Lower limb joint direct-drive type load-bearing exoskeleton robot

Abstract

The lower limb joint direct-drive type load-bearing exoskeleton robot comprises a back assembly, a waist assembly, thigh and shank assemblies and ankle joint and foot assemblies, the waist assembly comprises a waist tripod, hip joint shafts and hip joint connecting rods, and the hip joint connecting rods and the waist tripod are in bearing connection through the hip joint shafts to form rotating pairs; the back component is connected with the waist component; the thigh and shank assembly comprises a hip joint motor module, a thigh rod, a knee joint motor module and a shank rod, the thigh rod is rotationally connected with the hip joint motor module, the shank rod is rotationally connected with the knee joint motor module, and the hip joint motor module is connected with the hip joint connecting rod; the ankle joint and foot assembly comprises a shank ankle joint connecting rod, an ankle joint sole connecting piece and a sole metal connecting piece, the shank ankle joint connecting rod and the ankle joint sole connecting piece are connected to form a rotating pair, and the shank ankle joint connecting piece is connected with the shank rod. And the flexibility and the degree of freedom of the robot are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent machinery technology, and particularly to a lower limb joint direct drive load-bearing exoskeleton robot. Background Art

[0002] In recent years, with the increase in industrial automation and the demand for heavy physical labor, heavy-duty lower limb exoskeleton robots have become the focus of research, aiming to effectively reduce the risk of musculoskeletal injuries faced by workers in high-intensity work. Many industries, such as construction, logistics, and military, often require workers to carry heavy objects or maintain their arms in a high position for repetitive operations, which not only increases the possibility of joint and muscle injuries but also significantly consumes the physical strength of workers.

[0003] However, existing exoskeleton technologies still face problems such as large weight, insufficient flexibility, and unreasonable joint degree-of-freedom configuration, resulting in limited movement or ineffective adaptation for wearers during use. Summary of the Invention

[0004] The purpose of the embodiments of this application is to provide a lower limb joint direct drive load-bearing exoskeleton robot to solve the technical problem of poor flexibility of robots in related technologies.

[0005] On the one hand, the embodiments of this application provide a lower limb joint direct drive load-bearing exoskeleton robot, including: a back component 1, a waist component 2, thigh and calf components 3, and an ankle and foot component 4. The waist component 2 includes a waist tripod 13, a hip joint axis 14, and a hip joint connecting rod 15. The hip joint connecting rod 15 and the waist tripod 13 are connected by a bearing through the hip joint axis 14 to form a rotating pair, and the back component 1 is connected to the waist component 2 through the waist tripod 13;

[0006] The thigh and calf components 3 include a hip joint motor module 20, a thigh rod 21, a knee joint motor module 25, and a calf rod 29. The thigh rod 21 is rotatably connected to the hip joint motor module 20, the calf rod 29 is rotatably connected to the knee joint motor module 25, and the thigh and calf components 3 are connected to the hip joint connecting rod 15 of the waist component 2 through the hip joint motor module 20;

[0007] The ankle and foot component 4 includes a calf ankle connecting rod 33, an ankle and sole connecting piece 39, and a sole metal connecting piece 40. The calf ankle connecting rod 33 and the ankle and sole connecting piece 39 are connected to form a rotating pair, and the ankle and foot component 4 is connected to the calf rod 29 of the thigh and calf components 3 through the calf ankle connecting piece 33.

[0008] In the direct drive type load-bearing exoskeleton robot for lower limb joints provided by the embodiment of the present application, there are a back component 1, a waist component 2, thigh and calf components 3, and an ankle and foot component 4. The waist component 2 includes a waist tripod 13, a hip joint shaft 14, and a hip joint connecting rod 15. The hip joint connecting rod 15 and the waist tripod 13 are connected by a bearing through the hip joint shaft 14 to form a rotating pair. The back component 1 is connected to the waist component 2 through the waist tripod 13. The thigh and calf components 3 include a hip joint motor module 20, a thigh rod 21, a knee joint motor module 25, and a calf rod 29. The thigh rod 21 is rotatably connected to the hip joint motor module 20, and the calf rod 29 is rotatably connected to the knee joint motor module 25. The thigh and calf components 3 are connected to the hip joint connecting rod 15 of the waist component 2 through the hip joint motor module 20. The ankle and foot component 4 includes a calf ankle connecting rod 33, an ankle and sole connecting piece 39, and a sole metal connecting piece 40. The calf ankle connecting rod 33 and the ankle and sole connecting piece 39 are connected to form a rotating pair. The ankle and foot component 4 is connected to the calf rod 29 of the thigh and calf components 3 through the calf ankle connecting piece 33. The flexibility and degree of freedom of the robot are improved, thereby further improving the operation comfort and operation efficiency of the operator. Description of the Drawings

[0009] Figure 1 It is a schematic structural diagram of a heavy-duty lower limb exoskeleton robot provided by the embodiment of the present application;

[0010] Figure 2 It is another schematic structural diagram of a heavy-duty lower limb exoskeleton robot provided by the embodiment of the present application;

[0011] Figure 3 It is a schematic structural diagram of the back component provided by the embodiment of the present application;

[0012] Figure 4 It is another schematic structural diagram of the back component provided by the embodiment of the present application;

[0013] Figure 5 It is a schematic structural diagram of the waist component provided by the embodiment of the present application;

[0014] Figure 6 It is another schematic structural diagram of the waist component provided by the embodiment of the present application;

[0015] Figure 7 It is a schematic structural diagram of the thigh and calf components provided by the embodiment of the present application;

[0016] Figure 8 It is another schematic structural diagram of the thigh and calf components provided by the embodiment of the present application;

[0017] Figure 9A schematic diagram of an ankle and foot component provided by an embodiment of the present application;

[0018] Figure 10 Another schematic diagram of an ankle and foot component provided by an embodiment of the present application;

[0019] Among them, 1 is the back component, 2 is the waist component, 3 is the thigh and calf component, 4 is the ankle and foot component, 5 is the integrated binding backplate, 6 is the back metal box frame, 7 is the back box, 8 is the battery, 9 is the control board, 10 is the power button, 11 is the mode button, 12 is the charging interface, 13 is the aforementioned waist tripod, 14 is the hip joint axis, 15 is the hip joint connecting rod, 16 is the hip joint tension spring, 17 is the waist load support plate, 18 is the waist load folding plate, 19 is the waist load support hinge, 20 is the hip joint motor module, 21 is the thigh rod, 22 is the thigh rod housing, 23 is the thigh binding, 24 is the thigh attitude sensor, 25 is the knee joint motor module, 26 is the hip joint limit member, 27 is the knee joint limit member 28, the limit rubber pad, 29 is the calf rod, 30 is the calf rod housing, 31 is the calf binding, 32 is the calf attitude sensor, 33 is the calf-ankle joint connecting piece, 34 is the first ankle joint rotating shaft, 35 is the second ankle joint rotating shaft, 36 is the third ankle joint rotating shaft, 37 is the first ankle joint hinge block, 38 is the second ankle joint hinge block, 39 is the ankle joint-sole connecting piece, 40 is the sole metal connecting piece, 41 is the foot pressure sensor, 42 is the rubber sole. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present application.

[0021] It should be understood that the various steps recorded in the method embodiments of the present disclosure can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0022] The term "including" and its variants used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0023] To solve the technical problems existing in the related art, an embodiment of the present application provides a lower limb joint direct drive load-bearing exoskeleton robot. Please refer to Figures 1 to 10 , specifically, the lower limb joint direct drive load-bearing exoskeleton robot includes: a back component 1, a waist component 2, thigh and calf components 3, and an ankle and foot component 4. The waist component 2 includes a waist tripod 13, a hip joint axis 14, and a hip joint connecting rod 15. The hip joint connecting rod 15 and the waist tripod 13 are connected by a bearing through the hip joint axis 14 to form a rotating pair. The back component 1 is connected to the waist component 2 through the waist tripod 13;

[0024] The thigh and calf components 3 include a hip joint motor module 20, a thigh rod 21, a knee joint motor module 25, and a calf rod 29. The thigh rod 21 is rotatably connected to the hip joint motor module 20, and the calf rod 29 is rotatably connected to the knee joint motor module 25. The thigh and calf components 3 are connected to the hip joint connecting rod 15 of the waist component 2 through the hip joint motor module 20;

[0025] The ankle and foot component 4 includes a calf ankle connecting rod 33, an ankle joint sole connecting piece 39, and a sole metal connecting piece 40. The calf ankle connecting rod 33 and the ankle joint sole connecting piece 39 are connected to form a rotating pair. The ankle and foot component 4 is connected to the calf rod 29 of the thigh and calf components 3 through the calf ankle connecting piece 33.

[0026] Exemplarily, the lower limb joint direct drive load-bearing exoskeleton robot includes a back component 1, a waist component 2, thigh and calf components 3, and an ankle and foot component 4. Each part is linked through relevant connection structures, and the positions and connection conditions between each part can be referred to Figure 1 and Figure 2 as shown. Specifically, the back component 1 is connected to the waist component 2, the waist component 3 is connected to the thigh and calf components 3, and the thigh and calf components 3 are connected to the ankle and foot component 4.

[0027] Among them, the waist component 2 includes a waist tripod 13, a hip joint axis 14, and a hip joint connecting rod 15. When the back component 1 is connected to the waist component 2, it is achieved by connecting to the waist tripod 13 in the waist component 2, and the back component 1 and the waist tripod 13 can be connected by screwing. For the waist component 2 itself, the waist tripod 13 and the hip joint connecting rod 15 are connected by a bearing through the hip joint axis 14 to form a rotating pair, and then the hip joint connecting rod 15 can rotate along with the hip joint axis 14 to meet the requirement of adjusting the posture of the connected hip joint.

[0028] The thigh and calf assembly 3 includes a hip joint motor module 20, a thigh rod 21, a knee joint motor module 25, and a calf rod 29, and the hip joint motor module 20, the thigh rod 21, the knee joint motor module 25, and the calf rod 29 are connected in sequence based on corresponding connection methods. To achieve the attitude adjustment of the thigh and calf, the thigh rod 21 is rotatably connected to the hip joint motor module 20, and the calf rod 29 is rotatably connected to the knee joint motor module 25. After the operator wears this robot, the thigh and calf of the operator can adjust their postures according to the operation requirements during the operation to fit the actual operation needs. In addition, when the thigh and calf assembly 3 is connected to the waist assembly 2, the thigh and calf assembly 3 is connected to the hip joint connecting rod 15 of the waist assembly by the hip joint motor module 20, and specifically can be connected to the hip joint connecting rod 15 based on a screw fixation method. Then, when the hip joint connecting rod 15 rotates around the hip joint axis 14, the attitude adjustment is completed.

[0029] The ankle and foot assembly 4 includes a calf ankle connecting rod 33, an ankle sole connecting piece 39, and a sole metal connecting piece 40. Among them, the calf ankle connecting rod 33 is connected to the ankle sole connecting piece 39 to form a rotating pair to achieve the attitude adjustment of the operator's foot. The ankle and foot assembly 4 is connected to the calf rod 29 of the thigh and calf assembly 3 through the calf ankle connecting piece 33.

[0030] Further, referring to Figure 3 and Figure 4 , the back assembly 1 includes an integrated binding backboard 5, a back metal box frame 6, and a back box 7. The integrated binding backboard 5 is fixed to the front side of the back metal box frame 6, and the back box 7 is fixed to the rear side of the back metal box frame 6.

[0031] Exemplarily, the back metal box frame 6 is the main structure of the back. It is fixed to the integrated binding backboard 5 on the front side by screws. The parallel washer can prevent the screw from shifting and can facilitate the disassembly of the screw. The integrated binding backboard 5 can be worn on the human body to improve the wearing comfort and stability, ensure that the exoskeleton will not slide down due to gravity, causing the problem of the alignment of its motor rotation center and the human joint, and at the same time has good integration, which is convenient for disassembly and replacement. The rear side of the integrated binding backboard 5 is fixed to the back box 7 by screws.

[0032] Further, referring to Figure 3 and Figure 4 , the back box 7 further includes a battery 8, a control board 9, a power button 10, a mode button 11, and a charging interface 12.

[0033] Exemplarily, inside the back box body 7, there are a battery 8 and a control board 9. Meanwhile, outside the north box body 7, there are a power button 10, a mode button 11, and a charging interface 12. Among them, the control board 9 is responsible for controlling the movement of the exoskeleton. The power button 10 is used to control the on / off of the whole machine's power supply. The mode button 11 is used to manually control the assist mode. The charging interface 12 is used to charge the battery. The whole machine controller is placed on the back with strong integration, improved safety, and the mass distribution is in a comfortable position where the human body can bear heavy objects.

[0034] Further, referring to Figure 5 and Figure 6 , the waist assembly 2 further includes a hip joint tension spring 16, a waist load support plate 17, a waist load folding plate 18, and a waist load support hinge 19. The hip joint link 15 is connected to the waist tripod 13 by a spring. The waist load support plate 17 is fixed to the waist tripod 13 by screws. The waist load support plate 17 and the waist load folding plate 18 are connected by the waist load support hinge 19 to form a rotating pair. The upper end of the waist load folding plate 18 is fixed to the waist tripod 13.

[0035] Exemplarily, the waist assembly 2 further includes a hip joint tension spring 16, a waist load support plate 17, a waist load folding plate 18, and a waist load support hinge 19. Through the functions of each part, the stability of the waist assembly 2 can be improved.

[0036] Combined with Figure 1 and Figure 4 , when the back assembly 1 and the waist assembly 2 are fixed, the waist tripod 13 on the waist assembly 2 is fixed to the back metal box body frame 6 in the back assembly 1 by screws. When the hip joint link 15 and the waist tripod 13 are connected by a plane bearing through the hip joint axis 14 to form a rotating pair, the hip joint link 15 and the waist tripod 13 are also connected by the provided hip joint tension spring 16 to effectively ensure the initial pose of the exoskeleton relative to the human body.

[0037] In addition, the waist load support plate 17 is fixed to the waist tripod 13 by screws. The waist load support plate 17 and the waist load folding plate 18 are connected by the waist load support hinge 19 to form a rotating pair. And the upper end of the waist load folding plate 18 can be fixed to the waist load support plate 17 relative to the waist tripod through a buckle. The load folding plate 18 can effectively provide a space for placing the load.

[0038] Further, the upper end of the waist load folding plate 18 is fixed to the waist tripod 13 based on a snap connection method.

[0039] Further, referring to Figure 7 and Figure 8, the thigh and calf assembly further includes a thigh rod housing 22 and a calf rod housing 30. The thigh rod housing 22 is fixed to the upper and lower ends of the thigh rod 21 by screws, and the calf rod housing 30 is fixed to the upper and lower ends of the calf rod 29 by screws.

[0040] Exemplarily, the thigh and calf assembly includes a thigh rod housing 22 and a calf rod housing 30 for protecting the thigh rod 21 and the calf rod 29 respectively. Specifically, both the thigh rod housing 22 and the calf rod housing 30 can surround the thigh rod 21 and the calf rod 29 inside the housing by covering, and then fix the two in a certain way, such as fixing the thigh rod housing 22 to the upper and lower ends of the thigh rod 21 by screws, and fixing the calf rod housing 30 to the upper and lower ends of the calf rod 29 by screws.

[0041] Further, the thigh and calf assembly further includes a thigh strap 23, a thigh attitude sensor 24, a calf strap 31, and a calf attitude sensor 32. The thigh strap 23 is fixedly arranged on the front side of the thigh rod 21, the thigh attitude sensor 24 is fixedly arranged on the rear side of the thigh rod 21, the calf strap 31 is fixedly arranged on the front side of the thigh rod 29, and the thigh attitude sensor 32 is fixedly arranged on the rear side of the thigh rod 29.

[0042] Exemplarily, the thigh attitude sensor 24 is fixed to the thigh rod 21 by screws, the thigh strap 23 is fixed to the thigh rod 21 by screws, the strap realizes fixation with the human thigh, the output end of the knee joint motor module 25 is fixed to the calf rod 29 by screws, the calf attitude sensor 32 is fixed to the calf rod 29 by screws, and the calf strap 31 is fixed to the calf rod 29 by screws to realize fixation with the human calf. The hip joint limit member 26 can limit the rotation angle of the hip joint and effectively protect the human hip joint from damage. The knee joint limit member 27 can limit the rotation angle of the knee joint, prevent the calf from valgus, and avoid calf injury. The limit rubber pad 28 can effectively relieve the impact force brought by the vibration at the joint and has a certain protective effect on the machine and the human.

[0043] Further, referring to Figure 9 and Figure 10 , the ankle and foot assembly 4 further includes a first ankle joint rotating shaft 34, a second ankle joint rotating shaft 35, a third ankle joint rotating shaft 36, a first ankle joint hinge block 37, a second ankle joint hinge block 38, and an ankle joint sole connecting member 39. The calf ankle joint connecting member 33 is connected to the first ankle joint hinge block 37 through the first ankle joint rotating shaft 34 to form a rotating pair. The first ankle joint hinge block 37 is connected to the second ankle joint hinge block 38 through the second ankle joint rotating shaft 35 to form a rotating pair. The second ankle joint hinge block 38 is connected to the ankle joint sole connecting member 39 through the third ankle joint rotating shaft 36 to form a rotating pair.

[0044] Exemplarily, the ankle and foot assembly 4 includes a first ankle rotation shaft 34, a second ankle rotation shaft 35, a third ankle rotation shaft 36, a first ankle hinge block 37, and a second ankle hinge block 38. After the various parts are connected, the attitude requirements of the foot and ankle joints of the operator during operation can be met.

[0045] Among them, the calf-ankle connecting piece 33 and the first ankle hinge block 37 are connected through the first ankle rotation shaft 34 to form a rotating pair, the first ankle hinge block 37 and the second ankle hinge block 38 are connected through the second ankle rotation shaft 35 to form a rotating pair, and the second ankle hinge block 38 and the ankle-plantar connecting piece 39 are connected through the third ankle rotation shaft 36 to form a rotating pair. The ankle can perform actions such as plantar flexion, dorsiflexion, inversion, and eversion.

[0046] Furthermore, the ankle and foot assembly 4 further includes a foot pressure sensor 41 and a rubber sole 42. The ankle-plantar connecting piece 39 and the plantar metal connecting piece 40 are fixed by screws. The plantar metal connecting piece 40 and the foot pressure sensor 41 are fixed by screws. The rubber sole 42 is integrated below the plantar metal connecting piece 40.

[0047] Exemplarily, the ankle-plantar connecting piece 39 and the plantar metal connecting piece 40 are fixed by screws. The plantar metal connecting piece 40 can protect the foot pressure sensor 41 and improve the reliability of the structure. The plantar metal connecting piece 40 and the foot pressure sensor 41 are fixed by screws. In addition, a soft rubber sole 42 is integrated below the plantar metal connecting piece 40, which can play a role in buffering and shock absorption during walking.

[0048] In summary, the present application discloses a lower limb joint direct drive type load-bearing exoskeleton robot, including: a back assembly 1, a waist assembly 2, a thigh and calf assembly 3, and an ankle and foot assembly 4. The waist assembly 2 includes a waist tripod 13, a hip joint shaft 14, and a hip joint connecting rod 15. The hip joint connecting rod 15 and the waist tripod 13 are connected through the hip joint shaft 14 to form a rotating pair by means of a bearing. The back assembly 1 is connected to the waist assembly 2 through the waist tripod 13. The thigh and calf assembly 3 includes a hip joint motor module 20, a thigh rod 21, a knee joint motor module 25, and a calf rod 29. The thigh rod 21 is rotatably connected to the hip joint motor module 20, and the calf rod 29 is rotatably connected to the knee joint motor module 25. The thigh and calf assembly 3 is connected to the hip joint connecting rod 15 of the waist assembly 2 through the hip joint motor module 20. The ankle and foot assembly 4 includes a calf-ankle connecting rod 33, an ankle-plantar connecting piece 39, and a plantar metal connecting piece 40. The calf-ankle connecting rod 33 and the ankle-plantar connecting piece 39 are connected to form a rotating pair. The ankle and foot assembly 4 is connected to the calf rod 29 of the thigh and calf assembly 3 through the calf-ankle connecting piece 33. The flexibility and degree of freedom of the robot are improved, and further, the operation comfort and operation efficiency of the operator are improved.

[0049] The above has introduced in detail a lower limb joint direct drive type load-bearing exoskeleton robot provided by the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application. Moreover, for those of ordinary skill in the art of this technology, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present application.

Claims

1. A lower limb joint direct drive type load-bearing exoskeleton robot, characterized in that, Comprising: A back component, a waist component, a thigh and calf component, and an ankle and foot component. The waist component includes a waist tripod, a hip joint axis, and a hip joint connecting rod. The hip joint connecting rod and the waist tripod are connected by a bearing through the hip joint axis to form a rotating pair. The back component is connected to the waist component through the waist tripod. The thigh and calf component includes a hip joint motor module, a thigh rod, a knee joint motor module, and a calf rod. The thigh rod is rotatably connected to the hip joint motor module, and the calf rod is rotatably connected to the knee joint motor module. The thigh and calf component is connected to the hip joint connecting rod of the waist component through the hip joint motor module. The ankle and foot component includes a calf ankle connecting rod, an ankle and sole connecting piece, and a sole metal connecting piece. The calf ankle connecting rod and the ankle and sole connecting piece are connected to form a rotating pair. The ankle and foot component is connected to the calf rod of the thigh and calf component through the calf ankle connecting piece.

2. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 1, wherein, The back component includes an integrated binding backboard, a back metal box frame, and a back box. The integrated binding backboard is fixed to the front side of the back metal box frame, and the back box is fixed to the rear side of the back metal box frame.

3. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 2, characterized in that The back box further includes a battery, a control board, a power button, a mode button, and a charging interface.

4. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 1, wherein, The waist component further includes a hip joint tension spring, a waist load support plate, a waist load folding plate, and a waist load support hinge. The hip joint connecting rod and the waist tripod are connected by a spring. The waist load support plate is fixed to the waist tripod by screws. The waist load support plate and the waist load folding plate are connected by the waist load support hinge to form a rotating pair. The upper end of the waist load folding plate is fixed to the waist tripod.

5. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 4, wherein The upper end of the waist load folding plate is fixed to the waist tripod based on a snap connection method.

6. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 1, wherein The thigh and calf component further includes a thigh rod housing and a calf rod housing. The thigh rod housing is fixed to the upper and lower ends of the thigh rod by screws, and the calf rod housing is fixed to the upper and lower ends of the calf rod by screws.

7. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 6, characterized in that, The thigh and calf component further includes a thigh binding, a thigh attitude sensor, a calf binding, and a calf attitude sensor. The thigh binding is fixedly arranged on the front side of the thigh rod, the thigh attitude sensor is fixedly arranged on the rear side of the thigh rod, the calf binding is fixedly arranged on the front side of the calf rod, and the thigh attitude sensor is fixedly arranged on the rear side of the calf rod.

8. The lower limb joint direct drive type weight-bearing exoskeleton robot according to claim 1, characterized in that, The thigh and calf component further includes a hip joint limit piece, a knee joint limit piece, and a limit rubber pad. The hip joint limit piece is arranged on the hip joint motor module, the knee joint limit piece is arranged on the knee joint motor module, and the limit rubber pad is arranged between the knee joint motor module and the calf rod.

9. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 1, characterized in that, The ankle and foot assembly further includes a first ankle rotation shaft, a second ankle rotation shaft, a third ankle rotation shaft, a first ankle hinge block, a second ankle hinge block, and an ankle-foot sole connecting member. The calf-ankle connecting member and the first ankle hinge block are connected by the first ankle rotation shaft to form a revolute pair. The first ankle hinge block and the second ankle hinge block are connected by the second ankle rotation shaft to form a revolute pair. The second ankle hinge block and the ankle-foot sole connecting member are connected by the third ankle rotation shaft to form a revolute pair.

10. The lower limb joint direct drive type load-bearing exoskeleton robot according to claim 9, characterized in that, The ankle and foot assembly further includes a foot pressure sensor and a rubber sole. The ankle-foot sole connecting member and the sole metal connecting member are fixed by screws. The sole metal connecting member and the foot pressure sensor are fixed by screws. The rubber sole is integrated below the sole metal connecting member.

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