Hip and knee joint walking aid exoskeleton robot

Abstract

The invention relates to a hip and knee joint walking aid exoskeleton robot. The double-motor hip joint mechanism is composed of a back frame, an adjustable waist mechanism, two bilaterally-symmetrical double-motor hip joint mechanisms, two bilaterally-symmetrical thigh length adjusting mechanisms and two bilaterally-symmetrical knee joint mechanisms. The two double-motor hip joint mechanisms are connected to the two sides of the back frame and the two sides of the adjustable waist mechanism respectively, the thigh length adjusting mechanisms are connected with the double-motor hip joint mechanisms, and the knee joint mechanisms are connected with the thigh length adjusting mechanisms. When the wearer performs low-speed or low-load movement, only a second motor, close to the thigh length adjusting mechanism, of the dual-motor hip joint mechanism is activated, and when the wearer performs high-speed or high-load movement, the first motor and the second motor are activated at the same time. The hip and knee joint combined assisting mode is adopted, the walking assisting performance and the wearing comfort degree of the exoskeleton are balanced, on the premise that the wearing comfort degree is not affected, the maneuverability and the load capacity are enhanced to the maximum degree, and the fatigue degree is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the field of exoskeleton robots, and in particular relates to a hip and knee joint walking-assisting exoskeleton robot. Background Art

[0002] In the execution of tasks in complex environments, efficient mobility is crucial for the strategic deployment and tactical execution of personnel. However, as the speed of movement increases, the energy consumption of personnel movement will increase dramatically, and personnel will face greater physical exhaustion and fatigue challenges, which will have a huge impact on the personnel's sustained combat capability and reaction speed. Exoskeleton robots are a type of wearable equipment that improves the wearer's load-bearing and mobility levels by combining with human movement. During tactical movement, lower limb exoskeletons can be used to enhance the user's physical fitness and endurance, allowing the user to carry heavier objects for longer periods of time and to move at a lower metabolic cost in various terrains. In addition, lower limb exoskeletons can also reduce the possibility of damage to the user's joints and muscles, which is of great value for long-term mission execution.

[0003] Existing walking-assisting exoskeleton robots have many shortcomings, and their structural designs are basically divided into two types: exoskeletons that only assist the hip joint and exoskeletons that assist the entire lower limbs. Exoskeletons that only assist the hip joint are smaller in size and lighter in weight, but lack the assistance of other joints during high-speed movement, and the assistance effect is not ideal; exoskeletons that assist the entire lower limbs have a better assistance effect, but they are heavier, which in turn reduces the walking-assisting effect, and their adaptability to the human body is not ideal. In addition, existing walking-assisting exoskeletons also have problems such as high prices and inflexible assistance modes. Summary of the invention

[0004] The purpose of the present invention is to provide a hip and knee joint walking-assisting exoskeleton robot.

[0005] The technical solution to achieve the purpose of the present invention is: a hip-knee joint walking-assisting exoskeleton robot, which is composed of a back frame and an adjustable waist mechanism, two left-right symmetrical dual-motor hip joint mechanisms, two left-right symmetrical thigh length adjustment mechanisms, and two left-right symmetrical knee joint mechanisms;

[0006] Two dual-motor hip joint mechanisms are respectively connected to both sides of the back frame and the adjustable waist mechanism, a thigh length adjustment mechanism is connected to the dual-motor hip joint mechanism, and a knee joint mechanism is connected to the thigh length adjustment mechanism;

[0007] When the wearer performs low-speed or low-load exercise, only the second motor of the dual-motor hip joint mechanism close to the thigh length adjustment mechanism is activated. When the wearer performs high-speed or high-load exercise, the first motor and the second motor of the dual-motor hip joint mechanism are activated at the same time.

[0008] Further, the back frame and the adjustable waist mechanism include a back frame, a back frame sleeve, a waist length adjustment sleeve and a waist length adjustment rod;

[0009] The back frame cover includes an upper connecting part and a lower connecting part, the lower end of the back frame is inserted into the upper connecting part of the back frame cover and is detachably connected; the waist length adjustment cover is fixed on the lower connecting part of the back frame cover, and two waist length adjustment rods are respectively inserted into the two ends of the waist length adjustment cover, and the insertion length is adjustable, and the end of the waist length adjustment rod is provided with a round end and a limiting boss connected to the dual-motor hip joint mechanism.

[0010] Further, the back frame and the adjustable waist mechanism also include a quick release shaft, a quick release knob, a quick release shaft fixing screw, a waist length adjustment button and a grab hook;

[0011] The lower end of the back frame is detachably connected to the back frame sleeve through a quick-release shaft, a quick-release knob, and a quick-release shaft fixing screw; the waist length adjustment button is placed in the opening at the lower end of the back frame sleeve, the grab hook is connected to the waist length adjustment sleeve through a torsion spring, the waist length adjustment sleeve is provided with an opening that matches the grab hook, and the waist length adjustment rod is provided with a series of square end openings, and the claw end of the grab hook passes through the opening on the waist length adjustment sleeve and is embedded in an opening at the square end of the waist length adjustment rod;

[0012] Press the waist length adjustment button to release the hook claw end, and the waist length adjustment rod will slide along the inner wall of the waist length adjustment sleeve to adjust the waist length; release the waist length adjustment button, and the hook claw end will be restored and embedded in the square end opening of the waist length adjustment rod to fix the waist length.

[0013] Further, the dual motor hip joint mechanism includes a hip joint link, a dual motor link, a first torque sensor, a first connection conversion, a first motor, a hip joint binding connection, a hip joint binding, a second torque sensor, a second connection conversion, a second motor, and a thigh link;

[0014] The hip joint connecting rod is connected to the outer ring of the first torque sensor through a screw, the inner ring of the first torque sensor is connected to the first connection conversion inner ring through a screw, the first connection conversion outer ring is connected to the inner ring of the first motor through a screw, the thigh connecting rod is connected to the outer ring of the second torque sensor through a screw, the inner ring of the second torque sensor is connected to the second connection conversion inner ring through a screw, the second connection conversion outer ring is connected to the inner ring of the second motor through a screw, the dual-motor connecting rod is connected to the outer rings of the first motor and the second motor through a screw, the hip joint binding connection is connected to the dual-motor connecting rod through a screw, the hip joint binding is connected to the hip joint binding connection through a pin shaft, and the thigh connecting rod is connected to the thigh length adjustment sleeve of the thigh length adjustment mechanism through a pin shaft;

[0015] The dual-motor hip joint mechanism has a total of three degrees of freedom. Two degrees of flexion and extension are achieved through the relative rotation of the inner and outer rings of the first motor and the second motor, and the adduction and abduction degrees of freedom are achieved through the pin connection of the thigh connecting rod and the thigh length adjustment sleeve.

[0016] Furthermore, the rotation angle of the first motor is -5-60 degrees, and the rotation angle of the second motor is -25-60 degrees.

[0017] Further, the thigh length adjustment mechanism also includes a front thigh binding connection, a front thigh binding, a rear thigh binding connection, a rear thigh binding and a thigh length adjustment rod;

[0018] The thigh length adjustment sleeve is connected to the thigh connecting rod through a pin shaft, the front thigh binding connection and the rear thigh binding connection are connected to the thigh length adjustment sleeve through screws, the front thigh binding and the rear thigh binding are respectively connected to the front thigh binding connection and the rear thigh binding connection through a pin shaft, and the thigh length adjustment rod is inserted into the lower end of the thigh length adjustment sleeve and fixed by bolts;

[0019] Loosen the fixing bolts between the thigh length adjustment sleeve and the thigh length adjustment rod, and the thigh length adjustment rod slides on the inner wall of the thigh length adjustment sleeve. The thigh length adjustment function is achieved by fixing the through hole at the lower end of the thigh length adjustment sleeve and the different upper end openings of the thigh length adjustment rod with bolts.

[0020] Further, the knee joint mechanism includes a third motor, a calf rod, a calf front binding connection, a calf front binding, a calf rear binding connection and a calf rear binding;

[0021] The thigh length adjustment rod is connected to the inner ring of the third motor through a screw, the calf rod is connected to the inner ring of the third motor through a screw, the front calf binding connection and the rear calf binding connection are connected to the calf rod through a screw, and the front calf binding and the rear calf binding are connected to the front calf binding connection and the rear calf binding connection (405) through a pin shaft respectively; no ankle joint is set at the end of the calf rod,

[0022] The knee joint mechanism has a total of 1 degree of freedom, and the flexion and extension degree of freedom is achieved through the relative rotation of the inner ring and the outer ring of the third motor.

[0023] Furthermore, the knee joint mechanism realizes mechanical limitation of the joint by setting a boss on the inner side of the thigh length adjustment rod, and the third motor limit is 0-140 degrees.

[0024] Compared with the prior art, the present invention has the following significant advantages:

[0025] The robot of the present invention realizes dual-motor drive of the hip joint through components such as a hip joint connecting rod, a dual-motor connecting rod, a first torque sensor, a first connection conversion, a first motor, a second torque sensor, a second connection conversion, a second motor and a thigh connecting rod; when the wearer performs low-speed or low-load exercise, only the main motor and the second motor are activated; when the wearer performs high-speed or high-load exercise, the auxiliary motors, the first motor and the second motor are activated at the same time; compared with a single-motor waist-hip structure, this structure is more in line with the biomechanical characteristics of the human body, and combined with different control strategies, it can adapt to more complex work scenarios; in addition, this structure can also reasonably distribute the output torque through the master and slave motors, which can reduce power consumption and extend the battery life.

[0026] The present invention adds a torque sensor to the motor through connection conversion, which can monitor the motor joint torque in real time. Combined with other sensor (such as electromyography, IMU) data, it can analyze the human body's movement intention. By comparing the target value and the actual value, it provides a basis for realizing adaptive power-assisted control of the walking-assisting exoskeleton.

[0027] The present invention realizes the mechanical limitation of the walking-assist exoskeleton by adding a cam on the dual-motor connecting rod. The limiting device can limit the range of motion of the exoskeleton joints to prevent the user from being injured due to excessive extension or bending. At the same time, it also protects the exoskeleton mechanical parts from being damaged due to excessive movement, thereby ensuring the safety and reliability of the walking-assist exoskeleton.

[0028] The present invention sets the calf rod as a single-end connection, and uses the front calf binding and the rear calf binding components to work together to firmly fix the calf rod on the calf. Compared with the traditional power-assisted total lower limb exoskeleton, this design reduces the influence of the ankle joint on the human-machine adaptability, makes the exoskeleton more comfortable to wear, can better adapt to different terrains, and improves the exoskeleton's walking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of the hip and knee joint walking-assisting exoskeleton robot of the present invention.

[0030] Figure 2 It is an exploded view of the back frame and the adjustable waist mechanism of the present invention.

[0031] Figure 3 It is a disassembled exploded view of the dual-motor hip joint mechanism of the present invention.

[0032] Figure 4 It is an exploded view of the thigh length adjustment mechanism of the present invention.

[0033] Figure 5 It is an exploded view of the knee joint mechanism of the present invention.

[0034] Description of reference numerals:

[0035] 1-back frame and adjustable waist mechanism, 2-dual motor hip joint mechanism, 3-thigh length adjustment mechanism, 4-knee joint mechanism, 101-back frame, 102-back frame cover, 103-quick release shaft, 104-quick release knob, 105-quick release shaft fixing screw, 106-waist length adjustment button, 107-grab hook, 108-waist length adjustment cover, 109-waist length adjustment rod, 201-hip joint connecting rod, 202-dual motor connecting rod, 203-first torque sensor, 204-first connection conversion, 205-first motor, 206-hip Joint binding connection, 207-hip joint binding, 208-second torque sensor, 209-second connection conversion, 210-second motor, 211-thigh connecting rod, 301-thigh length adjustment sleeve, 302-thigh front binding connection, 303-thigh front binding, 304-thigh back binding connection, 305-thigh back binding, 306-thigh length adjustment rod, 401-third motor, 402-calf rod, 403-calf front binding connection, 404-calf front binding, 405-calf back binding connection, 406-calf back binding. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it should be noted that certain words indicating orientation or positional relationships are only for the purpose of facilitating the description of the present invention and simplifying the description, rather than indicating or implying that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "setting", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] Combination Figure 1A hip-knee joint walking exoskeleton robot is composed of a back frame and an adjustable waist mechanism 1, two left-right symmetrical dual-motor hip joint mechanisms 2, two left-right symmetrical thigh length adjustment mechanisms 3, and two left-right symmetrical knee joint mechanisms 4. The two dual-motor hip joint mechanisms 2 are respectively connected to both sides of the back frame and the adjustable waist mechanism 1, the thigh length adjustment mechanism 3 is connected to the dual-motor hip joint mechanism 2, and the knee joint mechanism 4 is connected to the thigh length adjustment mechanism 3.

[0040] The hip-knee joint walking exoskeleton robot is worn on the lower limbs of the human body. The back frame and the adjustable waist mechanism 1 are worn on the back and waist of the human body through elastic binding. The dual-motor hip joint mechanism 2 is located on both sides of the wearer's waist and hip. The thigh length adjustment mechanism 3 should be adjusted to be similar to the wearer's thigh length. The knee joint mechanism 4 is placed on both sides of the wearer's knee joint and is fastened to the wearer's leg through the thigh and calf binding device. When the human body moves, the hip-knee joint walking exoskeleton robot automatically detects the human body's movement mode, and drives the dual-motor hip joint mechanism 2 and the knee joint mechanism 4, a total of 6 motors, to output different torques according to different modes, thereby assisting the wearer in movement.

[0041] Combination Figure 2 The back frame and adjustable waist mechanism 1 includes a back frame 101, a back frame sleeve 102, a quick release shaft 103, a quick release knob 104, a quick release shaft fixing screw 105, a waist length adjustment button 106, a grab hook 107, a waist length adjustment sleeve 108, and a waist length adjustment rod 109.

[0042] The lower end of the back frame 101 is inserted into the back frame sleeve 102, and the quick release shaft 103, quick release knob 104 and quick release shaft fixing screw 105 cooperate to work, and the quick release knob 104 is rotated to achieve extrusion fixation. The waist length adjustment button 106 is placed in the opening at the lower end of the back frame sleeve 102, the grab hook 107 is connected to the waist length adjustment sleeve 108 through a torsion spring, and the waist length adjustment sleeve 108 is fixed to the back frame sleeve 102 by screws. Two waist length adjustment rods 109 are respectively inserted into the two ends of the waist length adjustment sleeve 108, and the claw end of the grab hook 107 is embedded in an opening at the square end of the waist length adjustment rod 109. The hip joint connecting rod 201 is connected to the round end of the waist length adjustment rod 109 through a pin shaft. A double boss structure is used at the connection between the waist length adjustment rod 109 and the hip joint connecting rod 201 to fix them.

[0043] The back frame and the adjustable waist mechanism 1 have a waist length adjustment function. The waist length adjustment button 106 is pressed to release the claw end of the hook 107. At this time, the waist length adjustment rod 109 can slide along the inner wall of the waist length adjustment sleeve 108 to achieve the waist length adjustment function. When the waist length adjustment button 106 is released, the claw end of the hook 107 is restored and embedded in the square end opening of the waist length adjustment rod 109 to achieve the fixing of the waist length.

[0044] Combination Figure 3 The dual-motor hip joint mechanism 2 mainly includes a hip joint link 201, a dual-motor link 202, a first torque sensor 203, a first connection conversion 204, a first motor 205, a hip joint binding connection 206, a hip joint binding 207, a second torque sensor 208, a second connection conversion 209, a second motor 210, and a thigh link 211.

[0045] The hip joint connecting rod 201 is connected to the outer ring of the first torque sensor 203 by screws, the inner ring of the first torque sensor 203 is connected to the inner ring of the first connection conversion 204 by screws, the outer ring of the first connection conversion 204 is connected to the inner ring of the first motor 205 by screws, the thigh connecting rod 211 is connected to the outer ring of the second torque sensor 208 by screws, the inner ring of the second torque sensor 208 is connected to the inner ring of the second connection conversion 209 by screws, the outer ring of the second connection conversion 209 is connected to the inner ring of the second motor 210 by screws, the dual-motor connecting rod 202 is connected to the outer rings of the first motor 205 and the second motor 210 by screws, the hip joint binding connection 206 is connected to the dual-motor connecting rod 202 by screws, the hip joint binding 207 is connected to the hip joint binding connection 206 by a pin, and the thigh length adjustment sleeve 301 is connected to the thigh connecting rod 211 by a pin.

[0046] The dual-motor hip joint mechanism 2 has a total of three degrees of freedom. Two flexion / extension degrees of freedom are achieved through the relative rotation of the inner and outer rings of the first motor 205 and the second motor 210, and the adduction / abduction degrees of freedom are achieved through the pin connection between the thigh connecting rod 211 and the thigh length adjustment sleeve 301.

[0047] The dual-motor hip joint mechanism 2 is provided with a joint mechanical limiter, and the inner boss of the dual-motor connecting rod 202 realizes this function. The two motor limits are -5-60 degrees and -25-60 degrees respectively.

[0048] Combination Figure 4 The thigh length adjustment mechanism 3 mainly includes a thigh connecting rod 211, a thigh length adjustment sleeve 301, a front thigh binding connection 302, a front thigh binding 303, a rear thigh binding connection 304, a rear thigh binding 305, and a thigh length adjustment rod 306.

[0049] The thigh length adjustment sleeve 301 is connected to the thigh connecting rod 211 through a pin shaft, the front thigh binding connection 302 and the rear thigh binding connection 304 are connected to the thigh length adjustment sleeve 301 through screws, the front thigh binding 303 and the rear thigh binding 305 are respectively connected to the front thigh binding connection 302 and the rear thigh binding connection 304 through a pin shaft, and the thigh length adjustment rod 306 is inserted into the lower end of the thigh length adjustment sleeve 301 and fixed by bolts.

[0050] The thigh length adjustment mechanism 3 has the function of adjusting the thigh length. The fixing bolts between the thigh length adjustment sleeve 301 and the thigh length adjustment rod 306 are loosened, and the thigh length adjustment rod 306 can slide on the inner wall of the thigh length adjustment sleeve 301. The thigh length adjustment function is achieved by fixing the through hole at the lower end of the thigh length adjustment sleeve 301 and the different upper end openings of the thigh length adjustment rod 306 with bolts.

[0051] Combination Figure 5 The knee joint mechanism 4 mainly includes a thigh length adjustment rod 306, a third motor 401, a calf rod 402, a calf front binding connection 403, a calf front binding 404, a calf rear binding connection 405, and a calf rear binding 406.

[0052] The thigh length adjustment rod 306 is connected to the inner circle of the third motor 401 by screws, the calf rod 402 is connected to the inner circle of the third motor 401 by screws, the front calf binding connection 403 and the rear calf binding connection 405 are connected to the calf rod 402 by screws, and the front calf binding 404 and the rear calf binding 406 are connected to the front calf binding connection 403 and the rear calf binding connection 405 by pins respectively.

[0053] There is no ankle joint at the end of the calf rod 402. Compared with the traditional power-assisted full lower limb exoskeleton, this design reduces the impact of the ankle joint on the human-machine fit, making the exoskeleton more comfortable to wear, better able to adapt to different terrains, and improving the exoskeleton's walking efficiency.

[0054] The knee joint mechanism 4 has a total of one degree of freedom, and the flexion / extension degree of freedom is achieved through the relative rotation of the inner ring and the outer ring of the third motor 401.

[0055] The knee joint mechanism 4 is provided with a joint mechanical limiter, and the inner boss of the thigh length adjustment rod 306 realizes this function, and the motor limiter is 0-140 degrees.

Claims

1. A hip and knee joint walking-assisting exoskeleton robot, characterized in that: It is composed of a back frame and an adjustable waist mechanism (1), two left-right symmetrical dual-motor hip joint mechanisms (2), two left-right symmetrical thigh length adjustment mechanisms (3), and two left-right symmetrical knee joint mechanisms (4); Two dual-motor hip joint mechanisms (2) are respectively connected to both sides of the back frame and the adjustable waist mechanism (1); a thigh length adjustment mechanism (3) is connected to the dual-motor hip joint mechanism (2); and a knee joint mechanism (4) is connected to the thigh length adjustment mechanism (3); When the wearer performs low-speed or low-load exercise, only the second motor (210) of the dual-motor hip joint mechanism (2) close to the thigh length adjustment mechanism is activated; when the wearer performs high-speed or high-load exercise, the first motor (205) and the second motor (210) of the dual-motor hip joint mechanism (2) are activated simultaneously.

2. The hip and knee joint walking exoskeleton robot according to claim 1, characterized in that: The back frame and adjustable waist mechanism (1) comprises a back frame (101), a back frame cover (102), a waist length adjustment cover (108) and a waist length adjustment rod (109); The back frame sleeve (102) comprises an upper connecting portion and a lower connecting portion, the lower end of the back frame (101) is inserted into the upper connecting portion of the back frame sleeve (102) and is detachably connected; the waist length adjustment sleeve (108) is fixed to the lower connecting portion of the back frame sleeve (102), two waist length adjustment rods (109) are respectively inserted into the two ends of the waist length adjustment sleeve (108), and the insertion length is adjustable, and the ends of the waist length adjustment rods (109) are provided with round ends and limiting bosses for connecting with the dual-motor hip joint mechanism (2).

3. The hip-knee joint walking-assisting exoskeleton robot according to claim 2, characterized in that: The back frame and adjustable waist mechanism (1) also includes a quick release shaft (103), a quick release knob (104), a quick release shaft fixing screw (105), a waist length adjustment button (106) and a grab hook (107); The lower end of the back frame (101) is detachably connected to the back frame sleeve (102) through a quick release shaft (103), a quick release knob (104) and a quick release shaft fixing screw (105); a waist length adjustment button (106) is placed in an opening at the lower end of the back frame sleeve (102); a grab hook (107) is connected to the waist length adjustment sleeve (108) through a torsion spring; an opening matching the grab hook (107) is provided on the waist length adjustment sleeve (108); a series of square end openings are provided on the waist length adjustment rod (109); a claw end of the grab hook (107) passes through the opening on the waist length adjustment sleeve (108) and is embedded in an opening at the square end of the waist length adjustment rod (109); The waist length adjustment button (106) is pressed to release the claw end of the grab hook (107), and the waist length adjustment rod (109) can slide along the inner wall of the waist length adjustment sleeve (108) to achieve waist length adjustment; when the waist length adjustment button (106) is released, the claw end of the grab hook (107) is restored and embedded in the square end opening of the waist length adjustment rod (109), thereby achieving the fixing of the waist length.

4. The hip-knee joint walking-assisting exoskeleton robot according to claim 2, characterized in that: The dual-motor hip joint mechanism (2) comprises a hip joint connecting rod (201), a dual-motor connecting rod (202), a first torque sensor (203), a first connection conversion (204), a first motor (205), a hip joint binding connection (206), a hip joint binding (207), a second torque sensor (208), a second connection conversion (209), a second motor (210), and a thigh connecting rod (211); The hip joint connecting rod (201) is connected to the outer ring of the first torque sensor (203) through screws, the inner ring of the first torque sensor (203) is connected to the inner ring of the first connection conversion (204) through screws, the outer ring of the first connection conversion (204) is connected to the inner ring of the first motor (205) through screws, the thigh connecting rod (211) is connected to the outer ring of the second torque sensor (208) through screws, the inner ring of the second torque sensor (208) is connected to the inner ring of the second connection conversion (209) through screws, and the second connecting rod (211) is connected to the outer ring of the second torque sensor (208) through screws. The outer ring of the connection conversion (209) is connected to the inner ring of the second motor (210) through screws, the dual motor connecting rod (202) is connected to the outer rings of the first motor (205) and the second motor (210) through screws, the hip joint binding connection (206) is connected to the dual motor connecting rod (202) through screws, the hip joint binding (207) is connected to the hip joint binding connection (206) through a pin shaft, and the thigh connecting rod (211) is connected to the thigh length adjustment sleeve (301) of the thigh length adjustment mechanism (3) through a pin shaft; The dual-motor hip joint mechanism (2) has three degrees of freedom in total. Two degrees of flexion and extension are achieved through the relative rotation of the inner and outer rings of the first motor (205) and the second motor (210). The adduction and abduction degrees of freedom are achieved through the pin connection of the thigh connecting rod (211) and the thigh length adjustment sleeve (301).

5. The hip-knee joint walking-assisting exoskeleton robot according to claim 4, characterized in that: The rotation angle of the first motor (205) is -5-60 degrees, and the rotation angle of the second motor (210) is -25-60 degrees.

6. The hip-knee joint walking-assisting exoskeleton robot according to claim 4, characterized in that: The thigh length adjustment mechanism (3) further comprises a thigh front binding connection (302), a thigh front binding (303), a thigh rear binding connection (304), a thigh rear binding (305) and a thigh length adjustment rod (306); The thigh length adjustment sleeve (301) is connected to the thigh connecting rod (211) via a pin shaft, the front thigh binding connection (302) and the rear thigh binding connection (304) are connected to the thigh length adjustment sleeve (301) via screws, the front thigh binding (303) and the rear thigh binding (305) are respectively connected to the front thigh binding connection (302) and the rear thigh binding connection (304) via a pin shaft, and the thigh length adjustment rod (306) is inserted into the lower end of the thigh length adjustment sleeve (301) and fixed by bolts; The fixing bolts between the thigh length adjustment sleeve (301) and the thigh length adjustment rod (306) are loosened, and the thigh length adjustment rod (306) slides on the inner wall of the thigh length adjustment sleeve (301). The thigh length adjustment function is achieved by fixing the lower end through hole of the thigh length adjustment sleeve (301) and the upper end opening of the thigh length adjustment rod (306) with bolts.

7. The hip-knee joint walking-assisting exoskeleton robot according to claim 6, characterized in that: The knee joint mechanism (4) comprises a third motor (401), a calf rod (402), a calf front binding connection (403), a calf front binding (404), a calf rear binding connection (405) and a calf rear binding (406); The thigh length adjustment rod (306) is connected to the inner ring of the third motor (401) through screws, the calf rod (402) is connected to the inner ring of the third motor (401) through screws, the front calf binding connection (403) and the rear calf binding connection (405) are connected to the calf rod (402) through screws, the front calf binding (404) and the rear calf binding (406) are connected to the front calf binding connection (403) and the rear calf binding connection (405) through pins respectively; no ankle joint is provided at the end of the calf rod (402), The knee joint mechanism (4) has a total of one degree of freedom, and the flexion and extension degree of freedom is achieved through the relative rotation of the inner ring and the outer ring of the third motor (401).

8. The hip-knee joint walking-assisting exoskeleton robot according to claim 7, characterized in that: The knee joint mechanism (4) realizes mechanical joint limitation by arranging a boss on the inner side of the thigh length adjustment rod (306), and the third motor (401) is limited to 0-140 degrees.

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