor. However, the active exoskeleton also has some technical problems, mainly in the aspects of heavy equipment, complex control system, poor coordination with human movement, and poor comfort during use.

[0004] In recent years, designers have optimized the driving system, improved the control algorithm, and combined with the principle of human engineering to improve the adaptability, coordination and convenience of the exoskeleton.

[0005] Chinese patent application CN 118078585 A discloses a lower limb exoskeleton device and a leg rehabilitation instrument, the movement of the hip joint and the knee joint and the length adjustment of the leg are all realized through the motor, so that the joint movement and the automatic adjustment of the leg length can be driven under the control of the control module. Chinese patent application CN 115582825 A discloses a passive lower limb exoskeleton, which realizes passive assistance through the cooperation of springs and eccentric wheels in the hip joint assistance module and the hip joint assistance module. Chinese patent application CN 112060060 A discloses a lower limb assisting exoskeleton robot and control method of passive and active hybrid driving, which designs the hip joint as passive driving type and the knee joint as active driving type. The leg mechanism contains driving motor, harmonic reducer, transmission mechanism and sensor system, which can realize active assistance of the knee joint, but the main disadvantage of this system is that the control system is relatively complex, and high-precision sensors and control algorithms are needed for real-time adjustment.

[0006] Although the existing exoskeleton design has improved in terms of assistance function and coordinated movement, there are still problems such as heavy weight, complex operation and poor adaptability. Especially for lower limb assistance exoskeleton, how to make the structure more in line with human biomechanics, improve the movement coordination with the wearer, and reduce the complexity and weight of the system while ensuring the assistance effect, is still a technical problem to be solved. SUMMARY

[0007] The purpose of the present application is to overcome the defects of the prior art and provide a lower limb assistance exoskeleton robot with good assistance effect, good coordination with the wearer and simple control.

[0008] The purpose of the present application can be achieved by the following technical solutions:

[0009] A lower limb assistance exoskeleton robot comprises a box-type backrest assembly with a controller, the two sides of the box-type backrest assembly are connected with leg assemblies through hip joint movement mechanisms, each leg assembly comprises, from top to bottom, a thigh exoskeleton mechanism, a calf exoskeleton mechanism and a foot assistance mechanism; the thigh exoskeleton mechanism comprises a first end and a second end, the calf exoskeleton mechanism comprises a third end and a fourth end, the first end is connected with the hip joint movement mechanism, and the fourth end is connected with the foot assistance mechanism; the second end and the third end are connected through an assistance spring to form a knee joint assistance mechanism;

[0010] The outer contour of the second end is J-shaped, and the hook body faces the back side of the knee, comprises left and right side plates, first arc-shaped grooves for limiting the movement range of the knee joint are formed in the left and right side plates, the distance between the first arc-shaped grooves and the lower edges of the left and right side plates is equal, an oval block and a cylindrical block are installed between the left and right side plates, and a groove for installing and limiting the movement of the upper end of the assistance spring is formed in the cylindrical block;

[0011] The third end comprises an arc-shaped boss, arc-shaped plates are fixed above the arc-shaped boss and extend outward on both sides of the arc-shaped boss, the upper end faces of the arc-shaped plates are matched with the oval block, a second arc-shaped groove is formed between the arc-shaped plates and the arc-shaped boss, the lower edges of the left and right side plates are located in the second arc-shaped groove, the left and right side edges of the arc-shaped plates are located in the first arc-shaped groove, and a spring mounting hole for mounting the lower end of the assistance spring is formed in the front side of the third end.

[0012] Preferably, the thigh exoskeleton mechanism comprises a first length adjustment assembly composed of an outer tube and an inner tube, for adjusting the distance between the first end and the second end; the calf exoskeleton mechanism comprises a second length adjustment assembly composed of an outer tube and an inner tube, for adjusting the distance between the third end and the fourth end.

[0013] Preferably, the first end is located on the inner tube, the second end is located on the outer tube, the third end is located on the outer tube, and the fourth end is located on the inner tube.

[0014] Preferably, the hip joint movement mechanism comprises two symmetrically arranged hip plates, which are respectively inserted into the box-shaped backrest assembly through the holes arranged on both sides of the box-shaped backrest assembly, and then connected through the long hole to adjust the distance between the two hip plates.

[0015] Preferably, the hip joint movement mechanism further comprises two symmetrically arranged motor mounting seats, a driving motor, a connecting flange, a guard plate, a force sensing device, and a thigh exoskeleton mounting seat.

[0016] The end of the hip plate away from the box-shaped backrest assembly is connected with the motor mounting seat, the driving motor is installed on the motor mounting seat, the connecting flange is installed on the output end face of the driving motor, and the guard plate is connected with the hip plate to cover the driving motor and the connecting flange.

[0017] One side of the force sensing device is connected with the connecting flange, and the other side is connected with the thigh exoskeleton mounting seat. The force sensing device is connected with the controller circuit in the box-shaped backrest assembly. The controller adjusts the output strength of the driving motor according to the collected thigh exoskeleton torsional force value. The first end is connected with the thigh exoskeleton mounting seat through a circular shaft.

[0018] Preferably, the contact surface of the box-shaped backrest assembly with the wearer is a curved surface, which is adapted to the waist curve of the human body.

[0019] Preferably, the foot assisting mechanism comprises a foot support plate, and the foot support plate is provided with a foot assisting device at the bottom, and the foot assisting device comprises a forefoot elastic plate, a forefoot support rod, a hind foot elastic plate, and a hind foot support rod.

[0020] The forefoot elastic plate and the forefoot support rod are connected through a forefoot elastic hinge, the forefoot elastic plate, the hind foot elastic plate, and the hind foot support rod are connected through a heel elastic hinge, and the hind foot support rod and the foot support plate are connected through a rotating shaft.

[0021] Preferably, the included angle between the forefoot elastic plate and the forefoot support rod is an acute angle, and the included angle between the hind foot elastic plate and the hind foot support rod is an acute angle.

[0022] Preferably, the foot assisting mechanism is connected with the fourth end through a coil spring, the coil spring is located in the cavity of the fourth end, one end of the coil spring is fixed in the side opening of the fourth end, and the other end is installed in the rotating shaft groove of the foot assisting mechanism.

[0023] Preferably, the thigh exoskeleton mechanism and / or calf exoskeleton mechanism is provided with an adaptive binding device for binding with the wearer's leg;

[0024] The adaptive binding device comprises a fixing plate for fixing with the exoskeleton structure, and side plates are connected to the two sides of the fixing plate through elastic hinges, and the other ends of the two side plates are connected through a binding belt, and the binding is completed by winding the binding belt around the wearer's leg.

[0025] Compared with the prior art, the present application has the following beneficial effects:

[0026] (1) The outer contour of the upper end of the knee joint assisting mechanism is "J" type, which makes the motion trajectory of the knee joint close to the natural motion trajectory of the human knee joint, reduces the coordination difference, and contains an energy storage spring in the joint to realize the assistance of the knee joint motion.

[0027] (2) The upper end of the foot assisting mechanism is connected with the calf exoskeleton through a coil spring to realize the ankle joint assistance, and the lower end of the foot assisting mechanism contains a foot support device, which is composed of a forefoot elastic plate, a forefoot support rod, an aft foot elastic plate and an aft foot support rod, and is connected through a rotating shaft, and a spring is arranged on the connecting shaft to realize the support assistance of the forefoot and the aft foot, that is, the foot assisting mechanism provides assistance to the wearer in terms of ankle joint rotation and foot support.

[0028] (3) The entire lower limb exoskeleton robot is provided with only two driving motors in the hip joint motion mechanism, the control is more convenient, the number of driving elements is small, and the self-weight of the lower limb exoskeleton robot is reduced.

[0029] (4) The hip joint motion mechanism adjusts the output torque of the motor in real time according to the torque value borne by the thigh exoskeleton collected by the force sensing device, so that the force adaptive adjustment of the wearer in different motion scenes can be realized, and the coordination and responsiveness of the motion are improved.

[0030] (5) The box type back assembly can accommodate power controller and other components, and the front surface thereof is curved and close to the physiological curve of the human waist, so as to facilitate the adhesion with the human back and improve the comfort of the wearer.

[0031] (6) The thigh exoskeleton mechanism and the calf exoskeleton mechanism are both provided with an inner tube and an outer tube, which are nested, so as to adaptively adjust the length of the thigh exoskeleton and the calf exoskeleton, and the hip plate with adjustable distance between the two sides can be combined, so as to be suitable for wearers with different body shapes. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the lower limb assisting exoskeleton robot in the embodiment;

[0033] Figure 2 It is a schematic diagram of the box type back assembly structure in the embodiment;

[0034] Figure 3 schematic diagram of hip joint movement mechanism in the embodiment;

[0035] Figure 4 schematic diagram of leg structure in the embodiment;

[0036] Figure 5 schematic diagram of knee joint assisting mechanism in the embodiment;

[0037] Figure 6 schematic diagram of foot assisting mechanism in the embodiment;

[0038] Figure 7 schematic diagram of adaptive binding device in the embodiment;

[0039] Reference signs:

[0040] 1 - box type backrest assembly, 11 - hole, 12 - pressing plate, 13 - long hole; 2 - hip joint movement mechanism, 21 - hip plate, 22 - driving motor, 23 - thigh exoskeleton mounting seat, 24 - guard plate, 25 - connecting flange, 26 - motor mounting seat, 27 - force sensing device, 28 - round shaft; 3 - thigh exoskeleton mechanism, 31 - first end, 32 - second end, 321 - side plate, 322 - first arc-shaped slot, 323 - cylindrical block, 324 - elliptical block, 33 - first length adjusting assembly; 4 - knee joint assisting mechanism, 41 - assisting spring; 5 - shank exoskeleton mechanism, 51 - third end, 511 - arc-shaped plate, 512 - second arc-shaped slot, 513 - arc-shaped boss, 514 - spring mounting hole, 52 - second length adjusting assembly, 521 - side opening, 53 - fourth end; 6 - foot assisting mechanism, 61 - foot support plate, 62 - coil spring, 63 - rotating shaft slot, 64 - binding belt, 65 - foot assisting device, 651 - rear foot support rod, 652 - rear foot elastic plate, 653 - rear foot elastic hinge, 654 - front foot elastic plate, 655 - front foot support rod, 656 - heel rotating shaft, 657 - front foot elastic hinge; 7 - adaptive binding device, 71 - fixing plate, 72 - side plate, 73 - binding belt, 74 - elastic hinge. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work should belong to the protection scope of the present application.

[0042] EMBODIMENT

[0043] As Figure 1As shown, the embodiment provides a lower limb assisting exoskeleton robot, including a box type backrest assembly 1 with a controller, the two sides of the box type backrest assembly 1 are connected with leg assemblies through hip joint movement mechanisms 2, and each side leg assembly includes a thigh exoskeleton mechanism 3, a lower leg exoskeleton mechanism 5 and a foot assisting mechanism 6 arranged in sequence from top to bottom;

[0044] As shown in Figure 4 and Figure 5 , the thigh exoskeleton mechanism 3 includes a first end 31 and a second end 32, the lower leg exoskeleton mechanism 5 includes a third end 51 and a fourth end 53, the first end 31 is connected with the hip joint movement mechanism 2, and the fourth end 52 is connected with the foot assisting mechanism 6; the second end 32 and the third end 51 are connected through an assisting spring 41 to form a knee joint assisting mechanism 4;

[0045] The outer contour of the second end 32 is J-shaped, and the hook body faces the back side of the knee, including left and right side plates 321, the first arc-shaped grooves 322 for limiting the movement range of the knee joint are arranged on the left and right side plates 321, the distance between the first arc-shaped grooves 322 and the lower edges of the side plates 321 is equal, and the oval block 324 and the cylindrical block 323 are installed between the side plates 321, and the slot for installing the upper end of the assisting spring 41 and limiting the movement is arranged on the cylindrical block 323;

[0046] The third end 51 includes an arc-shaped boss 513, the arc-shaped plates 511 are fixed on the upper side of the arc-shaped boss 513 and extend outward on both sides of the arc-shaped boss 513, the upper end surface of the arc-shaped plate 511 cooperates with the oval block 324, the second arc-shaped groove 512 is formed between the arc-shaped plate 511 and the arc-shaped boss 513, the lower edge of the side plate 321 is located in the second arc-shaped groove 512, the left and right side edges of the arc-shaped plate 511 are located in the first arc-shaped groove 322, and the spring mounting hole 514 for installing the lower end of the assisting spring 41 is arranged on the front side of the third end 51.

[0047] Next, the various components will be described in detail

[0048] (1) Box type backrest assembly

[0049] As shown in Figure 2 , the front surface (the surface in contact with the wearer) of the box type backrest assembly 1 is a curved surface, and the curved surface is arranged to be adapted to the curved surface of the human waist.

[0050] The two sides of the box type backrest assembly 1 are provided with holes 11 for the hip plates 21 of the hip joint movement mechanisms 2 to pass through, and the two are connected through long holes 13 (strip-shaped connecting holes) to adjust the distance between the two hip plates 21. The connection relationship between the hip plates and the box type backrest assembly 1 is fixed through the pressing plate 12.

[0051] (2) Hip joint movement mechanism

[0052] As shown in Figure 3 The hip joint movement mechanism 2 includes two hip plates 21 arranged symmetrically on both sides. The two hip plates 21 pass through the holes 11 arranged on both sides of the box-type backrest assembly 1 and enter the box-type backrest assembly 1, and then the distance between the two hip plates 21 is adjusted by the long hole 13.

[0053] The hip joint movement mechanism 2 further includes two motor mounting seats 26 arranged symmetrically on both sides, a driving motor 22, a connecting flange 25, a guard plate 24, a force sensing device 27, and a thigh exoskeleton mounting seat 23. The end of the hip plate 21 away from the box-type backrest assembly 1 is connected to the motor mounting seat 26, the driving motor 22 is installed on the motor mounting seat 26, the connecting flange 25 is installed on the output end face of the driving motor 22, and the guard plate 24 is connected to the hip plate 21 to cover the driving motor 22 and the connecting flange 25.

[0054] Threaded holes are arranged on the two sides of the force sensing device 27, one side is connected to the connecting flange 25, and the other side is connected to the thigh exoskeleton mounting seat 23. The force sensing device 27 is connected to the controller circuit in the box-type backrest assembly 1, and the controller adjusts the output strength of the driving motor 22 in real time according to the collected thigh exoskeleton torque value. The first end 31 is connected to the thigh exoskeleton mounting seat 23 through the round shaft 28.

[0055] The assembly and connection between the hip plate 21, the driving motor 22, the connecting flange 25, the guard plate 24, the force sensing device 27, and the thigh exoskeleton mounting seat 23 in the hip joint movement mechanism 2 can realize the flexion, extension, adduction, and abduction movement of the hip joint.

[0056] (3) Thigh exoskeleton mechanism and calf exoskeleton mechanism

[0057] The thigh exoskeleton mechanism 3 has a first end 31 and a second end 32. The first end 31 is connected to the thigh exoskeleton mounting seat through the round shaft 28, and the second end 32 has an outer contour of "J" type, which is the upper end of the knee joint assisting mechanism 4. The outer tube and the inner tube of the thigh exoskeleton mechanism 3 form a first length adjusting assembly 33 for adjusting the distance between the first end 31 and the second end 32.

[0058] The calf exoskeleton mechanism 5 has a third end 51 and a fourth end 53. The third end 51 is structurally matched with the second end 32, which is the lower end of the knee joint assisting mechanism 4, and the fourth end 53 is connected to the ankle joint 28. The outer tube and the inner tube of the calf exoskeleton mechanism 5 form a second length adjusting assembly 52 for adjusting the distance between the third end 51 and the fourth end 53.

[0059] The second end 32 (upper end of the knee joint assisting mechanism 4) and the third end 51 (lower end of the knee joint assisting mechanism 4) are connected by the assisting spring 41 to form the knee joint assisting mechanism 4. Specifically, the upper end geometric features include left and right side plates 321 (left and right side plates), a first arc-shaped groove 32, an elliptical block 33, and a cylindrical block 323. The first arc-shaped groove 32 is equidistant from the edges of the left and right side plates 321 (the center line of the first arc-shaped groove 32 is equidistant from the lower edges of the left and right side plates), and the length of the first arc-shaped groove 32 limits the range of motion of the knee joint, allowing the knee joint to complete flexion and extension movements, but not allowing the lower leg exoskeleton to extend beyond the extension position to continue to rotate forward. The elliptical block 33 and the cylindrical block 323 are located between the left and right side plates 321, and the cylindrical block 323 has a groove for mounting the assisting spring 41 and limiting its movement position.

[0060] The geometric features of the lower end of the knee joint mechanism include an arc-shaped boss 513, an arc-shaped plate 511, a second arc-shaped groove 512, and a spring mounting hole 514, wherein the upper end face of the arc-shaped boss cooperates with the elliptical block 33; the arc-shaped plate 511 is located on both sides of the arc-shaped boss 513 and cooperates with the first arc-shaped groove 32, the edge of the upper end 22 is located in the second arc-shaped groove 512, and the spring mounting hole 514 is used to mount the assisting spring 41.

[0061] The knee joint assisting mechanism is ergonomically designed and consists of an upper end, a lower end, and an assisting spring, and its motion trajectory is close to the "J" type trajectory of natural human motion, reducing the coordination difference with the wearer, and the assisting spring in the mechanism can realize the assistance of knee joint motion.

[0062] (4) Foot assisting mechanism

[0063] As shown in Figure 6 , the foot assisting mechanism 6 in the embodiment includes a foot support plate 61, and the bottom of the foot support plate 61 is provided with a foot assisting device 65, which includes a forefoot elastic plate 654, a forefoot support rod 655, a hindfoot elastic plate 652, and a hindfoot support rod 651; the forefoot elastic plate 654 and the forefoot support rod 655 are connected by a forefoot elastic hinge 657, the forefoot elastic plate 654, the hindfoot elastic plate 652, and the hindfoot support rod 651 are connected by a hindfoot elastic hinge 653, and the hindfoot support rod 651 and the foot support plate 61 are connected by a heel rotating shaft 656. The included angle between the forefoot elastic plate 654 and the forefoot support rod 655 is an acute angle, and the included angle between the hindfoot elastic plate 652 and the hindfoot support rod 651 is an acute angle. The elastic energy storage effect of the elastic hinges respectively realizes the support and assistance of the forefoot and the hindfoot.

[0064] In this embodiment, the foot assisting mechanism 6 is connected with the fourth end 53 through the coil spring 62 to realize the ankle joint assisting. Specifically, the coil spring 62 is located in the cavity of the fourth end 53, one end of the coil spring 62 is fixed in the side opening hole 521 of the side of the fourth end 53, and the other end is installed in the rotating shaft groove 63 of the foot assisting mechanism 6.

[0065] (5) Adaptive binding device

[0066] As shown in Figure 4 , the thigh exoskeleton mechanism 3 and / or the calf exoskeleton mechanism 5 is installed with an adaptive binding device 7 for binding with the wearer's leg.

[0067] As shown in Figure 7 , the adaptive binding device 7 includes a fixed plate 71 for fixing with the exoskeleton structure, the first side plates 72 are connected on both sides of the fixed plate 71 through the elastic hinges 74, the other ends of the two first side plates 72 are connected through the binding belt 73, and the binding is completed by winding the binding belt 73 around the wearer's leg.

[0068] In summary, the lower limb exoskeleton structure provided by the present application solves the problems of heavy weight, complex control mode and poor coordination with the wearer of the existing lower limb exoskeleton robot. The structure includes a box type backrest assembly, a hip joint movement mechanism, a force sensing device, a thigh exoskeleton mechanism, a knee joint assisting mechanism, a calf exoskeleton mechanism, a foot assisting mechanism, an adaptive binding device and the like. In the design of each part, the diversity of the movement degree of freedom, the simplicity of the control mode and the comfort of the operator wearing are considered. Specifically, the driving motor and the force sensing device are included in the hip joint mechanism, the output torque of the motor can be adjusted in real time, and the forward and backward rotation, adduction and abduction movement of the leg are realized in combination with the rotating movement pair in the mechanism; the knee joint assisting mechanism is designed according to human engineering, the movement trajectory of which is close to the "J" type trajectory of the natural movement of the human body, which reduces the difference in coordination with the wearer, and the assisting spring in the mechanism can realize the assistance of the knee joint movement; the thigh exoskeleton and the adjustable calf exoskeleton enable the device to adapt to wearers of different body types; the foot assisting mechanism provides assistance to the wearer in terms of ankle rotation and foot support; at the same time, due to the light weight and low power consumption of the device, the endurance time is prolonged, so that the exoskeleton can support the wearer to walk for a longer time.

[0069] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A lower extremity assistive exoskeleton robot characterized by, The application relates to a box-type backrest assembly (1) comprising a controller, two sides of the box-type backrest assembly (1) are connected with leg assemblies through hip joint movement mechanisms (2), each side leg assembly comprises, from top to bottom, a thigh exoskeleton mechanism (3), a shank exoskeleton mechanism (5) and a foot assisting mechanism (6); the thigh exoskeleton mechanism (3) comprises a first end (31) and a second end (32), the shank exoskeleton mechanism (5) comprises a third end (51) and a fourth end (53), the first end (31) is connected with the hip joint movement mechanism (2), and the fourth end (53) is connected with the foot assisting mechanism (6); the second end (32) and the third end (51) are connected through an assisting spring (41) to form a knee joint assisting mechanism (4); The second end (32) has a J-shaped outer contour, and a hook body faces the back side of a knee, left and right side plates (321) are arranged, first arc-shaped grooves (322) for limiting the movement range of a knee joint are formed in the left and right side plates (321), the distance between the first arc-shaped grooves (322) and the lower edges of the left and right side plates (321) is equal, an oval block (324) and a cylindrical block (323) are arranged between the left and right side plates (321), and grooves for mounting the upper end of the assisting spring (41) and limiting the movement of the upper end are formed in the cylindrical block (323); The third end (51) comprises an arc-shaped boss (513), arc-shaped plates (511) are arranged on the upper side of the arc-shaped boss (513) and extend outward from the left and right sides of the arc-shaped boss (513), the upper end faces of the arc-shaped plates (511) are matched with the oval block (324), a second arc-shaped groove (512) is formed between the arc-shaped plates (511) and the arc-shaped boss (513), the lower edges of the side plates (321) are located in the second arc-shaped groove (512), the left and right side edges of the arc-shaped plates (511) are located in the first arc-shaped grooves (322), and spring mounting holes (514) for mounting the lower end of the assisting spring (41) are formed in the front side of the third end (51); The foot assisting mechanism (6) comprises a foot support plate (61), the foot support plate (61) is provided with a foot assisting device (65) at the bottom, and the foot assisting device (65) comprises a forefoot elastic plate (654), a forefoot support rod (655), a hind foot elastic plate (652) and a hind foot support rod (651); The forefoot elastic plate (654) and the forefoot support rod (655) are connected through a forefoot elastic hinge (657), the forefoot support rod (655) supports the foot support plate (61), the forefoot elastic plate (654), the hind foot elastic plate (652) and the hind foot support rod (651) are connected through a hind foot elastic hinge (653), and the hind foot support rod (651) and the foot support plate (61) are connected through a heel rotating shaft (656); The included angle between the forefoot elastic plate (654) and the forefoot support rod (655) is an acute angle, and the included angle between the hind foot elastic plate (652) and the hind foot support rod (651) is an acute angle.

2. The lower extremity assistive exoskeleton robot according to claim 1, wherein, The thigh exoskeleton mechanism (3) comprises a first length adjusting assembly (33) composed of an outer tube and an inner tube, used for adjusting the distance between the first end (31) and the second end (32); the calf exoskeleton mechanism (5) comprises a second length adjusting assembly (52) composed of an outer tube and an inner tube, used for adjusting the distance between the third end (51) and the fourth end (53).

3. The lower extremity assistive exoskeleton robot according to claim 2, characterized in that, The first end (31) is located on the inner tube, the second end (32) is located on the outer tube, the third end (51) is located on the outer tube, and the fourth end (53) is located on the inner tube.

4. The lower extremity assistive exoskeleton robot according to claim 1, wherein, The hip joint movement mechanism (2) comprises two sides of symmetrically arranged hip plates (21), two sides of symmetrically arranged hip plates (21) are arranged close to one end of the box type backrest assembly (1), respectively penetrate the holes (11) arranged on two sides of the box type backrest assembly (1) into the box type backrest assembly (1), and are connected through the long hole (13) arranged to adjust the distance between the two hip plates (21).

5. The lower limb power-assisted exoskeleton robot according to claim 4, characterized in that, The hip joint movement mechanism (2) further comprises two sides of symmetrically arranged motor mounting seats (26), drive motors (22), connecting flanges (25), guard plates (24), force sensing devices (27) and thigh exoskeleton mounting seats (23); The end of the hip plate (21) away from the box type backrest assembly (1) is connected with the motor mounting seat (26), the drive motor (22) is mounted on the motor mounting seat (26), the connecting flange (25) is mounted on the output end face of the drive motor (22), and the guard plate (24) is connected with the hip plate (21) to cover the drive motor (22) and the connecting flange (25); One side of the force sensing device (27) is connected with the connecting flange (25), the other side is connected with the thigh exoskeleton mounting seat (23), the force sensing device (27) is connected with the controller circuit in the box type backrest assembly (1), the controller adjusts the output strength of the drive motor (22) according to the collected thigh exoskeleton bearing torsion value; the first end (31) is connected with the thigh exoskeleton mounting seat (23) through a round shaft (28).

6. The lower extremity assistive exoskeleton robot according to claim 1, wherein, The contact surface of the box type backrest assembly (1) with the wearer is a curved surface, and the curved surface is adapted to the waist curve of the human body.

7. The lower extremity assistive exoskeleton robot according to claim 1, wherein, The foot assisting mechanism (6) is connected with the fourth end (53) through a coil spring (62), the coil spring (62) is located in the cavity of the fourth end (53), one end of the coil spring (62) is fixed in the side opening (521) of the fourth end (53), and the other end is mounted in the rotating shaft groove (63) of the foot assisting mechanism (6).

8. The lower extremity assistive exoskeleton robot according to claim 1, wherein, The thigh exoskeleton mechanism (3) and / or the calf exoskeleton mechanism (5) are provided with a self-adapting binding device (7) for binding with the legs of the wearer; The self-adapting binding device (7) comprises a fixing plate (71) for fixing with the exoskeleton structure, first side plates (72) are connected on both sides of the fixing plate (71) through elastic hinges (74), the other ends of the two first side plates (72) are connected through a binding belt (73), and the binding is completed by winding the binding belt (73) around the legs of the wearer.

Images